Software
The Robotics Toolbox is MATLAB toolbox software that supports research and teaching into arm-type and mobile robotics. While the Robotics Toolbox is free software, it requires the proprietary MATLAB environment in order to execute. The Toolbox forms the basis of the exercises in several textbooks.
Purpose.
The Toolbox provides functions for manipulating and converting between datatypes such as vectors, homogeneous transformations, roll-pitch-yaw and Euler angles, axis-angle representation, unit-quaternions, and twists, which are necessary to represent 3-dimensional position and orientation. It also plots coordinate frames, supports Plücker coordinates to represent lines, and provides support for Lie group operations such as logarithm, exponentiation, and conversions to and from skew-symmetric matrix form.
As the basis of the exercises in several textbooks, the Toolbox is useful for the study and simulation of:
The Toolbox requires MATLAB, commercial software from MathWorks, in order to operate.
Relationship to other toolboxes.
The Robotics System Toolbox for MATLAB is proprietary software published by MathWorks which includes support for robot manipulators and mobile robotics. Its functionality significantly overlaps that of the Robotics Toolbox for MATLAB but the programming model is quite different.
The Robotics Toolbox for Python is a reimplementation of the Robotics Toolbox for MATLAB for Python 3. Its functionality is a superset of the Robotics Toolbox for MATLAB, the programming model is similar, and it supports additional methods to define a serial link manipulator including URDF and elementary transform sequences.
References.
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