Robot Models

Rigid body tree models, forward kinematics, dynamics, joint- and task-space motion models

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.

Functions

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Rigid Body Tree Models

`importrobot`	Import rigid body tree model from URDF file, text, or Simscape Multibody model
`loadrobot`	Load rigid body tree robot model
`rigidBodyTree`	Create tree-structured robot
`rigidBody`	Create a rigid body
`rigidBodyJoint`	Create a joint
`interactiveRigidBodyTree`	Interact with rigid body tree robot models

Motion Models

`jointSpaceMotionModel`	Model rigid body tree motion given joint-space inputs
`taskSpaceMotionModel`	Model rigid body tree motion given task-space reference inputs

Kinematics

`getTransform`	Get transform between body frames
`randomConfiguration`	Generate random configuration of robot
`homeConfiguration`	Get home configuration of robot
`show`	Show robot model in figure

Dynamics

`centerOfMass`	Center of mass position and Jacobian
`externalForce`	Compose external force matrix relative to base
`forwardDynamics`	Joint accelerations given joint torques and states
`geometricJacobian`	Geometric Jacobian for robot configuration
`gravityTorque`	Joint torques that compensate gravity
`inverseDynamics`	Required joint torques for given motion
`massMatrix`	Joint-space mass matrix
`velocityProduct`	Joint torques that cancel velocity-induced forces

Blocks

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Kinematics and Dynamics

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

Motion Models

Joint Space Motion Model	Model rigid body tree motion given joint-space inputs
Task Space Motion Model	Model rigid body tree motion given task-space inputs

Topics

Rigid Body Tree Robot Model

Explore the 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.

Robot Dynamics

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.

Robot Models

Functions

Rigid Body Tree Models

Motion Models

Kinematics

Dynamics

Blocks

Kinematics and Dynamics

Motion Models

Topics

Robotics System Toolbox Documentation

Support