Robotic Manipulators

Design and deploy robotic manipulator applications over ROS or ROS 2 network

ROS Toolbox enables you to connect to ROS-enabled simulators such as Gazebo or Unity^®, to simulate applications using robotic manipulator models such as Kinova^® Robot Arm or Universal Robots UR Series Manipulator in the simulation environment.

You can model the robotic manipulator using Robotics System Toolbox™ to demonstrate task-space understanding and motion planning for collision avoidance. You can then establish a communication channel with the simulator through ROS Toolbox and simulate applications such as end-to-end pick-and-place workflow, and also maneuver the robotic manipulator by sending control commands through ROS messages using the ROS Toolbox and view the simulated trajectory in Gazebo or Unity.

Featured Examples

Pick-and-Place Workflow in Gazebo Using ROS

Setup an end-to-end pick-and-place workflow for a robotic manipulator like the Kinova® Gen3 and simulate the robot in the Gazebo physics simulator.

Pick-and-Place Workflow in Unity 3D Using ROS

Set up an end-to-end pick-and-place workflow for a robotic manipulator like the Kinova Gen3, and simulate the robot in the Unity game engine.

Open Live Script

Pick-and-Place Workflow in Gazebo Using Point-Cloud Processing and RRT Path Planning

Set up an end-to-end, pick-and-place workflow for a robotic manipulator like the KINOVA® Gen3.

Control PR2 Arm Movements Using ROS Actions and Inverse Kinematics

Send commands to robotic manipulators in MATLAB®. Joint position commands are sent via a ROS action client over a ROS network. This example also shows how to calculate joint positions for a desired end-effector position. A rigid body tree defines the robot geometry and joint constraints, which is used with inverse kinematics to get the robot joint positions. You can then send these joint positions as a trajectory to command the robot to move.

Design and Simulate Warehouse Pick-and-Place Application Using Mobile Manipulator in Simulink and Gazebo

Set up an end-to-end, pick-and-place workflow for a mobile manipulator using Simulink® and Gazebo®.

Generate Automated ros_control Plugin for 3-D Shape Tracing Manipulator

Generate and deploy a 3-D shape tracing contoller as a ros_control plugin from Simulink. Perform 3-D shape tracing using UR manipulator and depth point cloud.

Open Live Script

Design and Validate Object Detection and Motion Planning Algorithms Using Gazebo, OpenCV, and MATLAB

Design and validate complex application workflows for a robotic manipulator like the Kinova Gen3 7-DoF Ultralightweight Robot using Gazebo® physics simulator, OpenCV, Robotics Systems Toolbox™ and ROS Toolbox.

Getting Started with Connecting and Controlling a UR5e Cobot from Universal Robots

Use the urROSNode object to connect with a Universal Robots cobot and move the robot using joint space control, task space control, waypoint tracking in task space, and waypoint tracking in joint space. This example uses Robotics Systems Toolbox™ and ROS Toolbox.

Getting Started with Standalone ROS Node Generation for Universal Robots

Semi-Structured Intelligent Bin Picking for UR5e Using YOLO and PCA-Based Object Detection

Detailed workflow for intelligent bin picking using Universal Robots UR5e cobot. The MATLAB project provided with this example consists of the Initialize, Perception, Motion Planning, and Integration modules (project folders) to create a complete bin picking workflow.