Questions tagged [matlab]
MATLAB is a high-level language and interactive programming environment for numerical computation and visualization developed by MathWorks.
2
votes
0answers
32 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 ...
0
votes
1answer
43 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 ...
0
votes
0answers
22 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=...
0
votes
1answer
54 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/...
0
votes
1answer
20 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 ...
-2
votes
2answers
58 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 ...
1
vote
1answer
37 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 ...
0
votes
1answer
125 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 ...
0
votes
0answers
11 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 ...
0
votes
2answers
75 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 ...
0
votes
1answer
40 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 ...
2
votes
0answers
38 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 ...
0
votes
1answer
62 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
votes
1answer
115 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 ...
0
votes
1answer
42 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 ...
4
votes
2answers
117 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 ...
1
vote
1answer
53 views
RRT star Convergence
My Code gives the following convergence characteristics, I wanted to know if it is correct
Updated code
{
...
3
votes
2answers
69 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 ...
0
votes
1answer
84 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 ...
1
vote
2answers
204 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, ...
0
votes
0answers
29 views
Robotics Toolbox Error using tb_optparse Too many input arguments
I tired to run the RRT example that can be found on page 239 of robot.pdf that can be found here
...
4
votes
0answers
104 views
Matlab: Simulate received signals of sonar sensors
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 ...
3
votes
2answers
434 views
inverse kinematics matlab RVC for 3 joint RRR
Hi im having problem with Inverse kinematic using RVC toolbox in matlab for RRR manipulator.
...
0
votes
2answers
189 views
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 ...
0
votes
1answer
46 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 ...
0
votes
1answer
384 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 ...
1
vote
1answer
2k 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 ...
0
votes
2answers
66 views
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 ...
0
votes
1answer
296 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 ...
0
votes
1answer
278 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 ...
0
votes
1answer
131 views
Disturbance rejection of PID controller with low sampling rate
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 ...
0
votes
1answer
131 views
Generation of a trajectory (position,velocity,acceleration) from velocity
I would like to generate a trajectory for a quadrotor UAV and I am using an architecture which allows to do so only by specifying position, velocity and acceleration.
I only know that I want to do a ...
0
votes
1answer
141 views
Robot real time control [closed]
I want to control a arduino based robot in real time , i am confused whether simulink real time control is a better option or Using ROS ??
I am familiar with the simulink , My application is to ...
0
votes
1answer
344 views
Tracking a ball returning its x,y,z coordinates [closed]
I'm a Mechatronics Student Engineer, and still new with the computer vision field and am now working on a project that needs to Tracks a small ball and need to determine it's (x,y,z).
1st) Kinect was ...
2
votes
1answer
391 views
Euler-Lagrange Dynamic model
I'm working on a masters thesis and need to calculate Mass inertia matrix ($M$), Coriolis/Centrifugal matrix ($C$), and the gravity matrix ($G$) in the equation $M\ddot{\theta} + C\theta + G = \tau$ (...
1
vote
0answers
212 views
Maintaining scale factor for essential matrix
I want to recover the trajectory of a vehicle using a monocular camera via the computation of the essential matrix between t-1 and ...
0
votes
1answer
98 views
Should the kalmanfilter have disturbance as input?
This is a kalmanfilter
As you can see, the process noise(disturbance) is not going to the kalmanfilter. But the state space model for the state feedback system is written as this: https://youtu.be/...
0
votes
1answer
128 views
Can I implement continuous time feedback regulator in an Arduino microcontroller?
Arduino is a digital mikrocontroller. But I wonder if it's possible to implement an continuous time feedback regulator in an Arduino microprocessor?
Continuous time feedback regulators such as PID:
$...
5
votes
1answer
162 views
Why doesn't this kalmanfilter filter anything? Reduce disturbances and noises with LQG controller
I have a state space model which look like this:
$$
\ \begin{bmatrix} \dot{x} \\ \\\dot{\tilde{x}} \end{bmatrix} =\begin{bmatrix} A - BL& BL \\ 0 & A-KC \end{bmatrix} \begin{bmatrix} x\\ \...
2
votes
2answers
203 views
Can I write the seperation principle for LQG controllers in this state space form?
Look at this picture. This is the seperation principle diagram.
It is an LQG controller which going to control the real life process. What I want to do, is to create a state space model for this ...
2
votes
1answer
365 views
Driving Rhino DC servo motor using Arduino through commands sending from MATLAB
I have a servo motor (http://robokits.download/documentation/RMCS220x_DCServo_Driver.pdf). I wrote a code in Arduino to rotate it in some defined angles and position. Code is given below:
...
3
votes
2answers
347 views
Lego Mindstorms EV3 gyro sensor offset fix
I am currently working on a project for a Lego Mindstorms EV3 autopilot using Matlab/Simulink. Basically, I am using a closed loop control system with a PID controller for the control of the control ...
0
votes
1answer
107 views
What is exact model of haptic interface system in 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 ...
0
votes
2answers
1k views
Send numerical values from Matlab to arduino
I have an array (2x4) in Matlab which may contains integer values as well as values in decimals. For example: [1.1, 23, 1.56, 5.29; 2.14, 2.39, 67, 4.001]. I have to send these values to arduino using ...
1
vote
2answers
238 views
Error in simmechanics matlab while doing inverse dynamics using custom joint
I am doing inverse dynamics in Matlab simmechanics in which position and orientation will be input to the end effector.
But it shows error as below.
Error originates in Mechanical block rob33/...
1
vote
0answers
593 views
Using 3D graphics animate the robot in Matlab GUI
I have seen this example ( http://in.mathworks.com/matlabcentral/fileexchange/14932-3d-puma-robot-demo/content/puma3d.m) in file exchange and want to do similar thing with 4 dof rootic arm. I follow ...
0
votes
1answer
508 views
Inverse kinematic solution not giving the same forward kinematics answer
I'm working on an assignment where I need to derive IK for 5 DOF Youbot kuka robotic arm manipulatorofficial website. I'm using inverse kinematics decoupling and following a geometrical approach using ...
0
votes
2answers
558 views
About official robotics system toolbox Matlab and Peter Corke Robotics toolbox matlab.
I came to know that matlab released robotics system toolbox in 2016 version but I'm using Matlab 2014b. At that time I installed Peter Corke Robotics toolbox matlab and start working on it. I develop ...
0
votes
1answer
1k views
How to get Max Torque on Robot arm 's Joints (RRR)
Suppose I have a Robot Arm with 3 joint(revolute)( 3 DOF) as shown below , and I'm given
-The ranges of each joint q1,q2,q3
-The lengths of each link L1,L2,L3
-Load on the end effector [Fx Fy M]
...
0
votes
2answers
305 views
Error when using Matlab Function block in Simechanics (nested functions and parsing of Matlab function both error)
I create a simple simulink model using Matlab Function block to calculate angles of 4 dof robotic arm using Robotic toolbox Matlab while input is x, y and z values. I used forward kinematics to ...
