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Mobile Robot Modeling

Mobile robot rigid body tree model import, forward kinematics, dynamics, kinematic motion models

Model the kinematic and dynamic properties of mobile robots. The models are rigidBodyTree objects containing rigidBody and rigidBodyJoint elements with joint transformations and inertial properties.

Access predefined models for certain commercial robots, such as Clearpath™ Robotics Husky, using the loadrobot function.

Import existing UDRF or Simscape™ Multibody™ models using importrobot.

Export URDF details in file format from rigid body tree model using exportrobot or create a URDF exporter object using urdfExporter.

Model the motion of the mobile robots using kinematic motion models, such as ackermannKinematics and differentialDriveKinematics objects.


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importrobotImport rigid body tree model from URDF, Xacro, SDF file, text, or Simscape Multibody model
loadrobotLoad rigid body tree robot model from robot library (Since R2019b)
exportrobotExport URDF details in file format from rigid body tree model (Since R2023b)
rigidBodyTreeCreate tree-structured robot
rigidBodyCreate a rigid body
rigidBodyJointCreate a joint
interactiveRigidBodyTreeInteract with rigid body tree robot models (Since R2020a)
urdfExporterCreate URDF exporter object from rigid body tree robot model (Since R2023b)
writefileGenerate URDF file for rigid body tree robot model (Since R2023b)
writenodeGenerate XML DOM node for rigid body tree robot model (Since R2023b)
ackermannKinematicsCar-like steering vehicle model (Since R2019b)
bicycleKinematicsBicycle vehicle model (Since R2019b)
differentialDriveKinematicsDifferential-drive vehicle model (Since R2019b)
unicycleKinematicsUnicycle vehicle model (Since R2019b)
getTransformGet transform between body frames
randomConfigurationGenerate random configuration of robot
homeConfigurationGet home configuration of robot
showShow robot model in figure
centerOfMassCenter of mass position and Jacobian
externalForceCompose external force matrix relative to base
forwardDynamicsJoint accelerations given joint torques and states
geometricJacobianGeometric Jacobian for robot configuration
gravityTorqueJoint torques that compensate gravity
inverseDynamicsRequired joint torques for given motion
massMatrixJoint-space mass matrix
velocityProductJoint torques that cancel velocity-induced forces


Ackermann Kinematic ModelCar-like vehicle motion using Ackermann kinematic model (Since R2019b)
Bicycle Kinematic ModelCompute car-like vehicle motion using bicycle kinematic model (Since R2019b)
Differential Drive Kinematic ModelCompute vehicle motion using differential drive kinematic model (Since R2019b)
Unicycle Kinematic ModelCompute vehicle motion using unicycle kinematic model (Since R2019b)