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Robotics Toolbox

A toolbox for the simulation of robotic manipulators
(3925 downloads for this version - 18285 downloads for all versions)
Details
Version
1.1
A more recent valid version with binaries for Scilab 5.4 exists: 1.1.1
Author
Davide Cappucci
Owner Organization
University of Parma
Maintainers
Davide Cappucci
Corrado Guarino Lo Bianco
License
Creation Date
September 1, 2014
Source created on
Scilab 5.4.x
Binaries available on
Scilab 5.4.x:
Linux 32-bit Windows 32-bit Windows 64-bit Linux 64-bit
Install command
--> atomsInstall("Robotics_Toolbox")
Description
            The Robotics Toolbox is inspired to the ninth release of the Robotics Toolbox
for Matlab by Peter Corke.
Its goal is to provide a set of functions that allow to create a model of a
robotic arm and to study the behavior and control through simulations. 

The toolbox provides functions for: 
* Create a robotic model according to the Denavit-Hartenberg notation 
* Solve the direct and inverse kinematics
* Algorithms for the direct and inverse dynamics
* Display a graphical schematic model of the manipulator and its animation
* Xcos blocks for simulation and control of the robotic model
* Geometric transformations
* and more...

Functions are documented and some demos are available.            
Files (5)
[471.41 kB]
Source code archive
The Robotics Toolbox is inspired to the ninth release of the Robotics Toolbox
for Matlab by Peter Corke.
Its goal is to provide a set of functions that allow to create a model of a
robotic arm and to study the behavior and control through simulations. 

The toolbox provides functions for: 
* Create a robotic model according to the Denavit-Hartenberg notation 
* Solve the direct and inverse kinematics
* Algorithms for the direct and inverse dynamics
* Display a graphical schematic model of the manipulator and its animation
* Xcos blocks for simulation and control of the robotic model
* Geometric transformations
* and more...

Functions are documented and some demos are available.
[748.85 kB]
Linux 32-bit binary for Scilab 5.4.x
Linux 32-bit
Automatically generated by the ATOMS compilation chain

[1.00 MB]
Windows 32-bit binary for Scilab 5.4.x
Windows 32-bit
Automatically generated by the ATOMS compilation chain

[1.00 MB]
Windows 64-bit binary for Scilab 5.4.x
Windows 64-bit
Automatically generated by the ATOMS compilation chain

[747.61 kB]
Linux 64-bit binary for Scilab 5.4.x
Linux 64-bit
Automatically generated by the ATOMS compilation chain

News (0)
Comments (23)     Leave a comment 
Comment from Huub Vn -- October 12, 2014, 04:19:39 PM    
I installed this toolbox on several systems and noticed that the graphics and simulations
are not shown on systems without SSE2-capable CPU. It SSE2 indeed a requirement for this
toolbox ?
Comment from Corrado Guarino Lo Bianco -- October 13, 2014, 03:35:08 PM    
Hi Huub,
the Robotics Toolbox uses the standard graphics functionalities of Scilab.
Scilab, by itself, has several requirements that are listed here

https://www.scilab.org/download/requirements

As you can see, Windows installations require SSE2, but it seems that Linux installations
only require SSE.
Comment from Huub Vn -- February 20, 2015, 10:04:27 AM    
After reinstalling my computer (Fedora 21 x64) and Scilab 5.5.1, I find that reinstalling
the toolbox ends in error:

atomsInstall('Robotics_Toolbox');
atomsDownload: The following file hasn't been downloaded:
	 - URL      : 'http://atoms.scilab.org/5.5/TOOLBOXES/64/linux.gz'
	 - Local location : '/tmp/SCI_TMP_7590_jAymor/.atoms/1_TOOLBOXES.gz'
 !--error 10000 

at line     202 of function atomsDownload called by :  
at line     158 of function atomsDESCRIPTIONget called by :  
at line      31 of function atomsIsPackage called by :  
at line      69 of function atomsInstallList called by :  
at line     233 of function atomsInstall called by :  
atomsInstall('Robotics_Toolbox');

Any idea why this may go wrong ?
Comment from Corrado Guarino Lo Bianco -- February 20, 2015, 10:47:32 AM    
Hi Huub,
from the error message I suppose that's a problem which depends on Atoms.
I reinstalled the toolbox right now without any problem.
Please make a test: try to install another toolbox, just to check if everything is ok with
Atoms.
Comment from Huub Vn -- February 20, 2015, 10:47:54 AM    
After reinstalling my computer (Fedora 21 x64) and Scilab 5.5.1, I find that reinstalling
the toolbox ends in error:

atomsInstall('Robotics_Toolbox');
atomsDownload: The following file hasn't been downloaded:
	 - URL      : 'http://atoms.scilab.org/5.5/TOOLBOXES/64/linux.gz'
	 - Local location : '/tmp/SCI_TMP_7590_jAymor/.atoms/1_TOOLBOXES.gz'
 !--error 10000 

at line     202 of function atomsDownload called by :  
at line     158 of function atomsDESCRIPTIONget called by :  
at line      31 of function atomsIsPackage called by :  
at line      69 of function atomsInstallList called by :  
at line     233 of function atomsInstall called by :  
atomsInstall('Robotics_Toolbox');

