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Manipulator Algorithm Design

Rigid body tree models, inverse kinematics, dynamics, trajectories

These Robotics System Toolbox™ manipulator algorithms support workflows related to articulated, serial-link robots. Define your robot model using a rigidBodyTree object made up of rigid bodies as structural elements and joints for attachment and motion. This robot representation contains kinematic constraints and dynamics properties. Use joint- and task-space motion models to get robot motion given input commands.

If you have a robot description as a URDF file or Simscape™ Multibody™ model, you can import it using importrobot.

Perform inverse kinematics to get joint configurations based on desired end-effector positions. Apply additional external constraints like aiming a camera at your workspace. Generate smooth trajectories for planning and executing planned paths. Detect collisions or calculate clearance to avoid collisions while executing paths.

Featured Examples