Questions tagged [matlab]

MATLAB is a high-level language and interactive programming environment for numerical computation and visualization developed by MathWorks.

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Possibility of Co-simulation between Ignition Gazebo and Matlab/Simulink?

I would like to know this Co-simulation (Sending and reading commands from Simulink and the model is present in Ignition Gazebo) possiblity between Matlab/Simulink and new Ignition Gazebo. If anyone ...
vbalaji21's user avatar
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Lateral control for autonomous vehicles ( steering angle problem)

I am working on a control system for autonomous vehicles, i am using a kinematic bicycle model simulated on matlab simulink and the formula i used for the steering angle is given in the figures below ...
Asmaa GZ's user avatar
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Simulink - Gazebo CoSimulation setup doubts

I am building a model (of a cable) and a controller in simulink to actuate the end points of the cable in simulink. Since matlab is a numerical simulator and it lacks physics based interactions with ...
vbalaji21's user avatar
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Lateral control for autonomous vehicles

I am working on autonomous vehicle control, i used the kinematic bicycle model, For the speed reference I used a speed profile not a constant speed(given below [![speed][1]][1] for the steering angle ...
Asmaa GZ's user avatar
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37 views

Only one instance of the Robot class should be created

I am working on a Webots project using the Python R2021a version, in which four E-puck robots are used that push the box to target locations with the Python class for each robot "Class ...
Kazim's user avatar
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Modelling thrust on quadcopter in simulink

I want to model aerodynamic forces such as thrust on all motors of quadcopter in simulink.But equations for thrust involves density of air , but then we have to include model air in simulink . So what ...
pranjal verma's user avatar
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Problem in reading an incremental encoder simulink

I'm trying to read an encoder to receive a velocity value. The robot is a differential drive robot based on ROS, to which I can send commands to the right and left wheels ranging from 0 to 1. Where 0 ...
Marià's user avatar
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An error occurred while running the simulation and the simulation was terminated

I created a Stewart Platform Simulink model, but I am getting the following error. This especially happens when you connect the outputs from the mux to the 4th and 5th legs in the general block ...
Ali Bozkurt's user avatar
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Connecting simulink/matlab and Ros only work one way, but can't receive messages

I'm trying to connect a Duckiebot with ROS to MATLAB Simulink (unfortunately, I'm compelled to use them), and something strange is happening. I can ping both devices, and I can also send commands from ...
Mariano's user avatar
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iRobot matlab simulator: robot getting stuck in wall boundaries and not moving anywhere

I am using the iRobot Create simulator in matlab and I used sonar sensors on the robot for wall following but during the autonomous run but it got stuck in a corner. Please help me with this problem I ...
Shekhar's user avatar
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Pose matrices and robotics 2D movement

I have a robot starting from the origin. It first turns 90 degrees (yaw), then move to (5,10), then it starts to move along its own negative x direction at each step with a translation of 1. Here is ...
Nick X Tsui's user avatar
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Docker and MATLAB

I am running my roscore from MATLAB using rosinit and the ROS_IP was set '127.0.0.1', this creates a ROS Master at 'http://127.0.0.1:11311'. I am running ROS within a docker container running on the ...
Maithili Shetty's user avatar
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How create new topic in simulink to send image to

I'm trying to create a Simulink model using the ROS network. My PC is the master of the network, and there is also a remote device: a Raspberry Pi 4. A USB3 camera (Blackfly flir camera) is connected ...
Silvia Della Torre's user avatar
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how to adjust mobile robot orientation If an obstacle is detected within the minimum safety distance?

I do have calculated a trajectory for holonomic and omnidirectional mobile robot and make the robot follow the pre-defined trajectory making use of the resolved-velocity control. However, in some ...
Yaaqob Saad's user avatar
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3 DOF Robot's initial position and motion error using inverse kinematic block in Simulink

I am attempting to control a 3-DOF manipulator by providing XYZ waypoints using a signal builder in conjunction with the inverse kinematics block. The robot model has been imported from SolidWorks. ...
DANAISH's user avatar
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Steering wheel angle control

I am working on an autonomous vehicle's control, specifically the steering angle control. Knowing that I used kinematic bicycle model, my questions are: How do I choose the actuator for my steering ...
Asmaa GZ's user avatar
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Simulink and Arduino - Simulink can't read data from arduino pins

