Robot Models

Rigid body tree models, forward kinematics, dynamics, joint- and task-space motion models

Robot models simulate the kinematic and dynamic properties of manipulator robots and other rigid body systems. The models are rigidBodyTree objects containing rigidBody and rigidBodyJoint elements with joint transformations and inertial properties.

Access predefined models for certain commercial robots, such as KINOVA™ and KUKA™, using the loadrobot function.

Import existing UDRF or Simscape™ Multibody™ models using importrobot.

Model the motion of the robots using joint- or task-space motion models as jointSpaceMotionModel and taskSpaceMotionModel objects.

Functions

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Rigid Body Tree Models

`importrobot`	Import rigid body tree model from URDF, Xacro, SDF file, text, or Simscape Multibody model
`loadrobot`	Load rigid body tree robot model
`rigidBodyTree`	Create tree-structured robot
`rigidBody`	Create a rigid body
`rigidBodyJoint`	Create a joint
`interactiveRigidBodyTree`	Interact with rigid body tree robot models

Motion Models

`jointSpaceMotionModel`	Model rigid body tree motion given joint-space inputs
`taskSpaceMotionModel`	Model rigid body tree motion given task-space reference inputs

Kinematics

`getTransform`	Get transform between body frames
`randomConfiguration`	Generate random configuration of robot
`homeConfiguration`	Get home configuration of robot
`show`	Show robot model in figure

Dynamics

`centerOfMass`	Center of mass position and Jacobian
`externalForce`	Compose external force matrix relative to base
`forwardDynamics`	Joint accelerations given joint torques and states
`geometricJacobian`	Geometric Jacobian for robot configuration
`gravityTorque`	Joint torques that compensate gravity
`inverseDynamics`	Required joint torques for given motion
`massMatrix`	Joint-space mass matrix
`velocityProduct`	Joint torques that cancel velocity-induced forces

Blocks

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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

Motion Models

Joint Space Motion Model	Model rigid body tree motion given joint-space inputs
Task Space Motion Model	Model rigid body tree motion given task-space inputs

Topics

Kinematics

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.
Build Manipulator Robot Using Kinematic DH Parameters
Use the Denavit-Hartenberg (DH) parameters of the Puma560® manipulator robot to incrementally build a rigid body tree robot model.
Install Robotics System Toolbox Robot Library Data Support Package
Use Add-On to add robot mesh data.

Dynamics

Robot Dynamics
This topic details the different elements, properties, and equations of rigid body robot dynamics.
Compute Joint Torques To Balance An Endpoint Force and Moment
Generate torques to balance an endpoint force acting on the end-effector body of a planar robot.

Simulation

Configure Gazebo and Simulink for Co-simulation of a Manipulator Robot
Set up a UR10 robot model to perform co-simulation between Gazebo and Simulink™.
Control Manipulator Robot with Co-Simulation in Simulink and Gazebo
Simulate control of a robotic manipulator using co-simulation between Simulink and Gazebo.

Featured Examples

Load Predefined Robot Models

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.

Open Live Script

Build Basic Rigid Body Tree 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.

Open Live Script

Choose Trajectories for Manipulator Paths

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.

Open Live Script

Interactively Build Robot Trajectory

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.

Open Live Script

Plan and Execute Task- and Joint-Space Trajectories Using KINOVA Gen3 Manipulator

Generate and simulate interpolated joint trajectories to move from an initial to a desired end-effector pose. The timing of the trajectories is based on an approximate desired end of arm tool (EOAT) speed.

Open Live Script

Design Position Controlled Manipulator Using Simscape

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.

Open Live Script

Perform Trajectory Tracking and Compute Joint Torque for Manipulator Using Simscape

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.

Open Live Script