https://github.com/star2dust/robotics-toolbox
Robotics Toolbox Extension：matlab scripts for cooperative control and manipulation based on Peter Corke's robotics toolbox. Also fix some bugs of RTB 10.3.1.
https://github.com/star2dust/robotics-toolbox
corke matlab mobile-robots multi-agent-systems planning robotics-toolbox
Last synced: 4 months ago
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Robotics Toolbox Extension：matlab scripts for cooperative control and manipulation based on Peter Corke's robotics toolbox. Also fix some bugs of RTB 10.3.1.
- Host: GitHub
- URL: https://github.com/star2dust/robotics-toolbox
- Owner: star2dust
- License: mit
- Created: 2019-10-20T14:43:02.000Z (over 5 years ago)
- Default Branch: master
- Last Pushed: 2024-06-15T10:28:54.000Z (10 months ago)
- Last Synced: 2024-12-11T10:24:00.179Z (4 months ago)
- Topics: corke, matlab, mobile-robots, multi-agent-systems, planning, robotics-toolbox
- Language: MATLAB
- Homepage: https://github.com/star2dust/Robotics-Toolbox
- Size: 190 MB
- Stars: 48
- Watchers: 4
- Forks: 16
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Robotics Toolbox Extension (rvcdlcs)
RTE contains a lot of useful scripts for research works ([what is new?](https://github.com/star2dust/Robotics-Toolbox/tree/master/rvcdlcs/LOG.md)) , which is based on RTB of Peter Corke.
The introduction of RTB of Peter Corke, see [here](https://github.com/star2dust/Robotics-Toolbox/tree/master/rvctools/README.md).
- New function for `SE2`, `SE3`.
1. `SE2.q`: Get translation and angle in a row vector.
2. `SE3.qrpy`/`SE3.qeul`: Construct an SE(3) object from translation and rpy/eul angles
3. `SE3.toqrpy`/`SE3.toqeul`: Get translation and rpy/eul angle in a row vector.
4. `SE2.q`, `SE3.qrpy`, `SE3.qeul` support both 1x3 and 1x6 vectors.
- New `LineStyle` option for `SE2.plot` and `SE3.plot`. Example: `SE3.plot('style','-.')`. (4 styles: -. / : / .. / --)
- New functions for DH parameters and POE parameters. (See folder `src/robotics`)
1. `poe2dh`: Transfer POE parameters to DH parameters.
2. `dh2poe`: Transfer DH parameters to POE parameters.
- New `qlim` option for `SerialLink` object construction by DH parameters. (`Qlim`: m x 2 matrix)
- Example: `SerialLink([dh,sigma], 'base', Hb, 'tool', Ht, 'qlim', Qlim)`.
- New classes for Mobile Robots. (See folder `src/robotics` and `example/model_tutorials`)
1. `Cuboid`: Rigid Cuboid 3D Model class (rpy).
2. `Cylinder`: Rigid Cylinder 3D Model class (rpy).
3. `Youbot`: Youbot Platform 3D Model class (rpy), inherited from `Cuboid`.
4. `Omniwheel`: Mecanum Wheel 3D Model class (rpy), inherited from `Cylinder`.
5. `Platform`: Mobile Platform 3D Model class (rpy), formed by `Youbot` and `Omniwheel`.
- New classes for Mobile Manipulator. (See folder `src/robotics` and `example/model_tutorials`)
1. `MobileManipulator`: Mobile Manipulator 3D Model class (rpy).
2. `MobilePlanarRevolute`: Mobile Robot with Planar Revolute Manipulator 3D Model class (rpy, stdDH).
- New functions for path planning. (See folder `src/planning` and `example/path_planning`).
1. `environment`: Generate 3D obstacle environment with grid cell.
2. `ind2loc`: Get real coordinate from map index.
3. `map2gphA`: Transfer map matrix to adjancent matrix A of graph.
4. `dijkstra`: Dijkstra algorithm for graph searching.
5. `astar`: A* algorithm for graph searching.
## Installation
For RTE, you can install it by following the procedures below.
- `git clone https://github.com/star2dust/Robotics-Toolbox.git`
- Add the toolbox folder to MATLAB path.
- 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).
- An example for `startup.m`:
```matlab
% set toolpath
toolpath =
% add robotics toolbox
addpath([toolpath 'Robotics-Toolbox/rvctools/release10.3.1'])
addpath([toolpath 'Robotics-Toolbox/rvcdlcs/src'])
startup_rvc
startup_rte
```
## References
1. [P.I. Corke. (2017). Robotics, Vision & Control. Springer. ISBN 978-3-319-54413-7.](http://petercorke.com/wordpress/toolboxes/robotics-toolbox)
2. [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)
3. [Deits, R., & 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)
4. [Wu, L., Crawford, R., & 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/)