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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3-DOF RRR Manipulator Simulation With Matlab Simulink [closed]

I need the Matlab Simulink application for the 3-dof RRR type robot arm. Can you give me a hand please?
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2answers
47 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 ...
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1answer
45 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 ...
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1answer
24 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 ...
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1answer
55 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 ...
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1answer
39 views

How do I compute the feedforward terms in a control law using Matlab?

I have the following situation. I have computed the linear and angular velocity which are the controls for a mobile robot, which have the form: $v_d=v_{fb}+v_{ff}$ $\omega_d=\omega_{fb}+\omega_{ff}$ ...
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1answer
133 views

How can I define the saturation function in Matlab?

I would like to write a Matlab code for an angular velocity of this type: $\omega=\omega_{fb}+sat(\omega_{ff})$ where $\omega_{fb}$ is a feedback angular velocity and $\omega_{ff}$ is a feedforward ...
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1answer
67 views

how to find Singularity and jacobian Inverseof 5 DOF Robotic arm?

I am working on calculating the Jacobian Determinant to find the singularity of my 5 DOF Robotic arm, I have calculated the jacobian matrix, and the matrix I got is a very large value As it is non ...
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1answer
117 views

Questions about time derivative of jacobian matrix

I find that in some robotic toolboxs(e.g. FROST https://ayonga.github.io/frost-dev/index.html) they use to calculate time derivative of jacobian matrix. Here is my guess about the reason of using ...
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1answer
36 views

Matlab code to take time derivatives

I have a velocity command, which is: $v=k_1\rho cos(\alpha)$ where each quantity $\rho$ and $\alpha$ depend by the time. I would like now to take the time derivative of this, in order to use it as ...
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1answer
57 views

How do I apply a disturbance observer to a mobile robot?

I have to design a observer to estimate disturbances which are applied to a unicycle model. So, the unicycle model with disturbances is: $\dot{x}=v cos\theta + d_x$ $\dot{y}=v sin\theta + d_y$ $\dot{\...
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1answer
56 views

Problem designing acceleration inputs controller

I am reading this paper: https://www.researchgate.net/publication/224635390_The_motion_control_problem_for_the_CyberCarpet in which is implemented a cartesian regulator to bring the position $(x,y)$ ...
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0answers
23 views

How I Calculate the correct Joint Torques of Robotic arm in Simmechanics?

I have imported my Solidwork Robotic arm into Simmechanics successfully, now I want to calculate torque required for each joints at different conditions, I cant find the Torque, I have tried Total ...
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1answer
54 views

How do I call Matlab code into Simulink for doing a simulation for doing plots?

I have built a simulink model for performing cartesian regulation on a unicycle: and plot the results with a Matlab code but, I am not very confident with Simulink and so I don't know how to call ...
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1answer
30 views

error with dimensions in Simulink

I am trying to simulate a cartesian regulator for a unicycle with Simulink and I am having some problems. My simulink model is the following: and when I run it I get the following error message: so ...
2
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1answer
88 views

Simulation of Robotic arm

I want to simulate my 5 DOF robotic arm, in such a way that the calculated Torque and mass values of each joints (Servos) defined to be tested that are they capable of physically bear all the weight ...
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2answers
78 views

Finding the right PD values for a quadcopter simulator

I am working on this short assignment where I have to find the right PD values for a simulated quadcopter. I have to reach 0.9 meters under 1 second with an overshoot of less than 5%. This is my ...
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1answer
118 views

Plotting a Robot in App Designer

I've a robot created with Peter Corke toolbox and I must plot it inside an app (must be in App Designer - Matlab). The problem is that everytime I try to plot it, it makes an independent figure ...
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80 views

How can I modeling a simple haptic interface system to obtain results similar to the paper “Time-Domain Passivity Control of Haptic Interfaces”?

I am trying to simulate the experiments in the paper "Time-Domain Passivity Control of Haptic Interfaces", Hanaford and Ryu, 2002, IEEE transactions on robotics and automation vol .18, No1 about the ...
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2answers
64 views

How to take prediction step in particle filter?

I am working on particle filter. I have studied it thoroughly, but stucked at one point during implementation. I have to implement it using MatLab. The issue is this that I am unable to implement the ...
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1answer
59 views

What should be the prediction step in particle filter?

I am implementing a particle filter using MATLAB. I am implementing it first time. I have written the system model and measurement model. Given below: ...
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1answer
106 views

Solving for rotation matrix: Aligning vector a with vector b and then rotating around vector b

Currently working on a quadcopter simulation. I have a desired thrust vector, t =sin(30)cos(45)a1+sin(30)sin(45)a2+cos(30)a3 and desired yaw angle, ...
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1answer
53 views

How to communicate vrep with ESP8266 via wifi to send and receive data

I'm looking for some guidance on a project that I've been doing for quite a long time; the project is about a 4WD robotic platform for obstacle avoidance with haptic feedback. If you know about the ...
3
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1answer
284 views

Converting from Modified to Standard Denavit Hartenberg

This is probably a noob question. But as of right now I am having difficulty converting from the Modified DH to a Standard DH parameters for the Franka Emika Panda. I need standard because it allows ...
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3answers
77 views

What is the best way to simulate a robotic arm?

I have been working on a senior design project. In this project, we designed a 4-DOF robot arm. Now, I want to do a simulation for this system. I guess I have to design controllers for the servo ...
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0answers
22 views

why cumtrapz integrator always return zero?

