Online Documentation, Stable RTSS

» Scilab Functions

The following is a list-by-category of the Scilab functions provided with the toolbox. Please, click a category name to expand or collapse the list of functions for the category (it requires Javascript enabled to work properly):

• Homogeneous Transforms

  rt_eul2tr - Euler angles to homogeneous transform

  rt_oa2tr - orientation and approach vector to homogeneous transform

  rt_rotvec - rotation about arbitrary axis

  rt_rotx - homogeneous transform for rotation about X-axis

  rt_roty - homogeneous transform for rotation about Y-axis

  rt_rotz - homogeneous transform for rotation about Z-axis

  rt_rpy2tr - Roll/pitch/yaw angles to homogeneous transform

  rt_tr2eul - homogeneous transform to Euler angles

  rt_tr2rot - homogeneous transform to rotation submatrix

  rt_tr2rpy - homogeneous transform to roll/pitch/yaw angles

  rt_transl - set or extract the translational component of a homogeneous transform

  rt_trnorm - normalize a homogeneous transform

• Quaternions

  disp - displays the quaternion as one-line summary of its coefficients

  double - convert a quaternion object to a 4-element vector

  hat - (^) raise quaternion to integer power

  inv - invert a quaternion

  norm - norm of a quaternion

  rt_plot - display a quaternion as a 3D rotation

  rt_q2tr - quaternion to homogeneous transform

  rt_qinterp - interpolate unit-quaternions

  rt_quaternion - construct/clone a quaternion object

  rt_unit - unitize a quaternion

  slash - (/) divide quaternion by quaternion or scalar

  star - (*) multiply quaternion by quaternion or vector

• Kinematics

  rt_diff2tr - convert a differential motion vector to a homogeneous transform

  rt_fkine - compute the forward kinematics for a serial n-link manipulator

  rt_ikine - compute the inverse kinematics for a generic serial n-link manipulator

  rt_ikine560 - compute the inverse kinematics for a Puma 560 like robot arm

  rt_ikine560paul - compute all solutions for the inverse kinematics of a Puma 560 like robot arm using the Paul's algebraic method

  rt_ikinestanfpaul - compute all solutions for the inverse kinematics of a Stanford like robot arm using the Paul's algebraic method

  rt_jacob0 - compute manipulator Jacobian in base coordinate frame

  rt_jacobn - compute manipulator Jacobian in end-effector coordinate frame

  rt_tr2diff - convert a homogeneous transform to a differential motion vector

  rt_tr2jac - compute a Jacobian to map differential motion between frames

• Dynamics

  rt_accel - compute manipulator forward dynamics

  rt_cinertia - compute the Cartesian (operational space) manipulator inertia matrix

  rt_coriolis - compute the manipulator Coriolis/centripetal torque components

  rt_fdyn - integrate the forward dynamics

  rt_friction - compute joint friction torque

  rt_frne - fast rne. C version of algorithm that computes inverse dynamics via recursive Newton-Euler formulation

  rt_ftrans - transform force/moment between coordinate frames

  rt_gravload - compute the manipulator gravity torque components

  rt_inertia - compute the manipulator joint-space inertia matrix

  rt_itorque - compute the manipulator inertia torque component

  rt_rne - compute inverse dynamics via recursive Newton-Euler formulation

• Manipulator Models

  rt_link - construct/clone a link object

  rt_nofriction - remove friction from a robot object

  rt_perturb - randomly modify some dynamic parameters

  rt_puma560 - create a Puma 560 robot object

  rt_puma560akb - create a Puma 560 robot object using the Armstrong, Khatib and Burdick kinematic notation

  rt_robot - construct/clone a robot object

  rt_showlink - show link/robot data in detail

  rt_stanford - create a Stanford manipulator robot object

  rt_twolink - load kinematic and dynamic data for a simple 2-link RR planar

  star - (*) construct a robot which is the series connection of the multiplicands

• Trajectory Generation

  rt_ctraj - compute a Cartesian trajectory between two points

  rt_jtraj - compute a joint space trajectory between two joint coordinates poses

  rt_trinterp - interpolate homogeneous transforms

• Graphics

  rt_drivebot - drive a graphical robot

  rt_plot - create a graphical animation for a robot object

• Other

  rt_ishomog - test if argument is a homogeneous transformation

  rt_maniplty - compute the scalar manipulability index for the manipulator at the given pose

  rt_unit - unitize a vector

» Scicos Blocks

A summary of the blocks provided with the Robotics palette is given by the following list-by-category:

• Transform Conversion

  rt_eul2tr_if - Euler angles to homogeneous transform

  rt_rpy2tr_if - Roll/pitch/yaw angles to homogeneous transform

  rt_tr2eul_if - homogeneous transform to Euler angles

  rt_tr2rpy_if - homogeneous transform to roll/pitch/yaw angles

  rt_tr2xyz_if - extract the translational component of a homogeneous transform

  rt_xyz2tr_if - X/Y/Z vector components to homogeneous transform

• Kinematics

  rt_fkine_if - compute the forward kinematics for a serial n-link manipulator

  rt_jacob0_if - compute manipulator Jacobian in base coordinate frame

  rt_jacobn_if - compute manipulator Jacobian in end-effector coordinate frame

  rt_tr2diff_if - convert a homogeneous transform to a differential motion vector

• Dynamics

  rt_accel_if - compute joint acceleration vector

  rt_robot_if - rigid-body dynamic model of a robot

  rt_rne_if - compute inverse dynamics via recursive Newton-Euler formulation

• Trajectory

  rt_jtraj_if - interpolate a joint space trajectory between two joint coordinates poses

• Event Driven Source Signals

  rt_singen_if - sinusoidal generator

  rt_square_if - square wave generator

• Numerical Fixed Step-Size Integrators

  rt_be_if - backward Euler fixed step-size solver

  rt_fe_if - forward Euler fixed step-size solver

Note that, except for the "Event Driven Source Signals" and the "Numerical Fixed Step-Size Integrators" blocks, generally there is a one-to-one correspondence between Scicos blocks and toolbox functions.

Tutorials

» Modeling Robotic Systems in Scicos

Demos that give the user an insight into the use of RTSS for constructing robot kinematic and dynamic models with Scicos are described in the following tutorial: rtss-scicos.pdf.

» Open Source Robotics with Scilab/Scicos

This is a collection of slides presented at the first HeDiSC Workshop On Open Source Software for Control Systems, which took place in Lugano (Switzerland) at SUPSI-DTI, at the end of June 2009. The presentation consists of two parts and it aims to illustrate features and usage of the Robotics Toolbox for Scilab/Scicos.

The first part of the presentation addresses the general problem of rigid motions representation in ℜ³ and also provides detailed examples of how robotic manipulators can be modeled in Scilab. The second part explains how said robot models can be imported in a Scicos diagram and shows complete examples where Scicos blocks from the Robotics palette implement some Closed-Loop Inverse Kinematics (CLIK) algorithms and several centralized control schemes with different design and complexity.

The full presentation, with animations, is packaged for download as a gzipped tar file or as a ZIP file.

» ScicosLab/Scicos for robotics applications

This is a collection of slides presented at the 3-day training course "ScicosLab 2010", which took place in Florence (Italy) at Plesso Didattico (Florence University), at October 19-21, 2010. The presentation deals with the modelling, the analysis and the control of industrial manipulators by using ScicosLab/Scicos and RTSS.

The full presentation, with animations, is packaged for download as a gzipped tar file or as a ZIP file.