In Chapter 6, Wobbling Robot Arms Using Joint Control, Baxter the two-armed robot was described. The purpose of this final chapter is to spark your imagination by presenting control of Baxter using the MathWorks© MATLAB Robotics System Toolbox. The MathWorks corporation produces the popular MATLAB software that is widely used in industry and academia. In addition to the MATLAB software for mathematical operations and visualization, modules called add-ons can be added to the software.
The Robotics System Toolbox add-on considered in this chapter allows us to use MATLAB scripts using ROS commands to control robots. For users of MATLAB, this capability opens up new possibilities to design and implement sophisticated robotic programs for applications.
In this chapter, we will introduce the following:
Installing the MATLAB Robotics System Toolbox
Using MATLAB and ROS with the Robotics System Toolbox
Controlling Baxter with the Robotics System Toolbox
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