www.gusucode.com > 机器人工具箱 - robot源码程序 > robot\Contents.m
% Robotics Toolbox. % Version 8 December 2008 % % What's new. % Readme - New features and enhancements in this version. % % Homogeneous transformations % angvec2r - angle/vector to rotation matrix 3x3 % angvec2tr - angle/vector to transform 4x4 % eul2r - Euler angle to rotation matrix 3x3 % eul2tr - Euler angle to transform 4x4 % oa2r - orientation and approach vector to rotation matrix 3x3 % oa2tr - orientation and approach vector to transform 4x4 % r2t - rotation submatrix to transform % rotx - transform for rotation about X-axis 3x3 % roty - transform for rotation about Y-axis 3x3 % rotz - transform for rotation about Z-axis 3x3 % rpy2r - roll/pitch/yaw angles to rotation matrix 3x3 % rpy2tr - roll/pitch/yaw angles to transform 4x4 % t2r - transform to rotation submatrix % tr2angvec - transform to angle/vector form % tr2eul - transform to Euler angles % tr2rpy - transform to roll/pitch/yaw angles % transl - set or extract the translational component of a transform 4x4 % trnorm - normalize a transform % trplot - plot a transform as a coordinate frame % trotx - transform for rotation about X-axis 4x4 % troty - transform for rotation about Y-axis 4x4 % trotz - transform for rotation about Z-axis 4x4 % % Quaternion methods: % / - divide quaternion by quaternion or scalar % * - multiply quaternion by a quaternion or vector % inv - invert a quaternion % norm - norm of a quaternion % plot - display a quaternion as a 3D rotation % unit - unitize a quaternion % qinterp - interpolate a quaternion % % Kinematics % diff2tr - differential motion vector to transform % fkine - compute forward kinematics % ikine - compute inverse kinematics % ikine560 - compute inverse kinematics for Puma 560 like arm % jacob0 - compute Jacobian in base coordinate frame % jacobn - compute Jacobian in end-effector coordinate frame % tr2diff - transform to differential motion vector % tr2jac - transform to Jacobian % % Dynamics % accel - compute forward dynamics % cinertia - compute Cartesian manipulator inertia matrix % coriolis - compute centripetal/coriolis torque % fdyn - forward dynamics % ftrans - transform force/moment % gravload - compute gravity loading % inertia - compute manipulator inertia matrix % itorque - compute inertia torque % rne - inverse dynamics % % Trajectory generation % ctraj - Cartesian trajectory % jtraj - joint space trajectory % trinterp - interpolate transform s % % Graphics % drivebot - drive a graphical robot % plot - plot/animate robot % % Other % ishomog - true if argument is a 4x4 matrix % isrot - true if argument is a 3x3 matrix % isvec - true if argument is a 3-vector % maniplty - compute manipulability % unit - unitize a vector % % Robot methods: % * - compound two robots % friction - return joint friction torques % nofriction - return a robot object with no friction % perturb - return a robot object with perturbed parameters % plot - plot/animate a robot % % Creation of robot models. % Fanuc10L - Fanuc 10L (DH, kine) % link - construct a robot link object % MotomanHP6 - Motoman HP6 (DH, kine) % puma560 - Puma 560 data (DH, kine, dyn) % puma560akb - Puma 560 data (MDH, kine, dyn) % robot - construct a robot object % stanford - Stanford arm data (DH, kine, dyn) % S4ABB2p8 - ABB S4 2.8 (DH, kine) % twolink - simple 2-link example (DH, kine) % % Demonstrations. % demos - toolbox demonstration % % Copyright (C) 2008, by Peter I. Corke