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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Robot Trajectory Control with MATLAB

I want to make a MATLAB (Simulink) simulation of the robot model shown above. However the input should be the sinx(t) function as a trajectory. How could I integrate this sinx(t) function in Simulink ...
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this is matlab code for drawing circle by 6dof arm robot but i don't know how to limit the joint's angles

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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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DH parameters correct but the MATLAB plot isn't accurate

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Add a repulsive force among a group of robots

I am new to multi-agent robotic systems and I am currently studying consensus and flocking algorithm. Recently I implemented a simple integrator consensus algorithm that leads a group of N robots to a ...
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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

Good day all, 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 ...
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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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Closed Kinematic Chain Forward Kinematics using DH method

I'm dealing with the direct kinematic of a robotic leg, composed by a four bar mechanism coupled with a slider-crank. I understood that I need to identify the closed loops of my leg and I did it: the ...
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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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Algorithm for Hand-eye Calibration with static camera brings wrong parameters

I tried a hand-eye-calibration with a static camera and the following alogorithm in Matlab. https://de.mathworks.com/matlabcentral/fileexchange/48696-camera-to-robotic-arm-calibration The algorithm is ...
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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 to connect to a kinova gen3 arm in gazebo through MATLAB and ROS?

I want to simulate a kinova gen3 arm in Gazebo through MATLAB and ROS. I am using a windows laptop which is running MATLAB natively, and I am running ROS and Gazebo via a virtual machine. I have ...
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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 ...
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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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i want to model the variable distance between two moving vehicles

please i need to model the variable distance between two vehicles, below the code that i'm trying to do , The code ...
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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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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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2 answers
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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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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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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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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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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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3 votes
2 answers
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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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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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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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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 ...
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3 votes
1 answer
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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 ...
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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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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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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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