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Manipulator Algorithms

Inverse kinematics and dynamics for rigid body tree robot representations

These Robotics System Toolbox™ algorithms support workflows related to articulated robots. Define your robot model using the `RigidBodyTree` class, which is made up rigid bodies as structural elements and joints for attachment and motion. This robot representation contains kinematic constraints and dynamics properties. You can perform inverse kinematics and dynamics calculations on this robot model. If you have a robot description as a URDF file, you can import it using `importrobot`.

Functions

 `importrobot` Import rigid body tree model from URDF file or text

Classes

 `robotics.Joint` Create a joint `robotics.RigidBody` Create a rigid body `robotics.RigidBodyTree` Create tree-structured robot
 `robotics.InverseKinematics` Create inverse kinematic solver `robotics.GeneralizedInverseKinematics` Create multiconstraint inverse kinematics solver
 `robotics.OrientationTarget` Create constraint on relative orientation of body `robotics.PositionTarget` Create constraint on relative position of body `robotics.PoseTarget` Create constraint on relative pose of body `robotics.AimingConstraint` Create aiming constraint for pointing at a target location `robotics.CartesianBounds` Create constraint to keep body origin inside Cartesian bounds `robotics.JointPositionBounds` Create constraint on joint positions of robot model

Topics

Rigid Body Tree Robot Model

Model structure and specific components of a rigid body tree robot model

Build a Robot Step by Step

This example goes through the process of building a robot step by step, showing you the different robot components and how functions are called to build it.

Inverse Kinematics Algorithms

Description of inverse kinematics solver algorithms and solver parameters

2-D Path Tracing With Inverse Kinematics

Trace A 2-D Circular Path Using A Robot Manipulator

Solve Inverse Kinematics for a Four-Bar Linkage

This example shows how to solve inverse kinematics for a four-bar linkage, a simple planar closed-chain linkage.

Control PR2 Arm Movements Using ROS Actions and Inverse Kinematics

This example shows how to send commands to robotic manipulators in MATLAB®.

Robot Dynamics

Robot dynamics is the relationship between the forces acting on a robot and the resulting motion of the robot.

Control LBR Manipulator Motion Through Joint Torque Commands

Given a set of desired joint configuration waypoints and a torque-controlled manipulator, this example shows how to implement the computed-torque controller using the `robotics.RigidBodyTree.inverseDynamics` function.