https://github.com/alessioborgi/robomat
A comprehensive MATLAB library for solving a wide range of robotics tasks, providing tools and functions for robotic simulations, control systems, kinematics, and path planning.
https://github.com/alessioborgi/robomat
angular axis-angle cameras differential-kinematics direct-kinematics euler inverse-kinematics jacobian kinematics matlab matlab-codes robot robotics trajectory-planning velocity workspace
Last synced: 4 months ago
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A comprehensive MATLAB library for solving a wide range of robotics tasks, providing tools and functions for robotic simulations, control systems, kinematics, and path planning.
- Host: GitHub
- URL: https://github.com/alessioborgi/robomat
- Owner: alessioborgi
- License: mit
- Created: 2024-09-15T21:43:11.000Z (9 months ago)
- Default Branch: main
- Last Pushed: 2024-09-15T21:55:28.000Z (9 months ago)
- Last Synced: 2025-02-05T23:53:24.464Z (4 months ago)
- Topics: angular, axis-angle, cameras, differential-kinematics, direct-kinematics, euler, inverse-kinematics, jacobian, kinematics, matlab, matlab-codes, robot, robotics, trajectory-planning, velocity, workspace
- Language: MATLAB
- Homepage:
- Size: 107 KB
- Stars: 2
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# RoboMAT
### Copyright © 2024 Alessio Borgi
# RoboMAT
RoboMAT is a comprehensive MATLAB library designed to address a variety of robotics tasks. This library offers a suite of tools and functions for robotic simulations, control systems, kinematics, dynamics, and path planning. With RoboMAT, researchers and engineers can easily implement and test robotic algorithms in a MATLAB environment.
## Features
- **Robotic Simulations**: Create and simulate different robot models, including manipulators and mobile robots.
- **Kinematics**: Compute forward and inverse kinematics for various robotic configurations.
- **Dynamics**: Model and simulate the dynamics of robotic systems using standard algorithms like Newton-Euler.
- **Control Systems**: Implement classical and modern control algorithms to manage robotic motion.
- **Path Planning**: Integrate various path planning techniques to navigate robots in complex environments.
- **Sensor Integration**: Includes functions for integrating sensors like LiDAR and cameras for perception tasks.
- **Extensible**: Easily extend the library by adding custom robot models and algorithms.
## Installation
### Prerequisites
- MATLAB (R2020b or later)
- Robotics System Toolbox (optional for certain features)
- Simulink (optional for dynamic simulations)
### Steps
1. Clone the repository to your local machine:
```bash
git clone https://github.com/alessioborgi/RoboMAT.git
```
2. Add the library to your MATLAB path in the MATLAB Command Window:
```matlab
addpath(genpath('path/to/RoboMAT'));
```
3. (Optional) Install additional toolboxes or dependencies as needed for your tasks.
### Documentation
Detailed documentation for each function and feature of RoboMAT can be found in the docs folder of the repository. Additionally, inline comments and example scripts are provided to help users understand how to implement various robotic algorithms.
### Contributing
Contributions to RoboMAT are welcome! If you’d like to add new features, improve existing functions, or fix bugs, please follow these steps:
1. Fork the repository.
2. Create a new branch for your feature or bug fix:
```bash
git checkout -b feature-name
```
3. Commit your changes and push to your forked repository.
4. Create a pull request to merge your changes into the main repository.
### License
This project is licensed under the MIT License. See the LICENSE file for more details.