Robotics Toolbox
for MATLAB
®
Release 10
Peter Corke
Preface
This, the tenth major release of the Toolbox, represent-
ing over twenty five years of continuous development
and a substantial level of maturity. This version cor-
responds to the second edition of the book “Robotics,
Vision & Control” published in June 2017 – RVC2.
This MATLAB
®
Toolbox has a rich collection of func-
tions that are useful for the study and simulation of
robots: arm-type robot manipulators and mobile robots.
For robot manipulators, functions include kinematics,
trajectory generation, dynamics and control. For mobile
robots, functions include path planning, kinodynamic
planning, localization, map building and simultaneous
localization and mapping (SLAM).
The Toolbox makes strong use of classes to represent robots and such things as sen-
sors and maps. It includes Simulink
®
models to describe the evolution of arm or
mobile robot state over time for a number of classical control strategies. The Tool-
box also provides functions for manipulating and converting between datatypes such
as vectors, rotation matrices, unit-quaternions, quaternions, homogeneous transforma-
tions and twists which are necessary to represent position and orientation in 2- and
3-dimensions.
The code is written in a straightforward manner which allows for easy understanding,
perhaps at the expense of computational efficiency. If you feel strongly about computa-
tional efficiency then you can always rewrite the function to be more efficient, compile
the M-file using the MATLAB compiler, or create a MEX version.
The bulk of this manual is auto-generated from the comments in the MATLAB code
itself. For elaboration on the underlying principles, extensive illustrations and worked
examples please consult “Robotics, Vision & Control, second edition” which provides
a detailed discussion (720 pages, nearly 500 figures and over 1000 code examples) of
how to use the Toolbox functions to solve many types of problems in robotics.
Robotics Toolbox 10.4 for MATLAB
®
3 Copyright ©Peter Corke 2020
Robotics Toolbox 10.4 for MATLAB
®
4 Copyright ©Peter Corke 2020
Functions by category
Robotics Toolbox 10.4 for MATLAB
®
5 Copyright ©Peter Corke 2020
