Scribd
Upload
231 views

Introduction To Matlab Robotics Toolbox

The document provides an introduction to MATLAB and its robotics toolboxes. It describes MATLAB as a programming environment for engineering and science applications. It discusses the Robotics Toolbox by Peter Corke and the MATLAB Robotics System Toolbox. It provides tutorials on using the toolboxes for defining transformations between reference frames, modeling rigid bodies with the Gram-Schmidt algorithm, and performing common vector operations like the dot and cross products. The document serves as an overview of MATLAB and how to apply its robotics toolboxes for kinematics, dynamics and control.

Uploaded by

AlbertoAntonietti
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
231 views

Introduction To Matlab Robotics Toolbox

The document provides an introduction to MATLAB and its robotics toolboxes. It describes MATLAB as a programming environment for engineering and science applications. It discusses the Robotics Toolbox by Peter Corke and the MATLAB Robotics System Toolbox. It provides tutorials on using the toolboxes for defining transformations between reference frames, modeling rigid bodies with the Gram-Schmidt algorithm, and performing common vector operations like the dot and cross products. The document serves as an overview of MATLAB and how to apply its robotics toolboxes for kinematics, dynamics and control.

Uploaded by

AlbertoAntonietti
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 10

Medical Robotics and Technologies for

Computer Assisted Surgery


Introduction to the MATLAB Robotics Toolbox

What is MATLAB?

What is MATLAB (in Robotics)?

What is MATLAB Robotics Toolbox (Peter Corke)?

What is MATLAB Robotics System Toolbox?

MATLAB Robotics Toolbox


(Peter Corke)
Prof. Ferrigno

MATLAB Robotics System


Toolbox

MATLAB: General description

Current folder: shows


the content of the current
folder

Editor: useful for writing


scripts and personal functions

Command window: main interface in


which is possible to write commands

Workspace:
stores all the
active
variables

Command
history:
stores the
previously
executed
commands

Warning: each script of function, in order to be executed, have to be in the matlab search path
Prof. Ferrigno

Matlab: general settings

Menu bar: File, Edit, ..., Help

To add a toolbox or a custom folder with personal functions use the Set
Path command from menu File and save.
Example, add the Robotic toolbox: then Set Path, choose Add with
Sub Folders and select the toolbox folder rvctools
Peter Corke, ROBOTICS TOOLBOX for MATLAB
http://www.petercorke.com/Toolboxes.html

Prof. Ferrigno

In case of problems

Multiple solutions:
help <command>: shows the description of a command;
Doc <command>: shows a pop-up with detailed explanations;
Help menu: shows a fancy description of the command, with also search
fucntionality and examples;
Internet:
Mathworks
Google
Stack Overflow

Prof. Ferrigno

Matlab Tips:
load a file and calculate the mean value

VarName = load(NomeFile.txt');
MeanVarName = mean(VarName);
M = mean(A,dim) returns the mean values for elements along the
dimension of A specified by scalar dim. For matrices, mean(A,2) is a
column vector containing the mean value of each row.

Prof. Ferrigno

Matlab Tips:
3D coordinates graphical representation

scatter3(X,Y,Z,S,C) displays colored circles at the locations specified by the vectors X, Y, and Z (which
must all be the same size).

S determines the size of each marker (specified in points). S can be a vector the same length as X, Y,
and Z or a scalar. If S is a scalar, MATLAB draws all the markers the same size.
C determines the colors of each marker. When C is a vector the same length as X, Y, and Z, the values
in C are linearly mapped to the colors in the current colormap. When C is a length(X)-by-3 matrix, it
specifies the colors of the markers as RGB values. C can also be a color string (see ColorSpec for a
list of color string specifiers).
scatter3(X,Y,Z) draws the markers in the default size and color.
scatter3(X,Y,Z,S) draws markers at the specified sizes (S) in a single color.
scatter3(...,markertype) uses the marker type specified instead of 'o' (see LineSpec for a list of marker
specifiers).
scatter3(...,'filled') fills the markers.

Prof. Ferrigno

Transformations:
using the Robotics Toolbox (MANUAL)

- Define a point P in the ground reference O-xyz


Vector definition v = [2; 6; 4];

v = [2 6 4]; v=2*[1 3 2];

- Define an homogeneous transform with the origin coincident with P


T = transl(v);
- Define a rotation around the axes x/y/z of 10/-15/50 deg
Rx = rotx(10*pi/180);
q = [10 -15 50]*pi/180;
Ry = roty(-15*pi/180);
T = trchain('Rx(q1) Ry(q2) Rz(q3)', [q(1) q(2) q(3)]);
Rz = rotz(50*pi/180);
T(1:3,4) = v;
T(1:3,1:3) = Rx*Ry*Rz;
trplot(T); trprint(T); tranimate(T0,T1);
Prof. Ferrigno

Definition of a rigid body: Gram-Schmidt


algorithm

P2
[x2, y2, z2]

P3

P1
[x1, y1, z1]

Define a vector (vec1) between two


points and make it with unit norm
(vec1N)
Define a second vector (vec2_temp)
using starting point of the first vector
and a third point and normalize it.
Calculate the cross product between
them (vec3) and normalize it.

0 0 0

x p3
y p 3
z p3

Calculate the cross product between


vec3 and vec1 to find vec2 that is
orthogonal to both of them (and
normalize it)
Define then a proper origin
Prof. Ferrigno

Matlab Tips:
vector algebra

10

When v1 and v2 have the same dimensions ([3x1] 3D space)

Matrix multiplication

v1*v2

Dot product

dot(v1,v2)

Cross product

cross(v1,v2)

Norm

norm(v1)

Normalize

v1/norm(v1)

Element-wise

.* ./

Prof. Ferrigno

You might also like