The Robot Toolbox for Matlab
This toolbox can be used to realistic visualization of robot motion necessary
in research, didactic process or during design of production cell. Available
functions allow to show realistic model of mechanism easily based on DH parameters
only. The package also provides a set of tools for creating any polyhedrons and
functions to manipulate them in 3D space. Using those objects it is possible to
create own appearance of the manipulator and its workspace. Functions implementing
classical methods of trajectory planning in configuration space allow to calculate
manipulator trajectory which can be shown as an animation.
The main features
- Visualization of the manipulator and their workspace in the realistic manner.
- Showing manipulator in its default 3D appearance using Denavit-Hartenberg parameters only.
- Possiblity to create a model of mechanism corresponding to its real appearance.
- Implementation of classical methods of trajectory generation in configuration space.
- Presentation of manipulators motions using provided functions.
- Useful for educational purposes, for presentation research results and during designing and verifying the production cells.
The Robot Toolbox version 2.0 (beta)
In the 2.0 version object management has been improved, all object are represented as handles to the global structures managed
automatically by the program. Additionally, possibility to connect robots into one complex mechanisms has been implemented. Moreover,
new motion simulation functions allowing animate different kinds of objects in the same workspace has been introduced. This version is
in beta stage, minor bugs still exists, but it is fully functional. New functions are presented in "demo_robot2" script and they are
described in the included article
Download
The Robot Toolbox version 1.0
Examples
Download
If you have any questions please contact:
i.pajak@iizp.uz.zgora.pl or
g.pajak@iizp.uz.zgora.pl