matlab-model-robot-kinematics

Use loadrobot with the robot name, such as loadrobot("universalUR5e", DataFormat="row"), to get a rigidBodyTree with collision meshes and inertias included. For custom robots, use importrobot with a URDF, Xacro, or SDF file, or build from DH parameters with rigidBodyTree.

inverseKinematics solves for a single target end-effector pose, while generalizedInverseKinematics handles multiple simultaneous constraints such as position targets, aiming, joint bounds, and Cartesian bounds. Use GIK when the task needs more than one pose constraint.

Load a gripper model such as robotiq2F85 with loadrobot, then attach it using addSubtree(robot, "tool0", gripper, ReplaceBase=false). The ReplaceBase=false flag is required to preserve the gripper's base visual mesh, and KUKA iiwa models need a corrective tool0 frame first.

Many URDF, Simscape Multibody, and CAD exports include only visual meshes without collision tags. Generate collision geometry at import time using importrobot with CollisionDecomposition set to vhacdOptions with SourceMesh="VisualGeometry", or run collisionVHACD per body on already-loaded models.

No, rigidBodyTree only represents open-chain serial mechanisms and cannot model closed kinematic chains. For parallel robots such as delta robots or Stewart platforms, use Simscape Multibody with KinematicsSolver instead.

IK failures are silent unless you check solnInfo.ExitFlag, where values at or below zero indicate non-convergence. Always verify the solution by computing FK with getTransform and confirming the position error is below threshold, and check joint continuity between sequential waypoints.