Robotics Toolbox for MATLAB

The Toolbox has always provided many functions
that are useful for the study and simulation of clas-
sical 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 as 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 quadcopter flying robot.

The routines are generally written in a straightforward manner which allows for easy understanding.