Robot Models

Rigid body tree models, forward kinematics, dynamics, joint- and task-space motion models

Robot models are used to represent the kinematic and dynamic properties of manipulator robots and other rigid body systems. The model is represented as a rigidBodyTree object containing rigidBody and rigidBodyJoint elements with joint transformations and inertial properties. Certain commercial robots like KINOVA and KUKA are available using loadrobot. Import existing UDRF or Simscape™ Multibody™ models using importrobot. You can also model the motion of the robots using joint- or task-space motion models.

Functions

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importrobotImport rigid body tree model from URDF file, text, or Simscape Multibody model
loadrobotLoad rigid body tree robot model
rigidBodyTreeCreate tree-structured robot
rigidBodyCreate a rigid body
rigidBodyJointCreate a joint
jointSpaceMotionModelModel rigid body tree motion given joint-space inputs
taskSpaceMotionModelModel rigid body tree motion given task-space reference inputs
getTransformGet transform between body frames
randomConfigurationGenerate random configuration of robot
homeConfigurationGet home configuration of robot
showShow robot model in a figure
centerOfMassCenter of mass position and Jacobian
externalForceCompose external force matrix relative to base
forwardDynamicsJoint accelerations given joint torques and states
geometricJacobianGeometric Jacobian for robot configuration
gravityTorqueJoint torques that compensate gravity
inverseDynamicsRequired joint torques for given motion
massMatrixJoint-space mass matrix
velocityProductJoint torques that cancel velocity-induced forces

Blocks

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Forward DynamicsJoint accelerations given joint torques and states
Inverse DynamicsRequired joint torques for given motion
Get JacobianGeometric Jacobian for robot configuration
Get TransformGet transform between body frames
Gravity TorqueJoint torques that compensate gravity
Joint Space Mass MatrixJoint-space mass matrix for robot configuration
Velocity Product TorqueJoint torques that cancel velocity-induced forces
Joint Space Motion ModelModel rigid body tree motion given joint-space inputs
Task Space Motion ModelModel rigid body tree motion given task-space inputs

Topics

Rigid Body Tree Robot Model

Model structure and specific components of a rigid body tree robot model

Build a Robot Step by Step

This example goes through the process of building a robot step by step, showing you the different robot components and how functions are called to build it.

Robot Dynamics

Robot dynamics is the relationship between the forces acting on a robot and the resulting motion of the robot.

Plan and Execute Task- and Joint-space Trajectories using KINOVA Gen3 Manipulator

This example shows how to generate and simulate interpolated joint trajectories to move from an initial to a desired end-effector pose.