A Tutorial of Peter Corke Robotics Toolbox - Hello Robot

Thanks Peter Corke for his great work of Robotics Toolbox .

OS: Win10 x64
Matlab: R2016b
Toolbox Release: 10.2

We highly recommand to learn to use the Robotics System Toolbox designed by MathWorks firstly. Of course, it is not necessary. Here we just show some simple processes to imply the usage of Robotics Toolbox. The way to access detailed explanations can be found in section Support.

Download and Install

How to install the Robotics Toolbox? Just follow the instructions here. It is free and easy.

Support

If you have this book, congraduations, you are accessible to the official tutorial as well as mammal. Otherwise, there is a free but cut version of it. There is no exclusive forum.

There is an official: rtbdemo() by which you can survey the functions of Robotics Toolbox.

Untilities

Here are some normal functions to boost your coding efficiency.

about(x) or about x

>> a=1;
>> about a
a [double] : 1x1 (8 bytes)
>> a = rand(5,7);
>> about a
a [double] : 5x7 (280 bytes)

angdiff(th1, th2)

>> th = angdiff(pi/2, -3*pi/2)
th = 0;

unit(v)
A unit-vector parallel to v.

>> vn = unit([4,0])

vn =

     1     0

Homogeneous Representation

There are some functions to help you transform any kinds of representative to $SO(3)$ or