{"id":19005508,"url":"https://github.com/star2dust/robotics-toolbox","last_synced_at":"2025-08-11T14:41:09.010Z","repository":{"id":54634882,"uuid":"216376967","full_name":"star2dust/Robotics-Toolbox","owner":"star2dust","description":"Robotics Toolbox Extension：matlab scripts for cooperative control and manipulation based on Peter Corke's robotics toolbox.  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Example:  `SE3.plot('style','-.')`. (4 styles: -. / : / .. / --)\n\t\n- New functions for DH parameters and POE parameters. (See folder `src/robotics`)\n\n    1. `poe2dh`: Transfer POE parameters to DH parameters.\n    2. `dh2poe`: Transfer DH parameters to POE parameters.\n    \n- New `qlim` option for `SerialLink` object construction by DH parameters. (`Qlim`: m x 2 matrix)\n\n    - Example: `SerialLink([dh,sigma], 'base', Hb, 'tool', Ht, 'qlim', Qlim)`.\n    \n- New classes for Mobile Robots. (See folder `src/robotics` and `example/model_tutorials`)\n\n    1. `Cuboid`: Rigid Cuboid 3D Model class (rpy).\n    2. `Cylinder`: Rigid Cylinder 3D Model class (rpy).\n    3. `Youbot`: Youbot Platform 3D Model class (rpy), inherited from `Cuboid`.\n    4. `Omniwheel`: Mecanum Wheel 3D Model class (rpy), inherited from `Cylinder`.\n    5. `Platform`: Mobile Platform 3D Model class (rpy), formed by `Youbot` and `Omniwheel`. \n\n\u003cimg src=\"rvcdlcs\\example\\model_tutorials\\youbot.gif\" alt=\"youbot\" width=\"250\" /\u003e \u003cimg src=\"rvcdlcs\\example\\model_tutorials\\youbot3d.gif\" alt=\"youbot3d\" width=\"250\" /\u003e\n\n- New classes for Mobile Manipulator. (See folder `src/robotics` and `example/model_tutorials`)\n    1. `MobileManipulator`: Mobile Manipulator 3D Model class (rpy).\n    2. `MobilePlanarRevolute`: Mobile Robot with Planar Revolute Manipulator 3D Model class (rpy, stdDH). \n\n\u003cimg src=\"rvcdlcs\\example\\model_tutorials\\mpr_eg.png\" alt=\"mpr\" width=\"250\" /\u003e\n\n- New functions for path planning. (See folder `src/planning` and `example/path_planning`).\n\n    1. `environment`: Generate 3D obstacle environment with grid cell. \n    2. `ind2loc`: Get real coordinate from map index.\n    3. `map2gphA`: Transfer map matrix to adjancent matrix A of graph.\n    4. `dijkstra`: Dijkstra algorithm for graph searching.\n    5. `astar`: A* algorithm for graph searching.\n\n    \u003cimg src=\"rvcdlcs\\example\\path_planning\\env_2d_eg.jpg\" alt=\"env\" width=\"250\" /\u003e\u003cimg src=\"rvcdlcs\\example\\path_planning\\uav_3d_demo.gif\" alt=\"uav\" width=\"250\" /\u003e\n\n## Installation\n\nFor RTE, you can install it by following the procedures below.\n\n- `git clone https://github.com/star2dust/Robotics-Toolbox.git`\n- Add the toolbox folder to MATLAB path.\n- Add `startup_rvc` and `startup_rte` to the last line of the file `startup.m` in your MATLAB default working folder (or run it directly).\n- An example for `startup.m`:\n\n  ```matlab\n  % set toolpath\n  toolpath = \u003cthe path where you put toolbox\u003e\n  % add robotics toolbox\n  addpath([toolpath 'Robotics-Toolbox/rvctools/release10.3.1'])\n  addpath([toolpath 'Robotics-Toolbox/rvcdlcs/src'])\n  startup_rvc\n  startup_rte\n  ```\n\n## References\n\n1. [P.I. Corke. (2017). Robotics, Vision \u0026 Control. Springer. ISBN 978-3-319-54413-7.](http://petercorke.com/wordpress/toolboxes/robotics-toolbox)\n2. [Murray, R. M. (1994). A mathematical introduction to robotic manipulation. CRC press.](https://www.crcpress.com/A-Mathematical-Introduction-to-Robotic-Manipulation/Murray/p/book/9780849379819)\n3. [Deits, R., \u0026 Tedrake, R. (2015). Computing large convex regions of obstacle-free space through semidefinite programming. *Springer Tracts in Advanced Robotics*, *107*, 109-124.](http://groups.csail.mit.edu/robotics-center/public_papers/Deits14.pdf)\n4. [Wu, L., Crawford, R., \u0026 Roberts, J. (2017). An analytic approach to converting POE parameters into D-H parameters for serial-link robots. IEEE Robotics and Automation Letters, 2(4), 2174-2179.](https://ieeexplore.ieee.org/document/7968294/)\n\n\n\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fstar2dust%2Frobotics-toolbox","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fstar2dust%2Frobotics-toolbox","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fstar2dust%2Frobotics-toolbox/lists"}