Robot models simulate the kinematic and dynamic properties of manipulator
robots and other rigid body systems. The models are
rigidBodyJoint elements with
joint transformations and inertial properties.
Access predefined models for certain commercial robots, such as Kinova® and KUKA™, using the
Import existing UDRF or Simscape™
Multibody™ models using
Rigid Body Tree Models
|Import rigid body tree model from URDF, Xacro, SDF file, text, or Simscape Multibody model|
|Load rigid body tree robot model from robot library (Since R2019b)|
|Export URDF details in file format from rigid body tree model (Since R2023b)|
|Create tree-structured robot|
|Create a rigid body|
|Create a joint|
|Interact with rigid body tree robot models (Since R2020a)|
|Create URDF exporter object from rigid body tree robot model (Since R2023b)|
|Generate URDF file for rigid body tree robot model (Since R2023b)|
|Generate XML DOM node for rigid body tree robot model (Since R2023b)|
|Center of mass position and Jacobian|
|Compose external force matrix relative to base|
|Joint accelerations given joint torques and states|
|Geometric Jacobian for robot configuration|
|Joint torques that compensate gravity|
|Required joint torques for given motion|
|Joint-space mass matrix|
|Joint torques that cancel velocity-induced forces|
Kinematics and Dynamics
|Forward Dynamics||Joint accelerations given joint torques and states|
|Inverse Dynamics||Required joint torques for given motion|
|Get Jacobian||Geometric Jacobian for robot configuration|
|Get Transform||Get transform between body frames|
|Gravity Torque||Joint torques that compensate gravity|
|Joint Space Mass Matrix||Joint-space mass matrix for robot configuration|
|Velocity Product Torque||Joint torques that cancel velocity-induced forces|
- Rigid Body Tree Robot Model
Explore the 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.
- Joint-Space Motion Model
The joint-space motion model characterizes the motion of a manipulator under closed-loop joint-space position control, as used in the
jointSpaceMotionModelobject and Joint Space Motion Model block.
- Task-Space Motion Model
The task-space motion model characterizes the motion of a manipulator under closed-loop task-space position control, as used in the
taskSpaceMotionModelobject and Task Space Motion Model block.
- Robot Dynamics
This topic details the different elements, properties, and equations of rigid body robot dynamics.
- Install Robotics System Toolbox Robot Library Data Support Package
Use Add-On to add robot mesh data.