MATLAB Robotics Toolbox 9.10 函数详解

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"MATLAB Robotics Toolbox 9.10函数详细说明" MATLAB Robotics Toolbox 9.10 是一个专门用于机器人学研究和开发的工具箱，由Peter Corke维护并提供，其许可证为LGPL。该工具箱的最新版本发布于2015年2月，为用户提供了一系列重要的机器人学算法实现，旨在帮助新手和有经验的研究者更好地理解和解决实际的机器人问题，而不仅仅是简单的示例。该工具箱包含的功能广泛，涵盖了机器人学的多个核心领域，如： 1. **运动学**：工具箱提供了机器人运动学模型的建立和解析，包括DH参数（Denavit-Hartenberg parameters）定义，以及逆运动学求解。用户可以轻松地计算关节变量到末端执行器位置的转换，这对于机器人的路径规划和控制至关重要。 2. **动力学**：包含了机器人动力学模型的构建，如Newton-Euler或Lagrange方程的求解，用于模拟机器人的动态行为，这对于优化控制策略和进行碰撞检测非常重要。 3. **传感器数据处理**：支持来自各种传感器的数据处理，如激光雷达和摄像头数据，用于环境感知和避障。 4. **轨迹规划**：提供了路径规划算法，如RRT（快速探索随机树）和PRM（概率道路图），用于在复杂环境中生成安全的机器人运动轨迹。 5. **控制**：包含经典控制理论和现代控制方法的实现，如PID控制器、状态反馈和滑模控制，帮助设计和分析机器人的控制系统。 6. **视觉与SLAM**：支持计算机视觉算法，如特征检测、图像匹配，以及Simultaneous Localization and Mapping (SLAM)算法，让机器人能够同时定位自身和构建环境地图。 7. **仿真**：内置的仿真功能允许用户在无需物理设备的情况下测试和验证算法，降低了实验成本。 8. **交互与编程**：提供了一套友好的接口，使得用户可以方便地编写和调试代码，同时与其他MATLAB工具箱集成，如Signal Processing和Optimization Toolbox。此外，Peter Corke还维护了一个讨论组（http://groups.google.com.au/group/robotics-tool-box），供用户交流问题和分享经验，以及一个主页（http://www.petercorke.com/robot），提供更详细的信息和资源。通过使用Robotics Toolbox 9.10，用户可以深入理解机器人学的基本原理，学习如何将这些理论应用于实际问题。作者通过实例演示了如何使用这些工具箱来分解和解决复杂的机器人问题，从而降低了解决方案的复杂性。无论是对于学术研究还是工业应用，这个工具箱都是一个宝贵的资源。

1.2. MIGRATING FROM RTB 8 AND EARLIER CHAPTER 1. INTRODUCTION

1.2 Migrating from RTB 8 and earlier

If you’re upgrading from RTB 8 or earlier note a signiﬁcant number of changes sum-

marised below.

• The command startup rvc should be executed before using the Toolbox.

This sets up the MATLAB search paths correctly.

• The Robot class is now named SerialLink to be more speciﬁc.

• Almost all functions that operate on a SerialLink object are now methods rather

than functions, for example plot() or fkine(). In practice this makes little dif-

ference to the user but operations can now be expressed as robot.plot(q) or

plot(robot, q). Toolbox documentation now prefers the former convention which

is more aligned with object-oriented practice.

• The parametrers to the Link object constructor are now in the order: theta, d,

a, alpha. Why this order? It’s the order in which the link transform is created:

RZ(theta) TZ(d) TX(a) RX(alpha).

• All robot models now begin with the preﬁx mdl , so puma560 is now mdl puma560.

• The function drivebot is now the SerialLink method teach.

• The function ikine560 is now the SerialLink method ikine6s to indicate that it

works for any 6-axis robot with a spherical wrist.

• The link class is now named Link to adhere to the convention that all classes

begin with a capital letter.

• The robot class is now called SerialLink. It is created from a vector of

Link objects, not a cell array.

• The quaternion class is now named Quaternion to adhere to the convention that

all classes begin with a capital letter.

• A number of utility functions have been moved into the a directory common

since they are not robot speciﬁc.

• skew no longer accepts a skew symmetric matrix as an argument and returns a

3-vector, this functionality is provided by the new function vex.

• tr2diff and diff2tr are now called tr2delta and delta2tr

• ctraj with a scalar argument now spaces the points according to a trapezoidal

velocity proﬁle (see lspb). To obtain even spacing provide a uniformly spaced

vector as the third argument, eg. linspace(0, 1, N).

