matlab robottoolbox,Matlab Robotic Toolbox使用简介（1）

软件：matlab2014a

工具箱：Matlab Robotic Toolbox v9.8

这里感谢枫箫提供的机器人工具箱：http://blog.sina.com.cn/u/2707887295

本次连载主要以机器人工具箱附带的使用例子为主，提供注释和翻译。希望可以帮助大家更好使用机器人工具箱。

安装好Matlab

Robotic Toolbox

v9.8后，打开MATLAB，查看附带的例子输入rtbdemo,回车，就可以看到简介菜单。

这里逐次介绍每个的使用简介

rtbdemo

------------------------------------------------------------

Many of these demos print

tutorial text and MATLAB commmands in the console window.

Read the text and press to move

on to the next command

At the end of the tutorial/demo

you can choose the next one from the graphical

menu.

--- runscript

D:\matlab\toolbox\robot\rvctools\robot\demos\rotation.m

% In the field of robotics there

are many possible ways of representing

% orientations of which the most

common are:

% - orthonormal【正交】rotation

matrices (3x3),正交旋转矩阵

% - three angles (1x3), and

% -

quaternions.【四元数】表示法可以参考http://blog.sina.com.cn/u/2707887295

% A rotation of pi/2 about the

x-axis can be represented as an orthonormal rotation

% matrix【绕x轴旋转pi/2的正交旋转矩阵】

>> R = rotx(pi/2)

R =

1.0000

0

0

0

0.0000

-1.0000

0

1.0000

0.0000

% which we can see is a 3x3

matrix.

% Such a matrix has the property

that it's columns【列】 (and rows【行】) are sets of orthogonal

% unit vectors【单位向量】.

The determinant of such a matrix is always

1

>> det(R)

ans =

1

% Let's create a more complex

rotation【创作一个更复杂的旋转】

>> R = rotx(30, 'deg') *

roty(50, 'deg') * rotz(10, 'deg')

R =

0.6330

-0.1116

0.7660

0.5276

0.7864

-0.3214

-0.5665

0.6076

0.5567

% where this time we have

specified the rotation angle in degrees.【度数】

% Any rotation can be expressed

in terms of a single rotation about some axis

% in

space【任何旋转都可以表达为绕空间某一特定轴的单独旋转】

>> [theta,vec] =

tr2angvec(R)

theta

1.0610

vec =

0.5322

0.7634

0.3662

% where theta is the angle (in

radians【弧度】) and vec is unit vector representing the

% direction of the rotation

axis【旋转轴方向】.【这里theta是角度(以弧度表示)，vec是代表旋转轴方向的单位向量】

% Commonly rotations are

represented by Euler angles【欧拉角】

>> eul = tr2eul(R)

eul =

-0.3972

0.9804

0.8204

% which are three angles such

that R = rotz(a)*roty(b)*rotz(c), ie. the rotations

% required about the Z, then then

the Y, then the Z axis.

% Rotations are also commonly

represented by roll-pitch-yaw  angles

>> rpy = tr2rpy(R)

rpy =

0.5236

0.8727

0.1745

% which are three angles such

that R = rotx(r)*roty(p)*rotz(y), ie. the rotations

% required about the X, then then

the Y, then the Z axis.

% We can investigate the effects

of rotations about different axes

% using this GUI based

demonstration.  The menu buttons allow the

rotation

% axes to be

varied【我们可以查看不同轴的旋转效果，通过使用演示的GUI。菜单按钮可以使旋转轴改变】

% close the window when you are

done.

>> tripleangle('rpy',

'wait')

% The final useful form is the

quaternion which comprises 【包含】4 numbers.

We can create

% a quaternion from an

orthonormal matrix

>> q = Quaternion(R)

q =

0.86256 < 0.26926, 0.38622,

0.18526 >

% where we can see that it

comprises a scalar【标量】 part and a vector【向量】 part.

To convert back【向后转换】

>> q.R

ans =

0.6330

-0.1116

0.7660

0.5276

0.7864

-0.3214

-0.5665

0.6076

0.5567

% which is the same of the value

of R we determined above.【这和我们上面所推算的R是一样的】

% Quaternions are a class and the

orientations they represent can be compounded【复合的】, just

% as we do with rotation matrices

by multiplication【乘法运算】.

% First we create two

quaternions

>> q1 = Quaternion(

rotx(pi/2) )

q1 =

0.70711 < 0.70711, 0, 0

>

>> q2 = Quaternion(

roty(pi/2) )

q2 =

0.70711 < 0, 0.70711, 0

>

% then the rotation of q1

followed【跟随的】 by q2 is simply

>> q1 * q2

ans

=

0.5 < 0.5, 0.5, 0.5 >

% We can also take the

inverse【逆的，反的】 of a Quaternion

>> q1 * inv(q1)

ans

=

1 < 0, 0, 0 >

% which results in a null【零位的】

rotation (zero vector part)

------ done --------