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
rigidBody
and 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.
Explore the 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.
Interactively Build a Trajectory for an ABB YuMi Robot
This example shows how to use the interactiveRigidBodyTree
object to move a robot, design a trajectory, and replay it.
Plan and Execute Task- and Joint-Space Trajectories Using KINOVA Gen3 Manipulator
This example shows how to generate and simulate interpolated joint trajectories to move from an initial to a desired end-effector pose.
Configure Gazebo and Simulink for Co-simulation of a Manipulator Robot
Set up a UR10 robot model to perform co-simulation between Gazebo and Simulink™.
Control Manipulator Robot with Co-Simulation in Simulink and Gazebo
Simulate control of a robotic manipulator using co-simulation between Simulink and Gazebo.