How petercorke/robotics-toolbox-matlab works
The repository is the Robotics Toolbox for MATLAB: a MATLAB robotics library for serial-link manipulators and mobile robots. The principal manipulator workflow is to load or define a robot model, evaluate its kinematics or dynamics, and use trajectories and visualization to inspect motion. Distinct documented capabilities include mobile-robot planning, localization and mapping, plus Simulink vehicle and quadrotor models. The graph follows README-described capabilities and examples; most implementation files were not sampled, so unsourced internal call relationships are omitted.
Main entry points: models Robot models · SerialLink.m SerialLink robot · Vehicle.m Mobile robot models · fkine.m Kinematics and IK
Components 17
Manipulator robotics
- Robot models
models - SerialLink robot
@SerialLink/SerialLink.m - Kinematics and IK
@SerialLink/fkine.m - Manipulator dynamics
@SerialLink/rne.m - Trajectory generation
jtraj.m - Robot visualization
@SerialLink/plot3d.m
Mobile robotics
- Mobile robot models
Vehicle.m - Path planning
ReedsShepp.m - Localization filters
ParticleFilter.m - Mapping and SLAM
PoseGraph.m - Sensors
RangeBearingSensor.m
Simulation and control
- Quadrotor simulation
simulink/quadrotor_dynamics.m - Vehicle simulation
simulink/nrotor_dynamics.m
Tools and hardware
- DH factorization
DHFactor.m - Code generation
@CodeGenerator/CodeGenerator.m - Robot interfaces
interfaces
Other components
- MATLAB user
Connections 18
- MATLAB user → Robot models: loads model
README.md - Robot models → SerialLink robot: creates robot
README.md - MATLAB user → Kinematics and IK: requests kinematics
README.md - SerialLink robot → Kinematics and IK: evaluates pose
README.md - MATLAB user → Manipulator dynamics: requests dynamics
README.md - MATLAB user → Trajectory generation: generates motion
README.md - MATLAB user → Robot visualization: animates motion
README.md - MATLAB user → Mobile robot models: creates vehicle
README.md - MATLAB user → Path planning: plans path
README.md - MATLAB user → Localization filters: runs filter
README.md - Mobile robot models → Localization filters: provides motion model
README.md - MATLAB user → Sensors: configures sensing
README.md - MATLAB user → Mapping and SLAM: builds map
README.md - MATLAB user → Quadrotor simulation: runs simulation
README.md - MATLAB user → Vehicle simulation: runs simulation
README.md - MATLAB user → DH factorization: factors transforms
README.md - MATLAB user → Code generation: generates code
README.md - MATLAB user → Robot interfaces: controls hardware
README.md