| Homogeneous Transforms | |
|---|---|
| angvec2tr | angle/vector form to \hom |
| eul2tr | Euler angle to \hom |
| oa2tr | orientation and approach vector to \hom |
| rpy2tr | Roll/pitch/yaw angles to \hom |
| tr2angvec | \hom\ or \rot\ to angle/vector form |
| tr2eul | \hom\ or \rot\ to Euler angles |
| t2r | \hom\ to rotation submatrix |
| tr2rpy | \hom\ or \rot\ to roll/pitch/yaw angles |
| trotx | \hom\ for rotation about X-axis |
| troty | \hom\ for rotation about Y-axis |
| trotz | \hom\ for rotation about Z-axis |
| transl | set or extract the translational component of a \hom |
| trnorm | normalize a \hom |
| trplot | plot a \hom as a coordinate frame |
| Rotation matrices | |
|---|---|
| angvecr | angle/vector form to \rot |
| eul2r | Euler angle to \rot |
| oa2r | orientation and approach vector to \hom |
| rotx | \rot\ for rotation about X-axis |
| roty | \rot\ for rotation about Y-axis |
| rotz | \rot\ for rotation about Z-axis |
| rpy2r | Roll/pitch/yaw angles to \rot |
| r2t | \rot\ to \hom\ |
| Trajectory Generation | |
|---|---|
| ctraj | Cartesian trajectory |
| jtraj | joint space trajectory |
| trinterp | interpolate \hom s |
| Quaternions | |
|---|---|
| + | elementwise addition |
| - | elementwise addition |
| / | divide quaternion by quaternion or scalar |
| * | multiply quaternion by a quaternion or vector |
| inv | invert a quaternion |
| norm | norm of a quaternion |
| plot | display a quaternion as a 3D rotation |
| q2tr | quaternion to \hom |
| quaternion | construct a quaternion |
| qinterp | interpolate quaternions |
| unit | unitize a quaternion |
| General serial link manipulators | |
|---|---|
| link | construct a robot link object |
| nofriction | remove friction from a robot object |
| perturb | randomly modify some dynamic parameters |
| robot | construct a robot object |
| showlink | show link/robot data in detail |
| Manipulator Models | |
|---|---|
| Fanuc10L | Fanuc 10L arm data (DH, kine) |
| MotomanHP6 | Motoman HP6 arm data (DH, kine) |
| puma560 | Puma 560 data (DH, kine, dyn) |
| puma560akb | Puma 560 data (MDH, kine, dyn) |
| S4ABB2p8 | ABB S4 2.8 arm data (DH, kine) |
| stanford | Stanford arm data (DH, kine, dyn) |
| twolink | simple 2-link example (DH, kine) |
| Kinematics | |
|---|---|
| diff2tr | differential motion vector to transform |
| fkine | compute forward kinematics |
| ftrans | transform force/moment |
| ikine | compute inverse kinematics |
| ikine560 | compute inverse kinematics for Puma 560 like arm |
| jacob0 | compute Jacobian in base coordinate frame |
| jacobn | compute Jacobian in end-effector coordinate frame |
| tr2diff | \hom\ to differential motion vector |
| tr2jac | \hom\ to Jacobian |
| Graphics | |
|---|---|
| drivebot | drive a graphical robot |
| plot | plot/animate robot |
| Dynamics | |
|---|---|
| accel | compute forward dynamics |
| cinertia | compute Cartesian manipulator inertia matrix |
| coriolis | compute centripetal/coriolis torque |
| fdyn | forward dynamics (motion given forces) |
| friction | joint friction |
| gravload | compute gravity loading |
| inertia | compute manipulator inertia matrix |
| itorque | compute inertia torque |
| rne | inverse dynamics (forces given motion) |
| Other | |
|---|---|
| ishomog | test if argument is $4 \times 4$ |
| isrot | test if argument is $3 \times 3$ |
| isvec | test if argument is a 3-vector |
| maniplty | compute manipulability |
| rtdemo | toolbox demonstration |
| unit | unitize a vector |