Representation of Robots in Matlab

Abstract

This paper presents a new software tool, namely RoboClass, to include and manage realistic robots and elements of the environment in Matlab simulations. These elements are load from CAD models using an STL-file and can be as detailed as desired. All the steps involved in the process are explained in detail. Furthermore, two illustrative examples are considered to show the effectiveness and versatility of the proposed approach: the ABB-IRB120 industrial robot and the CSA research robot. The developed tool is especially useful both for robotics research and teaching.