These Robotics System Toolbox™ manipulator algorithms support workflows related to articulated,
serial-link robots. Define your robot model using a
rigidBodyTree object made up of
rigid bodies as structural elements and joints for attachment and motion. This robot
representation contains kinematic constraints and dynamics properties. Use joint-
and task-space motion models to get robot motion given input commands.
If you have a robot description as a URDF file or Simscape™
Multibody™ model, you can import it using
Perform inverse kinematics to get joint configurations based on desired end-effector positions. Apply additional external constraints like aiming a camera at your workspace. Generate smooth trajectories for planning and executing planned paths. Detect collisions or calculate clearance to avoid collisions while executing paths.