I have a very simple setup depicted by this picture All I want to do is, using simulink, collect data from pin 8. Simulink model is as follows However I'm not getting any data, specifically 0. I can ...
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Ros control pid gives different input than expected

I am trying to match the trajectory i am getting from gazebo simulation using ros_control and matlab for a simple pendulum which rotates in the horizontal plane (so no gravity, no friction and no ...
MIKE PAPADAKIS's user avatar
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2 answers
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How to compute orientation error for a Puma end effector

i hope that you'll be ok! I'm trying to control a Puma robot using the inverse kinematics in Matlab. I used unit quaternions to express the orientation of End Effector frame and orientation of desired ...
AleB's user avatar
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Nonlinear continuous system function of IMU sensor fusion robot

For my robotics course I have to implement the nonlinear continuous system function for a mobile robot that is equipped with a GPS receiver and an IMU consisting of an accelerometer and a gyroscope. ...
exzoran's user avatar
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The Matlab controller doesn't work for the Webots robot

I create a bipedal robot and I would like to use MATLAB to control two rotational motors. The code for controller is simple but some warning just shows up. Does anyone know how to solve this? WARNING: ...
huiduan's user avatar
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Trajectory generation for robotic manipulator using trapezoidal velocity profile in MATLAB

I am trying to write code in MATLAB to generate a trajectory for a scara manipulator in the robot operational space with trapezoidal velocity profile for each segment passing through 5 waypoints using ...
Robotics_Enthusiast's user avatar
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2 answers
95 views

Simulate GPS IMU With Quadcopter Swarm?

I have multiple drones work in swarm formation, i made the quadcopter model and the swarm one. Until now i have the swarm moving in a formation leader-follower and track a predefined trajectory based ...
jack abraham's user avatar
1 vote
2 answers
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Smooth step function Simulink

I'm trying to implement a smoothed step function in Simulink. I tried to put a filter after the step function: The result is not what I wanted. How can I smooth even around 1 the function? My deal is ...
marcck's user avatar
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Extended Kalman Filter and PID controller

I'm trying to build a model based on tracking an object in 2-D using MATLAB (time-varying system). I built the model using an Extended Kalman Filter and a PID controller. I have a doubt regards the ...
marcck's user avatar
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0 answers
48 views

How to identify simulink blocks contributing to unstable pole during linearization

I have a simulink model resulting in a state space model using linearization at a steady state condition. The resulting statespace model of order 135 shows an unstable pole contributed by a particular ...
GKY1980's user avatar
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Balance 2-wheels robot without making it drift forward/backward

I'm trying to design a controller to balance a 2-wheels robot (around 13kg) and making it robust against external forces (e.g. if someone kicks it, it should not fall and not drift indefinitely ...
Francesco Paoli's user avatar
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220 views

this is matlab code for drawing circle by 6dof arm robot but i don't know how to limit the joint's angles

...
Mostafa Mahmoud's user avatar
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1 answer
625 views

Solving pseudo inverse of Jacobian in Matlab/Octave

I'm attempting to create a simulation of a 3 (rotational) DOF robotic arm in 3D space. So far I've had success getting to the Jacobian. What seems to be the issue is that the pseudo inverse of the ...
Karbon14's user avatar
1 vote
0 answers
503 views

Computation of centrifugal and Coriolis matrix

So I have a seesaw-cart electromechanical system which I want to control. It has 2-DOF (the angle of the seesaw $\varphi$ and the cart position $s$). I used the Euler-Lagrange method to get my ...
BigDuckPlaya's user avatar
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How to find workspace of parallel manipulator by monte carlo method?

I am working on a 3 DOF parallel manipulator, I was successful in solving the inverse kinematics and forward kinematics of my manipulator. But I am facing a problem in generating a workspace for it. I ...
Shiv's user avatar
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128 views

DH parameters correct but the MATLAB plot isn't accurate

...
ioneflux's user avatar
1 vote
1 answer
416 views

Peter Corke Robotics Matlab Toolbox the problem of inverse dynamics in the Franka Emika Panda model

I have the following question about the Franka Emika Panda dynamic model. In case I perform the solution of the inverse dynamics problem using Robotics Toolbox (Peter Corke) I get different results ...
Daniel Kajzr's user avatar
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2 answers
258 views

How to find the nonlinear equations of motion of a seesaw-cart electromechanical system?

