Robot models are used to represent the kinematic and dynamic properties of
manipulator robots and other rigid body systems. The model is represented as a
rigidBodyTree object containing
rigidBody and rigidBodyJoint elements with
joint transformations and inertial properties. Certain commercial robots like
KINOVA and KUKA are available using loadrobot. Import existing UDRF or Simscape™
Multibody™ models using importrobot. You can also
model the motion of the robots using joint- or task-space motion models.
Model structure and specific components of a rigid body tree robot model
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.
Robot dynamics is the relationship between the forces acting on a robot and the resulting motion of the robot.
Interactively Build a Trajectory For an ABB YuMi Robot
This example shows how to use the interactiveRigidBodyTree object to move a robot, design a trajectory, and replay it.
Plan and Execute Task- and Joint-space Trajectories using KINOVA Gen3 Manipulator
This example shows how to generate and simulate interpolated joint trajectories to move from an initial to a desired end-effector pose.