• The RPY functions tr2rpy and rpy2tr assume that the roll, pitch, yaw rotations

are about the X, Y, Z axes which is consistent with common conventions for

vehicles (planes, ships, ground vehicles). For some applications (eg. cameras)

it useful to consider the rotations about the Z, Y, X axes, and this behaviour can

be obtained by using the option ’zyx’ with these functions (note this is the pre

release 8 behaviour).

• Many functions now accept MATLAB style arguments given as trailing strings,

or string-value pairs. These are parsed by the internal function tb optparse.

Robotics Toolbox 9.10 for MATLAB



16 Copyright

Peter Corke 2015

1.2. MIGRATING FROM RTB 8 AND EARLIER CHAPTER 1. INTRODUCTION

1.2.1 New functions

Release 9 introduces considerable new functionality, in particular for mobile robot con-

trol, navigation and localization:

• Mobile robotics:

Vehicle Model of a mobile robot that has the “bicycle” kinematic model (car-

like). For given inputs it updates the robot state and returns noise corrupted

odometry measurements. This can be used in conjunction with a “driver”

class such as RandomPath which drives the vehicle between random way-

points within a speciﬁed rectangular region.

Sensor

RangeBearingSensor Model of a laser scanner RangeBearingSensor, subclass

of Sensor, that works in conjunction with a Map object to return range and

bearing to invariant point features in the environment.

EKF Extended Kalman ﬁlter EKF can be used to perform localization by dead

reckoning or map featuers, map buildings and simultaneous localization

and mapping.

DXForm Path planning classes: distance transform DXform, D* lattice planner

Dstar, probabilistic roadmap planner PRM, and rapidly exploring random

tree RRT.

Monte Carlo estimator ParticleFilter.

• Arm robotics: jsingu, qplot, DHFactor (a simple means to generate the

Denavit-Hartenberg kinematic model of a robot from a sequence of elementary

transforms)

• Trajectory related: lspb, tpoly, mtraj, mstraj

• General transformation: homtrans, se2, se3, wtrans, vex (performs the

inverse function to skew, it converts a skew-symmetric matrix to a 3-vector)

• Data structures:

Pgraph represents a non-directed embedded graph, supports plotting and min-

imum cost path ﬁnding.

Polygon a generic 2D polygon class that supports plotting, intersectio/union/difference

of polygons, line/polygon intersection, point/polygon containment.

• Graphical functions:

trprint compact display of a transform in various formats.

trplot display a coordinate frame in SE(3)

trplot2 as above but for SE(2)

tranimate animate the motion of a coordinate frame

plot box plot a box given TL/BR corners or center+WH, with options for

edge color, ﬁll color and transparency.

Robotics Toolbox 9.10 for MATLAB



17 Copyright

Peter Corke 2015

1.4. MATLAB VERSION ISSUES CHAPTER 1. INTRODUCTION

Ensure that the folder rvctools is on your MATLAB



search path. You can do this

by issuing the addpath command at the MATLAB



prompt. Then issue the com-

mand startup rvc and it will add a number of paths to your MATLAB



path. You need to setup the path every time you start MATLAB



but you can auto-

mate this by setting up environment variables, editing your startup.m script, or by

pressing the “Update Toolbox Path Cache” button under MATLAB



General prefer-

ences.

A menu-driven demonstration can be invoked by the function rtbdemo.

1.3.1 Documentation

This document robot.pdf is a manual that describes all functions in the Toolbox. It

is auto-generated from the comments in the MATLAB



code and is fully hyperlinked:

to external web sites, the table of content to functions, and the “See also” functions to

each other.

The same documentation is available online in alphabetical order at http://www.

petercorke.com/RTB/r9/html/index_alpha.html or by category at http:

//www.petercorke.com/RTB/r9/html/index.html. Documentation is also

available via the MATLAB



help browser, “Robotics Toolbox” appears under the

Contents.

1.4 MATLAB version issues

The Toolbox has been tested under R2014b. Compatibility problems are increasingly

likely the older your version of MATLAB



is.

1.5 Use in teaching

This is deﬁnitely encouraged! You are free to put the PDF manual (robot.pdf or

the web-based documentation html/

.html on a server for class use. If you plan to

distribute paper copies of the PDF manual then every copy must include the ﬁrst two

pages (cover and licence).

1.6 Use in research

If the Toolbox helps you in your endeavours then I’d appreciate you citing the Toolbox

when you publish. The details are:

@book{Corke11a,

Author = {Peter I. Corke},

Date-Added = {2011-01-12 08:19:32 +1000},

Date-Modified = {2012-07-29 20:07:27 +1000},

Note = {ISBN 978-3-642-20143-1},

Robotics Toolbox 9.10 for MATLAB

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19 Copyright

Peter Corke 2015

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