Robotics Toolbox for MATLAB

The Robotics Toolbox is MATLAB toolbox software that supports research and teaching into arm-type and mobile robotics. While the Robotics Toolbox is free software, it requires the proprietary MATLAB environment in order to execute. The Toolbox forms the basis of the exercises in several textbooks.

Robotics Toolbox for MATLAB
Developer(s)Peter Corke
Stable release
10.4 / October 2019
EngineMATLAB
Operating systemn/a
TypeRobotics suite
LicenseLGPL
Websitehttp://www.petercorke.com/robot

Purpose

The Toolbox provides functions for manipulating and converting between datatypes such as vectors, homogeneous transformations, roll-pitch-yaw and Euler angles, axis-angle representation, unit-quaternions, and twists, which are necessary to represent 3-dimensional position and orientation. It also plots coordinate frames, supports Plücker coordinates to represent lines, and provides support for Lie group operations such as logarithm, exponentiation, and conversions to and from skew-symmetric matrix form.

As the basis of the exercises in several textbooks, the Toolbox is useful for the study and simulation of:[1][2][3][4][5]

The Toolbox requires MATLAB, commercial software from MathWorks, in order to operate.

Relationship to other toolboxes

The Robotics System Toolbox for MATLAB[6] is proprietary software published by MathWorks which includes support for robot manipulators and mobile robotics. Its functionality significantly overlaps that of the Robotics Toolbox for MATLAB but the programming model is quite different.

The Robotics Toolbox for Python is a reimplementation of the Robotics Toolbox for MATLAB for Python 3.[7][8] Its functionality is a superset of the Robotics Toolbox for MATLAB, the programming model is similar, and it supports additional methods to define a serial link manipulator including URDF and elementary transform sequences.

See also

References
  1. Straanowicz, Aaron; Gian Luca Mariottini (2011). "A survey and comparison of commercial and open-source robotic simulator software". Proceedings of the 4th International Conference on PErvasive Technologies Related to Assistive Environments. pp. 1–8. CiteSeerX 10.1.1.369.3980. doi:10.1145/2141622.2141689. ISBN 9781450307727. S2CID 247128.{{cite book}}: CS1 maint: date and year (link)
  2. Nourdine, Aliane (September 2011). "Teaching fundamentals of robotics to computer scientists". Computer Applications in Engineering Education. 19 (3): 615–620. doi:10.1002/cae.20342. S2CID 19389930.
  3. Corke, Peter (2017). Robotics, Vision & Control (2nd ed.). Springer. ISBN 978-3-319-54412-0.
  4. Corke, Peter (2011). Robotics, Vision & Control. Springer. ISBN 978-3-642-20143-1.
  5. Craig, John (2004). Introduction to Robotics (3rd ed.). Prentice-Hall.
  6. "Robotics System Toolbox". www.mathworks.com. Retrieved 2022-07-23.
  7. Corke, Peter; Haviland, Jesse (2021-05-30). "Not your grandmother's toolbox – the Robotics Toolbox reinvented for Python" (PDF). 2021 IEEE International Conference on Robotics and Automation (ICRA). Xi'an, China: IEEE. pp. 11357–11363. doi:10.1109/ICRA48506.2021.9561366. ISBN 978-1-7281-9077-8. S2CID 239037868.
  8. Corke, Peter (2022-07-23), Robotics Toolbox for Python, retrieved 2022-07-23
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