Release 9.9
Release date April 2014
Licence LGPL
Toolbox home page http://www.petercorke.com/robot
Discussion group http://groups.google.com.au/group/robotics-tool-box
Copyright
c
2014 Peter Corke
peter.i.corke@gmail.com
http://www.petercorke.com
3
Preface
Peter C0rke
The practice of robotics and computer vision
each involve the application of computational algo-
rithms to data. The research community has devel-
oped a very large body of algorithms but for a
newcomer to the field this can be quite daunting.
For more t han 10 years t he author has m aintained two op en-
source
matlab
®
Toolboxes, one for robotics and one for vision.
They provide implementations of many important algorithms and
allow users to work with real problems, not just trivial examples.
This new book makes the fundamental algorithms of robotics,
vision and control accessible to all. It weaves together theory, algo-
rithms and examples in a narrative that covers robotics and com-
puter vision separately and together. Using the latest versions
of the Toolboxes the author shows how complex prob lems can be
decomposed and solved using just a few simple lines of code.
The topics covered are guided by real problems observed by the
author over many years as a practitioner of both robotics and
computer vision. It is w ritten in a light but informative style, it is
easy to read and absorb, and includes over 1000
matlab
®
and
Simulink
®
examples and figures. The book is a real walk through
the fundamentals of mobile robots, navigation, localization, arm-
robot kinematics, dynamics and joint level control, then camera
models, image processing, feature extraction and multi-view
geometry, and finally bringing it all together with an extensive
discussion of visual servo systems.
Peter Corke
Robotics,
Vision
and
Control
Robotics, Vision and Control
isbn 978-3-642-20143-1
1
›
springer.com
123
Corke
FUNDAMENTAL
ALGORITHMS
IN MATLAB®
783642 2014319
Robotics,
Vision
and
Control
This, the ninth release of the Toolbox, represents
over fifteen years of development and a substan-
tial level of maturity. This version captures a large
number of changes and extensions generated over
the last two years which support my new book
“Robotics, Vision & Control” shown to the left.
The Toolbox has always provided many functions
that are useful for the study and simulation of clas-
sical arm-type robotics, for example such things
as kinematics, dynamics, and trajectory generation.
The Toolbox is based on a very general method of
representing the kinematics and dynamics of serial-
link manipulators. These parameters are encapsu-
lated in MATLAB
R
objects — robot objects can be
created by the user for any serial-link manipulator
and a number of examples are provided for well know robots such as the Puma 560
and the Stanford arm amongst others. The Toolbox also provides functions for manip-
ulating and converting between datatypes such as vectors, homogeneous transforma-
tions and unit-quaternions which are necessary to represent 3-dimensional position and
orientation.
This ninth release of the Toolbox has been significantly extended to support mobile
robots. For ground robots the Toolbox includes standard path planning algorithms
(bug, distance transform, D*, PRM), kinodynamic planning (RRT), localization (EKF,
particle filter), map building (EKF) and simultaneous localization and mapping (EKF),
and a Simulink model a of non-holonomic vehicle. The Toolbox also including a de-
tailed Simulink model for a quadcopter flying robot.
The routines are generally written in a straightforward manner which allows for easy
understanding, perhaps at the expense of computational efficiency. If you feel strongly
about computational efficiency then you can always rewrite the function to be more
efficient, compile the M-file using the MATLAB
R
compiler, or create a MEX version.
The manual is now auto-generated from the comments in the MATLAB
R
code itself
which reduces the effort in maintaining code and a separate manual as I used to — the
downside is that there are no worked examples and figures in the manual. However the
book “Robotics, Vision & Control ” provides a detailed discussion (600 pages, nearly
400 figures and 1000 code examples) of how to use the Toolbox functions to solve
Robotics Toolbox 9.9 for MATLAB
R
4 Copyright
c
Peter Corke 2014
many types of problems in robotics.
Robotics Toolbox 9.9 for MATLAB
R
5 Copyright
c
Peter Corke 2014
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