Robotics System Toolbox
Design, simulate, and test robotics applications
Robotics System Toolbox™ provides tools and algorithms for designing, simulating, and testing manipulators, mobile robots, and humanoid robots. For manipulators and humanoid robots, the toolbox includes algorithms for collision checking, trajectory generation, forward and inverse kinematics, and dynamics using a rigid body tree representation. For mobile robots, it includes algorithms for mapping, localization, path planning, path following, and motion control. The toolbox provides reference examples of common industrial robot applications. It also includes a library of commercially available industrial robot models that you can import, visualize, and simulate.
You can develop a functional robot prototype by combining the kinematic and dynamic models provided. The toolbox lets you co-simulate your robot applications by connecting directly to the Gazebo robotics simulator. To verify your design on hardware, you can connect to robotics platforms and generate and deploy code (with MATLAB Coder™ or Simulink Coder™).
Get Started:
Design your own warehouse robotics and industrial manipulation applications.
Control and simulate multiple warehouse robots in a reference example.
Robot Models
Build your own robot models or use a library of commonly used robots to quickly model your robot applications. You can import Unified Robot Description Format (URDF) files or Simscape MultibodyTM models to create custom robot models and visual geometries.
Loading a rigid body tree model from a library of commercially available robots.
Motion Modeling and Control
Model basic kinematics and dynamics of mobile robots and manipulators. Visualize and simulate robot motion to validate control algorithms.
Plan and execute task- and joint-space trajectories in MATLAB.
3D Simulations
Validate your robot models in real-world simulation environments by interfacing with 3D physics simulators. Synchronize your Simulink® model simulations with the Gazebo simulations.
Synchronized simulation between Simulink and the Gazebo simulator.
Manipulation Algorithms
Define robot models using rigid body tree representations. Build advanced motion controllers and interface with robot models to complete your robot workflows. Perform collision checking as well as inverse kinematics and dynamics calculations on your robot models.
Safe trajectory tracking control using manipulator algorithm blocks.
Mobile Robot Algorithms
Create maps of environments using occupancy grids, localize robots within maps, and develop path planning and control algorithms for mobile robots.
Executing motion control for a differential-drive mobile robot on an obstacle-free path between two waypoints on a given map.
UAV Algorithms
Use UAV Library to model and control fixed-wing and multirotor UAVs with closed-loop kinematic models.
Designing and simulating a waypoint following controller for a fixed-wing UAV using the UAV Guidance Model block and Waypoint Follower block in Simulink. Explore gallery (2 images).
Deployment to Robot Hardware
View signals or modify parameters on deployed models. Make adjustments to your algorithms as they run on hardware.
Test manipulator algorithms by connecting to a real physical robot.
Gazebo Co-simulation
Perform time-synchronized simulation of Gazebo with Simulink
Robot Motion Modeling and Simulation
Simulate mobile robot kinematics and closed-loop manipulator dynamics
Collision Checking
Define collision shapes and detect collisions between mesh geometries
Commercial Robot Models
Use a library of provided rigid body robot models to quickly model your robot applications
Robot Application Examples
Get started with reference examples for pick-and-place robots and warehouse mobile robots
See release notes for details on any of these features and corresponding functions.
