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Robotics Toolbox Extension (rvcdlcs)

RTE contains a lot of useful scripts for research works (what is new?) , which is based on RTB of Peter Corke.

The introduction of RTB of Peter Corke, see here.

  • New function for SE2, SE3.

    1. SE2.q: Get translation and angle in a row vector.
    2. SE3.qrpy/SE3.qeul: Construct an SE(3) object from translation and rpy/eul angles
    3. SE3.toqrpy/SE3.toqeul: Get translation and rpy/eul angle in a row vector.
    4. SE2.q, SE3.qrpy, SE3.qeul support both 1x3 and 1x6 vectors.

  • New LineStyle option for SE2.plot and SE3.plot. Example: SE3.plot('style','-.'). (4 styles: -. / : / .. / --)

  • New functions for DH parameters and POE parameters. (See folder src/robotics)

    1. poe2dh: Transfer POE parameters to DH parameters.
    2. dh2poe: Transfer DH parameters to POE parameters.

  • New qlim option for SerialLink object construction by DH parameters. (Qlim: m x 2 matrix)

    • Example: SerialLink([dh,sigma], 'base', Hb, 'tool', Ht, 'qlim', Qlim).

  • New classes for Mobile Robots. (See folder src/robotics and example/model_tutorials)

    1. Cuboid: Rigid Cuboid 3D Model class (rpy).
    2. Cylinder: Rigid Cylinder 3D Model class (rpy).
    3. Youbot: Youbot Platform 3D Model class (rpy), inherited from Cuboid.
    4. Omniwheel: Mecanum Wheel 3D Model class (rpy), inherited from Cylinder.
    5. Platform: Mobile Platform 3D Model class (rpy), formed by Youbot and Omniwheel.

youbot youbot3d

  • New classes for Mobile Manipulator. (See folder src/robotics and example/model_tutorials)
    1. MobileManipulator: Mobile Manipulator 3D Model class (rpy).
    2. MobilePlanarRevolute: Mobile Robot with Planar Revolute Manipulator 3D Model class (rpy, stdDH).

mpr

  • New functions for path planning. (See folder src/planning and example/path_planning).

    1. environment: Generate 3D obstacle environment with grid cell.
    2. ind2loc: Get real coordinate from map index.
    3. map2gphA: Transfer map matrix to adjancent matrix A of graph.
    4. dijkstra: Dijkstra algorithm for graph searching.
    5. astar: A* algorithm for graph searching.

    envuav

Installation

For RTE, you can install it by following the procedures below.

  • git clone https://github.com/star2dust/Robotics-Toolbox.git

  • Add the toolbox folder to MATLAB path.

  • Add startup_rvc and startup_rte to the last line of the file startup.m in your MATLAB default working folder (or run it directly).

  • An example for startup.m:

    % set toolpath
toolpath = <the path where you put toolbox>
% add robotics toolbox
addpath([toolpath 'Robotics-Toolbox/rvctools/release10.3.1'])
addpath([toolpath 'Robotics-Toolbox/rvcdlcs/src'])
startup_rvc
startup_rte

References

  1. P.I. Corke. (2017). Robotics, Vision & Control. Springer. ISBN 978-3-319-54413-7.
  2. Murray, R. M. (1994). A mathematical introduction to robotic manipulation. CRC press.
  3. Deits, R., & Tedrake, R. (2015). Computing large convex regions of obstacle-free space through semidefinite programming. Springer Tracts in Advanced Robotics, 107, 109-124.
  4. Wu, L., Crawford, R., & Roberts, J. (2017). An analytic approach to converting POE parameters into D-H parameters for serial-link robots. IEEE Robotics and Automation Letters, 2(4), 2174-2179.