The main work ability
*** Homogeneous points and lines***
e2h - Euclidean coordinates to homogeneous
h2e - homogeneous coordinates to Euclidean
homline - create line from 2 points
homtrans - transform points
Differential motion
delta2tr - differential motion vector to SE3
eul2jac - Euler angles to Jacobian
rpy2jac - RPY angles to Jacobian
skew - vector to skew symmetric matrix
tr2delta - SE3 to differential motion vector
tr2jac - SE3 to Jacobian
vex - skew symmetric matrix to vector
wtrans - transform wrench between frames
*** Trajectory generation***
ctraj - Cartesian trajectory
jtraj - joint space trajectory
lspb - 1D trapezoidal trajectory
mtraj - multi-axis trajectory for arbitrary function
mstraj - multi-axis multi-segment trajectory
tpoly - 1D polynomial trajectory
trinterp - interpolate SE3 s
Quaternion
Quaternion - constructor
/ - divide quaternion by quaternion or scalar
* - multiply quaternion by a quaternion or vector
inv - invert a quaternion
norm - norm of a quaternion
plot - display a quaternion as a 3D rotation
unit - unitize a quaternion
interp - interpolate a quaternion
Serial-link manipulator
CodeGenerator - construct a robot specific code generator object
SerialLink - construct a serial-link robot object
Link - construct a general robot link object
Prismatic - construct a prismatic robot link object
Revolute - construct a revolute robot link object
PrismaticMDH - construct a prismatic robot link object
RevoluteMDH - construct a revolute robot link object
* - compound two robots
edit - interactively edit a robot object
friction - return joint friction torques
nofriction - return a robot object with no friction
perturb - return a robot object with perturbed parameters
plot - plot/animate robot
plot3d - plot/animate robot as solid model
teach - drive a graphical robot
Models
mdl_baxter - Baxter 2-arm robot (DH, kine)
mdl_Fanuc10L - Fanuc 10L (DH, kine)
mdl_irb140 - ABB IRB140 (DH, kine)
mdl_irb140_mdh - ABB IRB140 (MDH, kine)
mdl_jaco - Kinova Jaco arm (DH, kine)
mdl_KR5 - Kuka KR5 (DH, kine)
mdl_m16 - Fanuc M16 (DH, kine)
mdl_mico - Kinova Mico arm (DH, kine)
mdl_MotomanHP6 - Motoman HP6 (DH, kine)
mdl_nao - Alderabaran NAO arms and legs (DH, kine)
mdl_phantomx - PhantomX pincher 4DOF hobby arm (DH, kine)
mdl_puma560 - Puma 560 data (DH, kine, dyn)
mdl_puma560akb - Puma 560 data (MDH, kine, dyn)
mdl_p8 - Puma 560 on an XY base (DH, kine)
mdl_S4ABB2p8 - ABB S4 2.8 (DH, kine)
mdl_stanford - Stanford arm data (DH, kine, dyn)
mdl_stanford_mdh - Stanford arm data (MDH, kine, dyn)
mdl_onelink - simple 1-link example (DH, kine)
mdl_planar1 - simple 1 link planar model (DH, kine)
mdl_planar2 - simple 2 link planar model (DH, kine)
mdl_planar3 - simple 3 link planar model (DH, kine)
mdl_3link3d - Simple 3DOF arm, no shoulder offset (DH, kine)
mdl_twolink - simple 2-link example (DH, kine, dyn)
mdl_twolink_mdh - simple 2-link example (MDH, kine)
mdl_simple6 - simple 6 link model (DH, kine)
mdl_offset6 - simple 6 link model (DH, kine)
mdl_offset3 - simple 3 link model (DH, kine)
mdl_ball - high DOF chain that forms a ball
mdl_coil - high DOF chain that forms a coil
mdl_hyper2d - 2D high DOF chain
mdl_hyper3d - 3D high DOF chain
mdl_quadrotor - simple quadrotor model