matlab_code

A comprehensive collection of MATLAB projects developed by the GRAAL Lab, focused on robotics, control, and motion planning.

Overview

This repository contains several specialized MATLAB projects for robotic systems, task-based inverse kinematics, and utility tools for mathematical computations and robot modeling.

Directory Structure

📁 dextimus - Underwater Manipulator Simulation

Simulation framework for an Underwater Vehicle-Manipulator System (UVMS). This project includes:

• DextimusMain.m: Main entry point for the simulation
• UvmsModel.m & UvmsSim.m: UVMS dynamics and simulation engine
• armModel.m & arm.urdf: Robotic arm kinematics and URDF model definition
• UnityInterface.m: Integration with Unity game engine for visualization
• Task classes: Task-specific implementations including:
  • TaskHorizontalAttitude.m: Horizontal attitude maintenance tasks
  • TaskVehicleOrientation.m: Vehicle orientation control
  • TaskTool.m & TaskVehicle.m: Tool and vehicle manipulation tasks
• SimulationLogger.m: Logging and data recording utilities
• Helper utilities: manipulator.m, floatingBaseHelper.m, robot_urdf.m, draft.m

📁 icat - Task-based Inverse Kinematics

Implementation of the incremental Complementary Augmented Tasks (iCAT) control framework:

• iCAT_task.m: Main task definition and management
• iCAT_pseudoInverse.m: Pseudo-inverse computation for iCAT
• RegPseudoInverse.m: Regularized pseudo-inverse implementation

This module handles hierarchical task-based control for robot manipulators.

📁 tools - Utility Functions & Mathematical Tools

A collection of helper functions for robotics and control applications:

Transformation & Rotation Tools:

• RotMatrix2RPY.m: Convert rotation matrices to Roll-Pitch-Yaw angles
• pqr2rpy.m: Convert angular rates (p,q,r) to RPY rates
• skew.m: Skew-symmetric matrix generation
• rotation.m: Rotation matrix utilities

Task & Control Tools:

• CartError.m: Cartesian error computation
• Saturate.m: Signal saturation for control limits
• integrate_vehicle.m: Vehicle integration utilities

Mathematical Functions:

• VersorLemma.m: Versor lemma implementation
• ReducedVersorLemma.m: Reduced versor lemma for optimization
• IncreasingBellShapedFunction.m: Smooth increasing transition function
• DecreasingBellShapedFunction.m: Smooth decreasing transition function
• SlowdownToRealtime.m: Real-time simulation adaptation

📁 tpik - Task Priority Inverse Kinematics

Framework for task-priority based inverse kinematics:

• ActionManager.m: Manages prioritized actions for the robot
• Task.m: Base task definition

Getting Started

Prerequisites

• MATLAB R2019b or later
• Robotics System Toolbox (for URDF support in dextimus)
• Optional: Unity 2020+ (for visualization with Dextimus)

Usage

1. Clone the repository:

   git clone https://github.com/GRAAL-Lab/matlab_code.git
   cd matlab_code