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Robotics Toolbox Extension (rvcdlcs)

RTE contains a lot of useful scripts for research works (what is new?) , which is based on RTB of Peter Corke.

The introduction of RTB of Peter Corke, see here.

• 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).

• 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:

  % 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.
2. Murray, R. M. (1994). A mathematical introduction to robotic manipulation. CRC press.
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.
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.