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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

importrobotImport rigid body tree model from URDF file or text

Classes

robotics.JointCreate a joint
robotics.RigidBodyCreate a rigid body
robotics.RigidBodyTreeCreate tree-structured robot
robotics.InverseKinematicsCreate inverse kinematic solver
robotics.GeneralizedInverseKinematicsCreate multiconstraint inverse kinematics solver
robotics.OrientationTargetCreate constraint on relative orientation of body
robotics.PositionTargetCreate constraint on relative position of body
robotics.PoseTargetCreate constraint on relative pose of body
robotics.AimingConstraintCreate aiming constraint for pointing at a target location
robotics.CartesianBoundsCreate constraint to keep body origin inside Cartesian bounds
robotics.JointPositionBoundsCreate 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.

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