Trabajos

Robotics
for MATLAB

TOOLBOX
(Release 7.1)

y

z x

5.5 5 4.5 4

Puma 560

I11

3.5 3 2.5 2 4 2 0 2 !2 0 !2 !4 !4 q2 4

0.8 0.6

q3

Peter I. Corke
Peter.Corke@csiro.au http://www.cat.csiro.au/cmst/staff/pic/robot

April 2002

Peter I. Corke CSIRO Manufacturing Science and Technology Pullenvale, AUSTRALIA, 4069. 2002 http://www.cat.csiro.au/cmst/staff/pic/robot

c2002 by Peter I. Corke.

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Preface
1 Introduction
This, the seventh release of the Toolbox, represents nearly a decade of tinkering and a substantial level of maturity. It finally includes many of the features I’ve been planning to add for some time, particularly MEX files, Simulink support and modified Denavit-Hartenberg support. The previous release has had thousands of downloads and themailing list has hundreds of subscribers. The Toolbox provides many functions that are useful in robotics including such things as kinematics, dynamics, and trajectory generation. The Toolbox is useful for simulation as well as analyzing results from experiments with real robots. The Toolbox is based on a very general method of representing the kinematics and dynamics of serial-link manipulators.These parameters are encapsulated in Matlab objects. Robot objects can be created by the user for any serial-link manipulator and a number of examples are provided for well know robots such as the Puma 560 and the Stanford arm. The Toolbox also provides functions for manipulating and converting between datatypes such as vectors, homogeneous transformations and unit-quaternions which are necessaryto represent 3-dimensional position and orientation. The routines are written in a straightforward manner which allows for easy understanding, perhaps at the expense of computational efficiency. My guide in all of this work has been the book of Paul[1], now out of print, but which I grew up with. If you feel strongly about computational efficiency then you can always rewrite the function to be moreefficient, compile the M-file using the Matlab compiler, or create a MEX version.

1.1 What’s new
This release has some significant new functionality as well as some bug fixes. • Full support for modified (Craig’s) Denavit-Hartenberg notation, forward and inverse kinematics, Jacobians and forward and inverse dynamics. • Simulink blockset library and demonstrations included, see Section 2 • MEXimplementation of recursive Newton-Euler algorithm written in portable C. Speed improvements of at least 1000. Tested on Solaris, Linux and Windows. See Section 1.9. • Fixed still more bugs and missing files in quaternion code. • Remove ‘@’ notation from fdyn to allow operation under Matlab 5 and 6. • Fairly major update of documentation to ensure consistency between code, online help and this manual.1 INTRODUCTION

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All code is now under CVS control which should eliminate many of the versioning problems I had previously due to developing the code across multiple computers.

1.2 Contact
The Toolbox home page is at http://www.cat.csiro.au/cmst/staff/pic/robot This page will always list the current released version number as well as bug fixes and new code in between major releases. AMailing List is also available, subscriptions details are available off that web page.

1.3 How to obtain the Toolbox
The Robotics Toolbox is freely available from the Toolbox home page at http://www.cat.csiro.au/cmst/staff/pic/robot The files are available in either gzipped tar format (.gz) or zip format (.zip). The web page requests some information from you regarding such as your country, typeof organization and application. This is just a means for me to gauge interest and to help convince my bosses (and myself) that this is a worthwhile activity. The file robot.pdf is a comprehensive manual with a tutorial introduction and details of each Toolbox function. A menu-driven demonstration can be invoked by the function rtdemo.

1.4 MATLAB version issues
The Toolbox works with MATLAB...