Any idea why this may go wrong ?
Comment from Huub Vn -- February 20, 2015, 10:53:18 AM    
Ok, installing another toolbox goes wrong as well. Any suggestion? I installed Scilab the
same way as always: download the x64 tarball and extract into the target directory.
Comment from Corrado Guarino Lo Bianco -- February 20, 2015, 11:04:24 AM    
From my experience Scilab has sometimes compatibility problems. For example the current
version runs on Debian Jessie but it has major problems on Debian Wheezy.
I think you have to open a ticket with the Scilab developers and ask them to solve your
problem.
Comment from Huub Vn -- February 20, 2015, 11:06:10 AM    
OK, I will do that. Thank you.
Comment from Huub Vn -- March 7, 2015, 10:01:28 PM    
I'm trying to plot 2 robots in 1 plot. Using the example of "Multiple robots in the
same
figure", I can't get that to work. No matter what I try, the robots are all shown in
different figures. Is the example correct of is some code missing ?
Comment from Corrado Guarino Lo Bianco -- March 7, 2015, 11:43:06 PM    
Hi Huub,
do you mean you run the demo "Robot graphics" and you only see the last example
in which
two robots are plotted into two different windows?
In my system I see a first example in which the two robots are simultaneously plotted in
the same figure and then another example in which they are plotted into two different
windows.
Comment from Huub Vn -- March 8, 2015, 08:04:55 AM    
Hi Corrado,
Thank you for your response. After running the demo (again) and studying the code I found
I overlooked 1 detail: I put 'hold' at the wrong robot. Which leads me to another
question: the robots are shown with a standard pole on which they 'stand'. Is it possible
to leave the pole out and locate the Origin of the first link on the floor or on a
self-defined base ?
Comment from Corrado Guarino Lo Bianco -- March 8, 2015, 10:10:28 AM    
Hi Huub,
happy to know the problem was banally solved.
The pole can be eliminated by using the following plot option:

plot_robot(p560,q, 'nobase');

Please, read the help document for further options on the "plot_robot" function.

If the robot object has already been initialized (for example p560), the origin of its
first link can be vertically moved by using the following instruction:

p560.base = transl(0, 0, -0.5);

For a new robot, if L is a list of links, you can use:

p560 = SerialLink(L, 'name', 'Puma 560', 'base', transl(0, 0, -0.5));
Comment from Huub Vn -- March 11, 2015, 01:33:05 PM    
Thank you.

I have another issue. Running:

<code omitted>
T_start1 = transl(1.75, 1.5, -1.5);
T_end1 = transl(1.5, 0.5, -1.5);
T_traj1 = ctraj(T_start1, T_end1, 50);
qi = ikine3(leg1, T_traj1);
plot_robot(leg1,qi);

ends with:

Undefined variable: strncmp
at line      47 of function ikine3 called by :  
qi = ikine3(leg1, T_traj1);
at line      55 of exec file called by :    
exec('/home/huub/Documents/Poten.sce', -1)

According to the docs, ikine3 can use a string as 'rd' meaning 'arm to the right and elbow
down'. However, with and without the string, I keep getting this strncmp. What do I do
wrong ?
Comment from Corrado Guarino Lo Bianco -- March 11, 2015, 04:22:20 PM    
Hi Huub,
there is an evident problem with ikine3. The original code provided by Corke for his
Robotic Toolbox is buggy. If you inspect the Corke code you can notice that variable d4 is
used but it is never initialized (it is the length of the last link and it is associated
to frame 4... which is not present in a three link manipulator!).
Because of that problem we did not spend time to really translate the ikine3 function
(it's almost a copy of the Matlab function).
The problem is certainly solvable but this would require some time (the bug has appeared
in the Matlab Robotics Toolbox from the beginnings and it has never been amended).
Comment from Huub Vn -- March 11, 2015, 07:21:20 PM    
Hi Corrado,

Thanks for pointing this out. As you can imagine, I would like to have this solved.
However, since this is originates from a Matlab toolbox, would there be any copyright
problem without Corke's involvement ?
Comment from Corrado Guarino Lo Bianco -- March 11, 2015, 09:18:38 PM    
Hi Huub,
I'm working on it, but my available time is quite limited. I hope I will soon be able to
propose a solution.
The Corke's toolbox is distributed under LGPL license, which allows copies and
modifications of the original code.
The Scilab Robotics Toolbox is a porting of the original library (it is not a
redistribution) and it is distributed under the GPL3 license. It originated from a student
work and it is oriented to students: the Scilab version, like the original one, is an open
source library that can be used by students in order to learn some robotics algorithms.
Evidently, Prof. Corke has been acknowledged in each single file of the library.
Comment from Huub Vn -- March 12, 2015, 04:51:14 PM    
Hi Corrado,

Although I'm not very good at programming, I might be able to help. Since I use Linux,
I've been trying to find the toolkit installation but no success yet. Can you tell me in
which location and file ikine3 is ?
Comment from Corrado Guarino Lo Bianco -- March 12, 2015, 05:26:15 PM    
Hi Huub,
don't worry we have found a solution to your problem. Give us a couple of days for testing
it and it will be published on ATOMS.
Anyway, the package installed by ATOMS should be in the ./Scilab directory of your home
directory. The function is named ikine3.sci.
Comment from Huub Vn -- March 12, 2015, 06:29:30 PM    
Hi Corrado,

I'll be happy to wait for your solution.
Comment from Huub Vn -- March 17, 2015, 09:23:49 AM    
Hi Corrado,

I noticed that the new version is available in src. Any recommendation on installation
(e.g. first uninstall old version) ?
Comment from Corrado Guarino Lo Bianco -- March 17, 2015, 10:27:36 AM    
Hi Huub,
some days are required (after the src upload) by the ATOMS system to process the new
files. At the moment the are on queue, waiting to be compiled. After their compilation
ATOMS should warn you about the update (in the worst case you should uninstall and then
reinstall the package).
Comment from Huub Vn -- March 17, 2015, 10:51:16 AM    
Hi Corrado,

Then I will wait until I see a warning for update.
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