History

One-sentence summary of this page.

About the Toolboxes

The toolboxes are based on Matlab code developed by Peter Corke for his PhD research over the period 1990 to 1994.

Robotics Toolbox for MATLAB (RTB)

release 9 (September 2011)

Significant expansion to support the Robotics, Vision & Control book. Major additions include:

• changes of class names for arm-type robots
• mobile robot control, planning and localization
• quadrotor control
• improved documentation

release 8 (December 2008)

This is the first update to the toolbox since 2002. The main features of release 8 are:

• integration with Matlab desktop, help and demo systems
• variants of many functions that return a rotation rather than homog. transform matrix, for instance rotx() and trotx() return a 3x3 and 4x4 matrix respectively.
• HTML format function help documentation (generated using m2html) integrated with help browswer
• new robot models: Motoman, ABB, Fanuc
• rpy2r and eul2r accept trajectories
• fix errors in Simulink demos (due to code atrophy)
• tested with Matlab 2008b
• some functions have been retired
• adopt the new MATLAB classdef object syntax

release 7 (April 2002)

MEX files, Simulink models and modified Denavit-Hartenberg support. This was released to support the third edition of John Craig's textbook where the exercises made use of RTB.

release 6 (April 2001)

release 5 (April 1999)

First release with objects. Before that everything was a matrix.

release 4 (August 1996)

Corresponded to the article published in the IEEE Robotics & Automation magazine.

MVTB

release 3 (September 2011)

Significant expansion to support the Robotics, Vision & Control book. Major additions include:

• camera classes
• feature classes
• SIFT, SURF, graph-based segmentation, tracking, bag of words etc.

release 2 (2005)

release 1 (??)