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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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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
28 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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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 ...
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2answers
34 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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35 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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37 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
27 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 ...
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1answer
91 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
37 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 ...
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2answers
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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 ...
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1answer
46 views

RRT star Convergence

My Code gives the following convergence characteristics, I wanted to know if it is correct Updated code { ...
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2answers
57 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 ...
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1answer
58 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 ...
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2answers
153 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, ...
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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 ...
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0answers
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How to determine sampling time, acceptable dead-time to reject output disturbances in FO- and SOPDT models?

I have a few questions regarding sampling time, dead-time, and output disturbance rejection. Given a typical first-order plus dead-time model: $$P = {Kexp^{-sL} \over T_ps+1}.$$ I would like to ...
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101 views

MATLAB ROS Communication Issue: The following nodes should be connected but aren't

I have both MATLAB and ROS installed on a SINGLE Linux machine. I am trying to publish data from MATLAB over a rostopic and echoing it in the terminal to view it. No matter, however, I play with URIs ...
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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 ...
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2answers
375 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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2answers
169 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 ...
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1answer
43 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 ...
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1answer
330 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 ...
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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 ...
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2answers
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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 ...
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307 views

Design of robot: inverse kinematics doubts + ARTE library on MATLAB

I am designing a robot that I need to model using ARTE library on MATLAB. The robot has 5 DOF with three prismatic and two revolute joints. Works like an inverse gantry robot, with a wrist for ...
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1answer
285 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 ...
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1answer
257 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 ...
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1answer
122 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 ...
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1answer
123 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 ...
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1answer
138 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 ...
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1answer
313 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 ...
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1answer
366 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 $M\ddot{\theta} + C\theta + G = \tau$ (...
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195 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 ...
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1answer
89 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/...
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1answer
122 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: $...
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1answer
157 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\\ \...
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2answers
162 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 ...
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1answer
315 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: ...
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2answers
330 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 ...
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1answer
103 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 ...
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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 ...
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2answers
224 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/...
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0answers
512 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 ...
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1answer
457 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 ...
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2answers
524 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 ...
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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] ...
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2answers
279 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 ...
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1answer
54 views

Motion input in Simmechanics Matlab.

I have this figure in which motion is given to revolute joint in Simmechanics. In this, constant 2 is used and then integration is used. I want to know what will be effect of 2 here and how ...
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2answers
627 views

Inverse dynamics for robotic arm using Matlab Simmechanics

I am learning Simmechanics Matlab to do inverse dynamics for 4 DOF robotic arm. I read many examples to input motion to revolute joints like through PID, slider gain, sine waves, signal Builder etc. ...
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2answers
324 views

Mathematical modelling of system dynamic on matlab

I want to make a matlab (simulink) control model for the system in the image below. The original pdf is only accessible if logged in Carleton's Learning Management System. How do I get the dynamics ...