Robotics System Toolbox
Design, simulate, and test robotics applications
Robotics System Toolbox™ provides tools and algorithms for designing, simulating, and testing manipulators, mobile robots, and humanoid robots. For manipulators and humanoid robots, the toolbox includes algorithms for collision checking, trajectory generation, forward and inverse kinematics, and dynamics using a rigid body tree representation. For mobile robots, it includes algorithms for mapping, localization, path planning, path following, and motion control. The toolbox provides reference examples of common industrial robot applications. It also includes a library of commercially available industrial robot models that you can import, visualize, and simulate.
You can develop a functional robot prototype by combining the kinematic and dynamic models provided. The toolbox lets you co-simulate your robot applications by connecting directly to the Gazebo robotics simulator. To verify your design on hardware, you can connect to robotics platforms and generate and deploy code (with MATLAB Coder™ or Simulink Coder™).
Build your own robot models or use a library of commonly used robots to quickly model your robot applications. You can import Unified Robot Description Format (URDF) files or Simscape MultibodyTM models to create custom robot models and visual geometries.
Motion Modeling and Control
Model basic kinematics and dynamics of mobile robots and manipulators. Visualize and simulate robot motion to validate control algorithms.
Define robot models using rigid body tree representations. Build advanced motion controllers and interface with robot models to complete your robot workflows. Perform collision checking as well as inverse kinematics and dynamics calculations on your robot models.
Mobile Robot Algorithms
Create maps of environments using occupancy grids, localize robots within maps, and develop path planning and control algorithms for mobile robots.
Analytical Inverse Kinematics
Generate functions for inverse kinematics solutions using an analytical approach
RRT Planner for Manipulators
Plan collision-free motion for rigid body tree robot models
Collision Checking for Robot Meshes
Add collision meshes to rigid body tree models and check collisions for specific configurations
Publish and subscribe to custom message types and to messages for robot joint and link states in a Gazebo co-simulation
Educational and Commercial Robot Models
Simulate additional rigid body tree robot models for manipulators and mobile robots introduced to the library of robot models
Interactive Robot Visualization
Manipulate rigid body tree models with visual meshes and perform inverse kinematics for target bodies