Drake Tutorial
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Drake Tutorial
Drake Tutorial
To get started
Introduction
Drake Concepts
Drake Multibody
Drake Simulation
Drake Notation
Bazel basics
Things to do in drake
Hello, Drake!
Create a URDF/SDF robot
Visualize data in LCM
Visualize trajectory
[WIP] Visualize data
[WIP] Control Real KUKA arm
Drake Controllers
PID control of double pendulum
LQR on Cart Pole
Inverse Dynamics Control on fully-actuated KUKA arm
[WIP] Control a underactuated robot using Inverse Dynamics Controller
Drake Optimization
[WIP] Trajectory Optimization 1 - Direct Transcription
[WIP] Trajectory Optimization 2 - Direct Collocation
[WIP] Trajectory Optimization 3 - Shooting method
[WIP] Optimal Control 1 - Quadratic Programming
[WIP] Optimal Control 2 - Sequential Quadratic Programming
Q & A
FAQ
Use Drake as part of your project
Deprecated
Create a simple system
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FAQ

If you are a robotics control person, drake is for you. Drake has a dedicated team working on multibody dynamics, planning, and control. Drake has a whole bunch of tools that help ease the development of robot control.

Drake has a software stack similar to ROS, but it's more professional. It could compute planning based on optimization, it has a controller that handles robot dynamics rather than just PID.
So if you really dig deep into robotics and use advanced planning and control, Drake is probably a better tool.

Drake tries to incorporate optimization and contact rich simulation which is not seen on the market.
Matlab Coder is more like generate code for running on an embedded system.
If you do need to use optimization or contact is happening a lot in your model, you should consider using Drake. Drake is free.
Drake Optimization - Previous
[WIP] Optimal Control 2 - Sequential Quadratic Programming
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Use Drake as part of your project
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Why should I use Drake?
I know ROS well, do I need to try Drake at all?
Matlab Coder and Drake, which is better?