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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/REC-html40/loose.dtd"><html><head> <title>Description of Contents</title> <meta name="keywords" content="Contents"> <meta name="description" content="Robotics Toolbox."> <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1"> <meta name="generator" content="m2html © 2003 Guillaume Flandin"> <meta name="robots" content="index, follow"> <link type="text/css" rel="stylesheet" href="./m2html.css"></head><body><a name="_top"></a><div><a href="./index.html">Home</a> > <a href="index.html">.</a> > Contents.m</div><!--<table width="100%"><tr><td align="left"><a href="./index.html"><img alt="<" border="0" src="./left.png"> Master index</a></td><td align="right"><a href="index.html">Index for . <img alt=">" border="0" src="./right.png"></a></td></tr></table>--><h1>Contents</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="box"><strong>Robotics Toolbox.</strong></div><h2><a name="_synopsis"></a>SYNOPSIS <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="box"><strong>This is a script file. </strong></div><h2><a name="_description"></a>DESCRIPTION <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="fragment"><pre class="comment"> Robotics Toolbox. Version 8 December 2008 What's new. Readme - New features and enhancements in this version. Homogeneous transformations angvec2r - angle/vector to rotation matrix 3x3 angvec2tr - angle/vector to transform 4x4 eul2r - Euler angle to rotation matrix 3x3 eul2tr - Euler angle to transform 4x4 oa2r - orientation and approach vector to rotation matrix 3x3 oa2tr - orientation and approach vector to transform 4x4 r2t - rotation submatrix to transform rotx - transform for rotation about X-axis 3x3 roty - transform for rotation about Y-axis 3x3 rotz - transform for rotation about Z-axis 3x3 rpy2r - roll/pitch/yaw angles to rotation matrix 3x3 rpy2tr - roll/pitch/yaw angles to transform 4x4 t2r - transform to rotation submatrix tr2angvec - transform to angle/vector form tr2eul - transform to Euler angles tr2rpy - transform to roll/pitch/yaw angles transl - set or extract the translational component of a transform 4x4 trnorm - normalize a transform trplot - plot a transform as a coordinate frame trotx - transform for rotation about X-axis 4x4 troty - transform for rotation about Y-axis 4x4 trotz - transform for rotation about Z-axis 4x4 Quaternion methods: / - 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 unit - unitize a quaternion qinterp - interpolate a quaternion Kinematics diff2tr - differential motion vector to transform fkine - compute forward kinematics 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 - transform to differential motion vector tr2jac - transform to Jacobian Dynamics accel - compute forward dynamics cinertia - compute Cartesian manipulator inertia matrix coriolis - compute centripetal/coriolis torque fdyn - forward dynamics ftrans - transform force/moment gravload - compute gravity loading inertia - compute manipulator inertia matrix itorque - compute inertia torque rne - inverse dynamics Trajectory generation ctraj - Cartesian trajectory jtraj - joint space trajectory trinterp - interpolate transform s Graphics drivebot - drive a graphical robot plot - plot/animate robot Other ishomog - true if argument is a 4x4 matrix isrot - true if argument is a 3x3 matrix isvec - true if argument is a 3-vector maniplty - compute manipulability unit - unitize a vector Robot methods: * - compound two robots friction - return joint friction torques nofriction - return a robot object with no friction perturb - return a robot object with perturbed parameters plot - plot/animate a robot Creation of robot models. Fanuc10L - Fanuc 10L (DH, kine) link - construct a robot link object MotomanHP6 - Motoman HP6 (DH, kine) puma560 - Puma 560 data (DH, kine, dyn) puma560akb - Puma 560 data (MDH, kine, dyn) robot - construct a robot object stanford - Stanford arm data (DH, kine, dyn) S4ABB2p8 - ABB S4 2.8 (DH, kine) twolink - simple 2-link example (DH, kine) Demonstrations. demos - toolbox demonstration Copyright (C) 2008, by Peter I. Corke</pre></div><!-- crossreference --><h2><a name="_cross"></a>CROSS-REFERENCE INFORMATION <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2>This function calls:<ul style="list-style-image:url(./matlabicon.gif)"></ul>This function is called by:<ul style="list-style-image:url(./matlabicon.gif)"></ul><!-- crossreference --><hr><address>Generated on Sun 15-Feb-2009 18:09:29 by <strong><a href="http://www.artefact.tk/software/matlab/m2html/">m2html</a></strong> © 2003</address></body></html>⌨️ 快捷键说明
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