# 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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### 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 ...
25 views

### Robotics: Solving differential equations using computer program

I am having trouble trying to do problem 2 of this robotics problem. Problem 2 requires making a code to solve the derived equations using computer programs such as Maethematica or Matlab. How would I ...
39 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 ...
16 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, ...
61 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 ...
59 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 ...
31 views

### Using CTRV UKF, to predict yaw and yaw_rate without measuring it

I would like to know does it makes sense to use CTRV (constant turn rate & velocity) motion model [x, y, v, yaw, yaw_rate] with Unscented Kalman filter if I have only measurements of the position ...
38 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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### 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 ...
36 views

### Why my kinematic diagram is not giving the same position and orientation while forward kinematics test?

I am sharing my matlab code so that you can also generate the simulation . ...
31 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 ...
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### Using Simulink Interpreted MATLab fcn for robot dynamics using Robotics Toolbox

I am using Interpreted MATLab fcn to compute forward dynamics. I am using code of accel in which I have added my robot model in the beginning, making the accel function: ...
18 views

### 3 DOF robot torque not converging Robotics Toolbox

I have a Simulink model in which desired torque is [0;0;0] and current torque should converge to zeros too. But I am getting oscillatory torque as output. This is the block diagram of what I am ...
60 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: ...
34 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 ...
98 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 ...
142 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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### 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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### Information filter sensor fusion

I am struggling with a basic implementation of the information filter. I have the equivalent Kalman filter working. The information filter appears to be harder to debug. This is mostly because we ...
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### 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 ...
151 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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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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### 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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### 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 ...
98 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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### 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 ...
475 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 ...
35 views

### How can I import openmv camera feed in MATLAB

I am planning to use openmv camera with wifi shield for my project. I want to import the video feed to MATLAB for further processing. As per my preliminary search it is extremely difficult and ...
171 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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### 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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### 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 ...
180 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 ...
186 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 ...
47 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 ...
302 views

### Inconsistent results between Simulink derivative model and tf for PD controller

I'm designing a PD controller so that the response due to unit step should exhibit an overshoot of 20% and steady-state error less 0.01. I've computed the parameters Kp and Kd and double-checked the ...
68 views

### RRT star Convergence

My Code gives the following convergence characteristics, I wanted to know if it is correct Updated code { ...
111 views

### Meaning of a negative step response with quaternion

It's not technically robotics but: I've been trying to reproduce in Simulink a spacecraft attitude simulation using quaternions, and the kinematics and dynamics seem to work fine, however I'm having ...
168 views

### Getting position from joint angles in Matlab RigidBodyTree

I want to use matlab for estimating the position of end effector given joint angles. I saw convenient tool to build robot model using RigidBodyTree. My manipulator is planar, with only revolute joints ...
320 views

### How can I get the right sample in RRT star Dubins?

I am trying to find a solution in S(1)*R^2 (x,y, orientation) with obstacles (refer to image) using RRT star and Dubins Model. The code takes a lot of time to find a suitable random sample with x,y, ...
138 views

### Matlab: Simulate received signals of sonar sensors [closed]

StackExchange community! I need the guidance what to use for the generation sensor data in Matlab. My purpose is to optimize the exploration process of unknown environment using the multi-robot ...
581 views

### inverse kinematics matlab RVC for 3 joint RRR

Hi im having problem with Inverse kinematic using RVC toolbox in matlab for RRR manipulator. ...
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### Laser Scanner for localization in particle filter

I'm working on a particle filter implementation in Matlab and I found one very good in the Robotics Toolbox (available here https://github.com/petercorke/robotics-toolbox-matlab). My problem is that I ...
65 views

### How can i convert Torque input into PWM signal?

I am working on a project in which i have a robot working with stepper motors. I wish to control this robot with simulink. How can i convert the input( Analog sin input ) into the PWM that can be used ...
458 views

### Inverse Kinematics 5DOF - general approach - Wrong solution MATLAB

Can anyone name a good source for a general approach (cookbook-like) for the inverse kinematics regarding a 5-DOF? The paper by De Xu et al. is aiming for a general approach, but it doesn't work for ...
4k views

### Determine the relative camera pose given two RGB camera frames in openCV-python

I would like to determine the relative camera pose given two RGB camera frames. I assume there's overlap in field of view between the two cameras, what I am looking for ultimately is the rotation and ...
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### How to round of these values to 0

How to shorten these values? They are the result of a matrix like this. When I individually run sin(theta1) and such functions, it would give me the correct value as a zero or a one (the angles I am ...
356 views

### Project ideas for Robot modeling

I am a 1st-year grad student majoring in robotics. I have the opportunity to select and execute my own projects for a course called Robot Modeling. For the project, I have decided to model a UR5 and ...
324 views

### Baxter and Robotics System Toolbox

I am trying to setup a two way communication with the Baxter Robot using the Robotics System Toolbox from MATLAB. However, I am unable to move the arms or record a trajectory using the rosactionclient ...
I have a closed-loop system with the following discrete-time plant: $P(z) = \frac{0.1262}{z^2-0.3303z+0.07517}$ With a fixed (and horrendously low) sampling time of 0.05 seconds. The plant has a ...