So what I have here is a single pendulum with a cart system. The pendulum is composed of a set of rigidly connected parts integrated in a seesaw-like structure which can freely pivot around the axis ...
BigDuckPlaya's user avatar
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2 answers
170 views

Inverse kinematics for redundant robot

I'm currently doing some in-depth analysis based on this article. Starting from a general inverse kinematics solution, the article gives an appropriate formula to compute a solution that takes into ...
slim71's user avatar
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1 vote
1 answer
222 views

Robotic Arm Inverse Kinematic Algorithm

I have currently built a large 6 axis Robotic arm that uses a bunch of potentiometers to control the angles. I would like to move into Autonomous control of the robotic arm. I would like to tell the ...
user avatar
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0 answers
249 views

How to calculate the workspace of a five bar planar parallel robotic manipulator using MATLAB?

I am trying to calculate the workspace of a five bar planar parallel manipulator using MATLAB. Also, I am trying to plot the exact workspace as shown( kindly check the link). For this I guess I need ...
Nanase Tomoe's user avatar
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179 views

Jacobian row of zeros. Why?

I have a Simulink model that has a standard Simulink block that determines the Jacobian for a given Rigid Body Tree model. The Rigid Body Tree model is a built in model of the Franka Emika Panda robot ...
user463102's user avatar
1 vote
1 answer
411 views

Peter Corke Robotics Matlab Toolbox Jacobian in Simulink

I am working on getting the Peter Corke Robotics Toolbox for Matlab connected to a Panda robot via Simulink. The problem I am encountering is the fact that the variables created by the Peter Corke ...
user463102's user avatar
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0 answers
150 views

Joint space trajectory script unclear

I have a script provided by The MathWorks Inc. that makes a robot end-effector follow both a task space and a joint space trajectory through several waypoints. These trajectories are then plotted in ...
user463102's user avatar
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2 answers
30 views

Is the translational vector (positon) in transformation matrices in cm or another unit (MATLAB)?

My transformation matrix gives me, for example, x = 0.06, y = 0.27 and z = -0.04 It does not make a lot of sense to me if this is in cm.
Veronique's user avatar
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1 answer
29 views

Matlab smooth transition between stored configurations (rigid body tree robot )

I currently have a few joint configurations stored for a robot model in Matlab. When I play back and show the robot in different configurations, there is of course no smooth, but abrupt transition. Is ...
Veronique's user avatar
0 votes
2 answers
393 views

How can I input joint angles to transformation matrix to get position in matlab?

I am trying to get the forward kinematics for a robot model in matlab (rigid body tree). I created a 4 x4 transformation matrix from the base to the end-effector using the gettransform() function. I ...
Veronique's user avatar
1 vote
0 answers
29 views

Data gathering and selling [closed]

a friend of mine is building various Robots with different structures, sensors, limbs executing different tasks. He gathers data from all sensors etc regarding technical and scientific range of ...
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0 answers
184 views

Retrieving Denavit-Hartenberg-Parameters from homogenous transformation-matrix

i am trying to implement a matlab script where the user can enter quaternions and retrieve the corresponding denavit hartenberg parameters for this link. My approach is to create the homogenous ...
jogenist's user avatar
1 vote
0 answers
295 views

Inverse Kinematics for a 4-DoF Leg

I am beginner in the robotics space and I am trying to apply inverse kinematics to robot leg that has 4 degrees of freedom. I do not know how to think about solving these problems, so any guidance ...
jgk5141's user avatar
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1 vote
2 answers
247 views

How do industrial robots solve the inverse kinematic problem?

I want to make a real-time end-effector position control simulation of a 6 DOF robotic arm. To do so, I should solve the inverse kinematic problem, but due to the complexity of calculations, it is ...
Ehsan_Amp's user avatar
1 vote
1 answer
219 views

Inertial frame's angular velocity expression

I'm following a robotics course on coursera which talks about aerial robotics and more specifically quadrotors. I'm trying to understand the logic behind the relationship between the angular velocity ...
Mssm's user avatar
  • 147
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1 answer
55 views

How to simulate a system output with a sine wave input?

I wish to simulate the output of a certain gear system I have. How the gear system looks isn't particularly important to the problem, I managed to get the differential equation needed from the ...
BigDuckPlaya's user avatar
1 vote
1 answer
235 views

How to solve this differential equation using ode23?

Hello! :) What I have here is a gear system I need to simulate using MATLAB and Simulink. To do that, firstly I need to get the differential equation for this rotation (gear) system. I think I ...
BigDuckPlaya's user avatar

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