The Symbolic Robot Modeling Toolbox is a collection of Matlab functions for symbolic rather than purely numeric robot modeling. Based on the Mathworks Symbolic Toolbox it provides the tools to derive the symbolic expressions for robot kinematics as well as dynamics models. In addition to the symbolic expressions the toolbox automatically generates a set of ready to use robot specific m-functions as well as Simulink blocks. The Simulink blocks are real-time capable and can be directly used for embedded real-time control for example in connection with Mathworks xPC-Target or dSpace systems.
The toolbox functions have been written during research over the last couple of years. The collection of functions has been shaped into this toolbox with the hope that it will be useful to others as well.
It is possible to convert robot definitions from the Robotics Toolbox by Peter Corke to robot definitions compatible with the Symbolic Robot Modeling Toolbox and vice versa.
The Symbolic Robot Modeling Toolbox is free to use under the terms of the CC BY-SA 3.0 license.
Constructive feedback and bug reports will be considered and greatly appreciated. Beyond that the toolbox comes absolutely without any warranty or support.
The toolbox has been tested with MATLAB Versions 7.10 (R2010a) and 7.12 (R2011a) and:
* Matlab Symbolic Toolbox Version 5.4 and Version 5.6
* Matlab Sim Mechanics Version 3.2 (optional for some examples)
* Robotics Toolbox by Peter Corke Release 9.2 (optional for some examples and self check)