Robot models are used to represent the kinematic and dynamic properties of
manipulator robots and other rigid body systems. The model is represented as a
rigidBodyTree object containing
rigidBodyJoint elements with
joint transformations and inertial properties. Certain commercial robots like
KINOVA and KUKA are available using
loadrobot. Import existing UDRF or Simscape™
Multibody™ models using
importrobot. You can also
model the motion of the robots using joint- or task-space motion models.
|Center of mass position and Jacobian|
|Compose external force matrix relative to base|
|Joint accelerations given joint torques and states|
|Geometric Jacobian for robot configuration|
|Joint torques that compensate gravity|
|Required joint torques for given motion|
|Joint-space mass matrix|
|Joint torques that cancel velocity-induced forces|
|Forward Dynamics||Joint accelerations given joint torques and states|
|Inverse Dynamics||Required joint torques for given motion|
|Get Jacobian||Geometric Jacobian for robot configuration|
|Get Transform||Get transform between body frames|
|Gravity Torque||Joint torques that compensate gravity|
|Joint Space Mass Matrix||Joint-space mass matrix for robot configuration|
|Velocity Product Torque||Joint torques that cancel velocity-induced forces|
Model structure and specific components of a rigid body tree robot model
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.
Robot dynamics is the relationship between the forces acting on a robot and the resulting motion of the robot.
This example shows how to use the
interactiveRigidBodyTree object to move a robot, design a trajectory, and replay it.
This example shows how to generate and simulate interpolated joint trajectories to move from an initial to a desired end-effector pose.