How to Add Robotics Toolbox in MATLAB?

Adding robotics capabilities to MATLAB typically involves one of two primary approaches: utilizing MathWorks' official Robotics System Toolbox or installing Peter Corke's highly regarded Robotics Toolbox for MATLAB. Both provide extensive functionalities for robotics research and development.

1. Adding MathWorks' Robotics System Toolbox (and its Add-Ons)

The Robotics System Toolbox is an official MathWorks product that integrates seamlessly with MATLAB, offering algorithms for designing, simulating, and deploying robotic applications.

Installation Steps for the Robotics System Toolbox:

1. Access Add-On Explorer:
   • Open MATLAB.
   • Navigate to the Home tab.
   • Click on the Add-Ons button, then select Get Add-Ons. This will open the Add-On Explorer.
2. Search and Install:
   • In the Add-On Explorer search bar, type "Robotics System Toolbox" and press Enter.
   • Locate the Robotics System Toolbox in the results.
   • Click Install and follow the on-screen prompts. You may need to log in with your MathWorks account.

Installing Specific Robotics System Toolbox Add-Ons:

The Robotics System Toolbox also has various supplementary add-ons that extend its functionality for specific hardware or tasks.

1. Launch the Add-On Installer:
   • In the MATLAB Command Window, type roboticsAddons and press Enter. This command specifically launches an installer for add-ons relevant to the Robotics System Toolbox.
2. Select and Install Add-Ons:
   • A window will appear listing available add-ons.
   • Select the specific add-on you wish to install (e.g., support packages for particular robot arms or sensors).
   • Click Install.
   • Choose your desired installation option (e.g., install directly or download only).
   • Continue to follow any setup instructions provided within the Add-Ons Explorer to complete the installation process.

Once installed, the toolbox functions and add-ons become available for use directly within your MATLAB environment. You can explore its capabilities through the official MathWorks Robotics System Toolbox documentation.

2. Adding Peter Corke's Robotics Toolbox for MATLAB

Peter Corke's Robotics Toolbox for MATLAB is a popular, open-source third-party toolbox that provides functions for manipulating serial-link manipulators, mobile robots, and vision. It is distinct from the MathWorks Robotics System Toolbox.

Installation Steps for Peter Corke's Robotics Toolbox:

1. Download the Toolbox:
   • Visit the official GitHub repository or website for Peter Corke's Robotics Toolbox. A common source is the Robotics Toolbox GitHub page.
   • Look for a "Download" or "Code" button, and download the latest stable release as a ZIP file.
2. Extract the Files:
   • Unzip the downloaded file to a convenient location on your computer. A good practice is to place it in a dedicated folder for MATLAB toolboxes, such as C:\MATLAB_Toolboxes\RoboticsToolbox.
3. Add to MATLAB Path:
   • Open MATLAB.
   • Navigate to the unzipped folder using the MATLAB Current Folder browser.
   • In the MATLAB Command Window, type startup_rvc and press Enter. This script initializes the toolbox and adds its necessary paths to MATLAB.
   • Alternatively, you can manually add the folder and its subfolders to the MATLAB path:
     • Go to the Home tab, click Set Path.
     • Click Add Folder... or Add with Subfolders....
     • Browse to the unzipped Robotics Toolbox folder and select it.
     • Click Save and then Close.
4. Verify Installation:
   • In the MATLAB Command Window, type rvctools and press Enter. If the toolbox is installed correctly, it should display information about the toolbox version.
   • Try running a simple command like mdl_puma560 to load a robot model.

Key Differences Between the Toolboxes:

It's important to understand the distinction between these two powerful toolboxes:

Feature	MathWorks Robotics System Toolbox	Peter Corke's Robotics Toolbox for MATLAB
Origin	Official MathWorks product	Open-source, third-party library developed by Peter Corke
Integration	Native, tight integration with MATLAB and Simulink, often requiring a license	Community-driven, functions written in MATLAB script files
Scope	Comprehensive, including motion planning, inverse kinematics, control, ROS interface, state machine design, hardware support.	Focus on kinematics, dynamics, simulation of serial-link manipulators, mobile robots, and computer vision.
Add-Ons/Support	Extensive hardware support packages (e.g., UR, Franka Emika, NVIDIA), Simscape integration, ROS/ROS 2 interface.	Fewer direct hardware support packages; more focused on core robotics algorithms.
Cost	Requires a license (often included with academic licenses or purchased separately)	Free and open-source

By understanding these distinctions, you can choose the toolbox that best fits your project requirements and existing MATLAB ecosystem.