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[资源] 【MATLAB书籍162】《Robotics Toolbox for MATLAB_ (Release 9)》(英文版)【无重复】

【MATLAB书籍162】《Robotics Toolbox for MATLAB_ (Release 9)》(英文版)【已搜索，无重复】

作者：Peter Corke
出版时间：2012年
页码：166 页
语言：英文
文件格式：PDF
书籍简介：
This, the ninth release of the Toolbox, represents over fifteen years of development and a substantial level of maturity.  This version captures a large number of changes and extensions generated over the last two years which support my new book “Robotics, Vision & Control”.
The Toolbox has always provided many functions that are useful for the study and simulation of classical arm-type robotics, for example such things as kinematics, dynamics, and  trajectory generation. The Toolbox is based on a very general method of representing the kinematics and dynamics of serial-link manipulators.
These parameters  are encapsulated in MATLAB objects -  robot objects can be created by the user for any serial-link manipulator and a number of examples are provided for well know robots such as the Puma 560 and the Stanford arm amongst others.  The Toolbox also provides functions for manipulating and converting between datatypes such as vectors, homogeneous transformations and unit-quaternions which are necessary to represent 3-dimensional position and orientation.
This ninth release of the Toolbox has been significantly extended to support mobile robots.  For ground robots the Toolbox includes standard path planning algorithms (bug, distance transform, D*, PRM), kinodynamic planning (RRT), localization (EKF, particle filter), map building (EKF) and simultaneous localization and mapping (EKF), and a Simulink model a of non-holonomic vehicle.  The Toolbox also including a detailed Simulink model for a quadrotor flying robot.
Advantages of the Toolbox are that:
•the code is quite mature and provides a point of comparison for other implementations of the same algorithms;
•the routines are generally written in a straightforward manner which allows for easy understanding, perhaps at the expense of computational efficiency. If you feel strongly about computational efficiency then you can always rewrite the function to be more efficient, compile the M-file using the Matlab compiler, or create a MEX version;
•since source code is available there is a benefit for understanding and teaching.
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2015-08-09 07:07:26, 6.92 M