# Robotics-Toolbox

**Repository Path**: star2dust/Robotics-Toolbox

## Basic Information

- **Project Name**: Robotics-Toolbox
- **Description**: Peter Corke's robotics toolbox for matlab and some of my personsal scripts.
- **Primary Language**: Unknown
- **License**: MIT
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2020-07-28
- **Last Updated**: 2022-01-27

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## 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`. 

<img src="rvcdlcs\example\model_tutorials\youbot.gif" alt="youbot" width="250" /> <img src="rvcdlcs\example\model_tutorials\youbot3d.gif" alt="youbot3d" width="250" />

- 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). 

<img src="rvcdlcs\example\model_tutorials\mpr_eg.png" alt="mpr" width="250" />

- 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.

    <img src="rvcdlcs\example\path_planning\env_2d_eg.jpg" alt="env" width="250" /><img src="rvcdlcs\example\path_planning\uav_3d_demo.gif" alt="uav" width="250" />

## 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 = <the path where you put toolbox>
  % 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/)