To quickly access common robot models, use the loadrobot function, which loads commercially available robot models like the Universal Robots™ UR10 cobot, Boston Dynamics™ Atlas humanoid, and KINOVA™ Gen 3 manipulator. Explore how to generate joint configurations and interact with the robot models.

Use the elements of the rigid body tree robot model to build a basic robot arm with five degrees of freedom. The model built in this example represents a common table top robot arms built with servos and an integrated circuit board.

Provides an overview of the types of trajectories available in Robotics System Toolbox™. For manipulator motion, planning, and control applications, you must choose a trajectory for the robot to follow. There are three main sections of this example. The first section shows the types of trajectories that manipulators use, the second section demonstrates functions for generating trajectories, and the final section shows more tools for trajectory planning.

Build a trajectory using interactive markers on the ABB YuMi robot model. The interactiveRigidBodyTree object displays the rigid body tree robot model in an interactive figure. This example shows how to move different parts of the robot, design a trajectory, and save configurations.

この例では、初期姿勢から目的のエンドエフェクタ姿勢に移動するために、内挿されたジョイント軌跡を生成してシミュレートする方法を説明します。軌跡のタイミングは、アーム ツール端 (EOAT) の望ましいおよその速度に基づきます。

Use Simulink® with Robotics System Toolbox™ to design a position controller for a manipulator and compute joint position required to drive the Simscape™ Multibody™ model of the manipulator.

Use Simulink® with Robotics System Toolbox™ to perform trajectory tracking and compute joint torque required to drive the Simscape™ Multibody™ model of the manipulator along the given joint trajectory. This example can be further extended to scenarios with obstacles to observe the changes in torque profile.