Manipulator Algorithm Design

Rigid body tree models, inverse kinematics, dynamics, trajectories

Robotics System Toolbox™ manipulator algorithms support workflows related to rigid body, articulated, and serial-link robots. You can import robot models from URDF files andSimscape™ Multibody™models usingimportrobot, or load an existing model withloadrobot. Use these robot models for many different robot tasks:

Define your机器人模型using arigidBodyTreeobject composed of rigid bodies with fixed, revolute, or prismatic joints. Generate joint configurations, define dynamics properties for inertial effects, and use joint- and task-space motion models to simulate robot motion.

Performinverse kinematicsto get joint configurations based on desired end-effector positions. Specify additional robot constraints other than the model parameters, including aiming constraints, Cartesian bounds, or pose targets.

Perform运动规划using your robot models and a rapidly exploring random tree (RRT) path planner.

Generatetrajectoriesbased on waypoints and other parameters with trapezoidal velocity profiles, B-splines, or polynomial trajectories.

Check forcollisionswith obstacles in your environment to ensure safe and effective motion for your robot.

Featured Examples

Plan and Execute Task- and Joint-Space Trajectories Using KINOVA Gen3 Manipulator

Generate and simulate interpolated joint trajectories to move from an initial to a desired end-effector pose. The timing of the trajectories is based on an approximate desired end of arm tool (EOAT) speed.

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Plan and Execute Collision-Free Trajectories Using KINOVA Gen3 Manipulator

Plan closed-loop collision-free robot trajectories from an initial to a desired end-effector pose using nonlinear model predictive control. The resulting trajectories are executed using a joint-space motion model with computed torque control. Obstacles can be static or dynamic, and can be either set as primitives (spheres, cylinders, boxes) or as custom meshes.

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