I have been trying to use cumtrapz function to integrate velocity at a given time interval to get the position. However, it keeps giving me zero position at the beginning and end of the iteration, ...
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1answer
111 views

Compensator design

I got a plant $G(s)=\left(0.13s+1\right)/s^2$ to design a compensator which provides below demands: Settling time : max 2s Overshoot : max %35 Gain margin : min 10 dB Phase margin : min 30 deg ...
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2answers
146 views

Regarding kalman filter implementation

I think I might have originally posted this in the wrong stack exchange forum, link. I think this might be the right place, I am not sure if posting again is considered "bad style", I apologize if ...
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0answers
49 views

Finding transfer function from bode plot

I try to estimate a system transfer function by hand calculation from a bode plot data but I could not succeed yet and I need someone help. it will be appreciated if anyone explains or refer me to a ...
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1answer
12 views

Need Suggestions for real-time number or object detection with Arduino + MATLAB? [closed]

I'm working on a line follower robot. its a kind of waiter robot. and i am facing problems in detecting customer table. can you guys please suggest me some ideas to detect customer table. i want to ...
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1answer
45 views

Roy Featherstone toolbox robot model

I want to model these D-H parameters in spatial toolbox: Link: alpha, a, theta, d Link 1 : -90 0 theta1* d1 Link 2 : 0 a2 ...
4
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1answer
86 views

3-DOF Robot Dynamics error in Robotics Toolbox

I am trying to compute dynamics of 3 DOF robot using Robotics Toolbox by executing this code: robot.accel(q, zeros(1,3), zeros(1,3)) But I am getting this error: ...
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1answer
158 views

How do you control the end effector of a rigid body system using keyboard keys?

So in my lab, I am to create a rigid body tree robot that has an end effector that can be teleoperated by keyboard commands. I found a function called waitforbuttonpress that allowed me to give the ...
2
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1answer
302 views

Inverse Jacobian to find joint angles

I am trying to implement a joint space control with the UR5 in MATLAB/Simulink and have programmed the forward kinematics of the same. Now, I want to find out the joint angles of the manipulator using ...
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1answer
364 views

Matlab Code for Lynx Robot

In this section, you will need to write a function lynx_fk which returns the positions of 10 points along the robot arm as defined later, given the joint angles of the robot. For this question, ...
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1answer
66 views

Rotation at SerialLink.teach Robotic Toolbox

Im using robotic toolbox to simulate my robot, but i always confused when i see the value of rpy. It always different if i compare with tr2rpy and tr2eul. What kind of rotation used in SerialLink....
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1answer
439 views

Yaw drift when implementing AHRS filter fusion

I am using the Matlab AHRS filter fusion algorithm with an InvenSense ICM-20948 to determine object orientation. I seem to be obtaining reasonable results however I am getting what appears to be ...
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1answer
454 views

Line following robot mathematic model

I'm trying to improve the speed my line following robot. I have made this chassis designs. This is the main prototype I'm working on. Look at the following image. I'm driving the robot with PID, and ...
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0answers
31 views

How to add some more feature for this simulink model

After some research Robotic hand simulation in MatLab? After some motivation, I have tried to go inside Matlab Simulink and was able to do this :- https://drive.google.com/open?id=...
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1answer
167 views

Esc calibration

I want to make a calibration setup for BLDC ESC in the simulink model. I'm using arduino mega (3,9,10,11 pins) and quatro 30Ax4 esc. Normally I can set it to it's max, min, and incrementally increase/...
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1answer
26 views

Get a signal from position array data

I'm working with position data from a hand sensor, and need to apply an FFT to it to get the level of tremor based on the frequency of the signal. I get two arrays, one with +1000 frames of position ...
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2answers
167 views

Robotic hand simulation in MatLab?

We are doing graduation project and require simulation of the robotic hand to be submitted. And we want to control various parameter in for movement for fingers of robotic hand. We tried it in other ...
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1answer
55 views

Is system identification and a physics engine the same?

In the control theory the term “system identification” is used quite often. A typical sentence in a robotics oriented paper is that the author is trying to “build a model of a plant with matlab”. The ...
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1answer
2k views

Convert local coordinates of a moving IMU to global coordinates

I am trying to compare the performance of an IMU in motion against an optical tracking system. The IMU has an accelerometer and a gyroscope and gives output in the local IMU coordinate frames. The ...
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2answers
327 views

Libraries to simulate path planning in a dynamic environment for a 2D space

I need to simulate a path planning approach for a 2D space where the obstacles are moving. Initially, I need to implement probabilistic road map, D* lite, A* and Bug2 algorithm. The robot needs to be ...
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1answer
57 views

Image data fusion

I have three cameras separated by some distance, looking at a scene. I have calibrated them using checkerboard and I have their respective intrinsic parameters and their pose and rotation matrix, I am ...
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0answers
47 views

how to introduce 2 inputs into a matlab block function that processes only one variable at a time? [closed]

Using SIMULINK, I wanted to optimize 2 variables with the ant colony optimization algorithm; which is written in a matlab function block, the function is of type function y = f (x) it has only one ...
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1answer
588 views

Forward Kinematics Frame Simulation in MATLAB

I've worked out the T matrix of the tip (position and orientation) with respect to the base frame of a 6 DoF robot for 2 seconds at 1kHz. So the size of the total T matrix is 4*4*1000. How can I ...
2
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1answer
275 views

Control system in Matlab with RSA encryption

I want to implement an encrypted controller in Matlab using RSA. I am trying to replicate what is written in this scheme from 'Cyber-Security Enhancement of Networked Control Systems Using Homomorphic ...
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1answer
82 views

Data Driven Modelling for Motor Position Control

I am trying to identify a plant model for a motor position control using MATLAB System identification toolbox. If it is a speed control example the data set can be generated easily. In this a case ...