the Robotics Toolbox for Scilab/Scicos matlab
Status: Beta
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Matteo Morelli
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====================================================================== = THE Robotic Grasping Toolbox, (brief) Installation and Usage notes = ====================================================================== Matteo Morelli, Interdepartmental Research Center "E.Piaggio", Faculty of Engineering - University of Pisa. May 2012. 1. About THE Robotic Grasping Toolbox ------------------------------------- This package, the Robotic Grasping Toolbox, is a cross-platform, free-software (released under the GPLv3) toolbox for use with MATLAB(R). It extends the functionalities of the Robotics Toolbox for MATLAB (RTB), by P. Corke, to deal with the modelling, analysis and optimization of complex manipulation systems, ranging from cooperating multi-arm systems to closed-chain mechanisms and underactuated robotic hands grasping objects. Please refer to the included documentation for a more comprehensive description of its capabilities and unique features. 2. License ---------- The Robotic Grasping Toolbox for use with MATLAB(R) is free-software, released under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. 3. Software Requirements ------------------------ The RTB package is required to model the topology of the robotic fingers, that are simple chains of links connected through revolute or prismatic joints. The toolbox makes heavy use of the MATLAB(R)'s OOP framework, available since version R2008a. At the current stage of implementation, the matlab.mixin.Heterogeneous abstract class is used to define hierarchies of classes whose instances can be combined into heterogeneous arrays. As result, the Robotic Grasping Toolbox currently requires at least MATLAB(R) R2011a. Note that future releases may remove this dependency bringing the minimum required MATLAB(R) version back to R2008a. 4. Current Limitations ---------------------- The API of the toolbox is currently under internal revision at UNIPI and most of the documentation is still in progress. Graphic functionalities are not available at this stage; in fact, this package should be meant as a *preliminary*, *alpha-quality* distribution demostrating the potential of the final product. 5. Installation Instructions ---------------------------- Assuming that the software requirements are met (see Section 3 for details), simply adjust the MATLABPATH to include this directory *and* all its subdirectories. For more information about adjusting the search path, please refer to the section "Adding Folders to the Search Path" in the MATLAB(R) help, or at the following web link: http://www.mathworks.it/help/techdoc/matlab_env/br7ppws-1.html#br7poxu-1. 6. Getting Started ------------------ In order to get started with the Robotics Grasping Toolbox, please follow the tutorials that are included in the section "Getting Started" of the documentation.