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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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 ...
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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 ...
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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 ...
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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 ...
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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.
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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 ...
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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 ...
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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 ...
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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. ...
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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: ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
Marko Jurisic
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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 ...
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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 ...
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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 ...
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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 ...
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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.
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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 ...
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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 ...
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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 ...
user28932
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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 ...
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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 ...
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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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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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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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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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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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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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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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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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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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Unable to comunicate ROS - Matlab
Dear ROS community!
I have a problem...I configured my matlab environment as ROS master and i want to connect external Linux machine.
I adjusted ROS_MASTER_URI inside the linux machine, after that i ...
Dornier
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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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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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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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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 ...
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