Home > . > Contents.m

Contents

PURPOSE ^

Robotics Toolbox.

SYNOPSIS ^

This is a script file.

DESCRIPTION ^

 Robotics Toolbox.
 Version 8  December 2008

 What's new.
   Readme      - New features and enhancements in this version.

 Homogeneous transformations
   angvec2r    - angle/vector to rotation matrix 3x3
   angvec2tr   - angle/vector to transform 4x4
   eul2r       - Euler angle to rotation matrix 3x3
   eul2tr      - Euler angle to transform 4x4
   oa2r        - orientation and approach vector to rotation matrix 3x3
   oa2tr       - orientation and approach vector to transform 4x4
   r2t         - rotation submatrix to transform
   rotx        - transform for rotation about X-axis 3x3
   roty        - transform for rotation about Y-axis 3x3
   rotz        - transform for rotation about Z-axis 3x3
   rpy2r       - roll/pitch/yaw angles to rotation matrix 3x3
   rpy2tr      - roll/pitch/yaw angles to transform 4x4
   t2r         - transform to rotation submatrix
   tr2angvec   - transform to angle/vector form
   tr2eul      - transform to Euler angles 
   tr2rpy      - transform to roll/pitch/yaw angles
   transl      - set or extract the translational component of a transform 4x4
   trnorm      - normalize a transform 
   trplot      - plot a transform as a coordinate frame
   trotx       - transform for rotation about X-axis 4x4
   troty       - transform for rotation about Y-axis 4x4
   trotz       - transform for rotation about Z-axis 4x4
   
 Quaternion methods:
   /           - divide quaternion by quaternion or scalar
   *           - multiply quaternion by a quaternion or vector
   inv         - invert a quaternion 
   norm        - norm of a quaternion 
   plot        - display a quaternion as a 3D rotation
   unit        - unitize a quaternion 
   qinterp     - interpolate a quaternion

 Kinematics
   diff2tr     - differential motion vector to transform 
   fkine       - compute forward kinematics 
   ikine       - compute inverse kinematics 
   ikine560    - compute inverse kinematics for Puma 560 like arm
   jacob0      - compute Jacobian in base coordinate frame
   jacobn      - compute Jacobian in end-effector coordinate frame
   tr2diff     - transform to differential motion vector 
   tr2jac      - transform to Jacobian 
   
 Dynamics
   accel       - compute forward dynamics
   cinertia    - compute Cartesian manipulator inertia matrix 
   coriolis    - compute centripetal/coriolis torque 
   fdyn        - forward dynamics
   ftrans      - transform force/moment 
   gravload    - compute gravity loading 
   inertia     - compute manipulator inertia matrix 
   itorque     - compute inertia torque 
   rne         - inverse dynamics 
   
 Trajectory generation
   ctraj       - Cartesian trajectory 
   jtraj       - joint space trajectory 
   trinterp    - interpolate transform s
   
 Graphics
   drivebot    - drive a graphical  robot 
   plot        - plot/animate robot 
   
 Other
   ishomog     - true if argument is a 4x4 matrix
   isrot       - true if argument is a 3x3 matrix
   isvec       - true if argument is a 3-vector
   maniplty    - compute manipulability 
   unit        - unitize a vector

 Robot methods:
   *           - compound two robots
   friction    - return joint friction torques
   nofriction  - return a robot object with no friction
   perturb     - return a robot object with perturbed parameters
   plot        - plot/animate a robot

 Creation of robot models.
   Fanuc10L    - Fanuc 10L (DH, kine)
   link        - construct a robot link object 
   MotomanHP6  - Motoman HP6 (DH, kine)
   puma560     - Puma 560 data (DH, kine, dyn)
   puma560akb  - Puma 560 data (MDH, kine, dyn)
   robot       - construct a robot object 
   stanford    - Stanford arm data (DH, kine, dyn)
   S4ABB2p8    - ABB S4 2.8 (DH, kine)
   twolink     - simple 2-link example (DH, kine)

 Demonstrations.
   demos      - toolbox demonstration
   
 Copyright (C) 2008, by Peter I. Corke

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:
Generated on Sun 15-Feb-2009 18:09:29 by m2html © 2003