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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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623 views

Robot arm matlab Simulink simulation error

I am doing robotic arm simulation in Matlab Simulink but get the error. How I can resolve this. My model given below. Other details: 1. image of coordinates with world coordinates. 2. 6 DOF joint ...
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0answers
339 views

Matlab Simulink showing following errror: kinematic constraints cannot be maintained

I'm using simulink to get joints torque by giving motion input. I create very simple CAD model in solidworks to learn simulink. Simulink model is showing in below figure. During update it shows no ...
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2answers
129 views

How quickly can a driverless vehicle generate control commands?

Can anyone give me a typical frequency that a driverless vehicle could generate steering and motor thrust commands? I am trying to model a driverless vehicle in MatLab. Right now the vehicle is ...
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1answer
460 views

Arduino output SPWM using Matlab

I have Arduino and Matlab which has hardware support package for Arduino. I want to create SPWM signal (sinusoidal pulse width modulation) to be the output of the Arduino board. I could generate the ...
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1answer
154 views

Negative torque and negative velocity during reverse dynamics in Matlab Robotics Toolox.

I'm using Robotics Toolox Matlab and I did Reverse dynamics using code below. ...
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2answers
329 views

How to consider gravity in the design of a compensator?

I have to solve an exercise for the Digital Control System course (using MATLAB software) which stands: "A ball is suspended inside a vertical tube by airflow 'u' and connected via a spring of ...
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1answer
2k views

Problem with inverse kinematics in robotic arm using Matlab

I define my robotic arm with following code ...
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1answer
715 views

Reading multiple signed digits from serial port

I'm using simulink support package for arduino to read serial data from port2 in Arduino due. My plan is to read signed integers (-415 for example) representing motor speed and feed it to the pid ...
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1answer
537 views

Inverse kinematics showing incorrect results for 4 dof robot in MATLAB using Robotics Toolbox

I'm doing inverse kinematics for 4 dof robot using robotics toolbox matlab. The code is given below: ...
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1answer
451 views

showing error while using inverse kinematics “ikine” for 4 dof robotic arm

I want to do forward dynamics but before that I got struck in inverse kinematics for 4 dof. My code is given below: ...
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1answer
3k views

Matlab Inverse Kinematics 6 DOF

I'm trying to write an inverse kinematics Matlab code for a 6 DOF robotic arm that has the following link parameters: Twist angle (alpha): [-90, 0, 90, -90, 90, 0] ...
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2answers
486 views

Does simulink accepts robotics toolbox in matlab?

I'm trying to make a model for a robotic arm on simulink and then excute it on arduino controller but i want also to use robotics toolbox to calculate forward and inverse kinematics so i need to add ...
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1answer
57 views

Issue with series command in MATLAB

I have a controller and a plant in series. The controller is 3 input 3 output MIMO system and the plant is also 3 input 3 output system. The bode of the open loop gain, i.e., $$D(z)=C(z)*G(z)$$ ...
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87 views

Forward Kinematics od Differential Robot

r = 1; w1 = 4; w2 = 2; l = 1; R = [0 -1 0; 1 0 0; 0 0 1]; X = [(r*w1)/2 + (r*w2)/2; 0 ; (r*w1)/(2*l) - (r*w2)/(2*l)]; A = R*X; disp(A) I am getting the solution ...
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1answer
3k views

How to create Matlab Simulation for Kinematics of Differential Drive

I studied the forward and inverse Kinematics of the robot and got a clear understanding. I am in the progress of developing my matlab simulation for a two wheeled differential drive robot. The robot ...
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2answers
306 views

Inverse kinematics: how to specify TCP constraints in an iterative algorithm?

I am trying to write some simple code to perform IK for a 6 DoF redundant robot using the Jacobian pseudo-inverse method. I can solve IK for a desired pose using the iterative method, and I want to ...
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2answers
383 views

How can I apply different control approach without having a state space model?

Recently i am working on a hydraulic control system of a vehicle. But in this system I don't have any mathematical modeling of the system so i am not able to get any state space model for the given ...
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1answer
632 views

How to implement PD controller to this 2D planar quadcopter dynamics?

I want to code the dynamics of 2D planar quadrotor and than control it to drive it from one state to another. Dynamics that I use is taken from the online course fiven by Vijay Kumar in Coursera as ...
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1answer
203 views

Platooning leader follower code

I'm trying to develop a platoon leader follower formation for two robots in Matlab. The paper I'm trying to follow is this. I've got next code, where I want follower robot to follow the leader robot'...
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2answers
353 views

how to add a Matlab code to a simulink model?

I want to program an arduino using matlab by "arduino support package" and I want to use simulink in normal input output operations but also use Matlab language in another part so is it possible to ...
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1answer
305 views

Pitch angle is either +90° or -90°

Not exactly a robotics based question but mechanics is involved. I have a wearable device that gives output in Quaternions which I can read serially via Labview. My task is to develop a threshold ...
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2answers
272 views

How to move root locus to the left?

I'm trying to control system that has 3 poles (2 in the right half plane) I sketched root-locus but the two positive poles are going right and never be in the left half plane at any value of k The ...
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1answer
1k views

Complimentary filter issues

I'm trying to implement the complimentary filter to get Euler angles using accelerometer and gyroscope data. Attached is the MATLAB code that I have along with a data set. The data corresponds to ...
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1answer
359 views

Control of WMR (Wheeled Mobile Robot) in 3D

I've implemented SMC (Sliding Mode Controller) on WMR in both X-Y and X-Z plane. Now i want to combine both of these to control WMR in 3D. For this purpose I'm trying to use resultant vector of ...
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1answer
367 views

convert toolframe coordinate to world frame coordinates?

I am not sure how i should explain this, I am looking for a way to plot the trajectory an robot arm. An object is seen from the toolFrame frame, but how do I plot the position of each joint, such ...
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1answer
254 views

Configuration space obstacle - calculating collision

I need to calculate the configuration space obstacle to planning a path with a mobile robot. The idea is to divide the obstacles and the robot in triangles and test whether is there any triangle from ...
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1answer
120 views

Mobile robot algorithm implementation error

I am working in reproducing a robotics paper, first simulating it in MATLAB in order to implement it to a real robot afterwards. The robot's model is: $$\dot{x}=V(t)cos\theta $$ $$\dot{y}=V(t)sin\...
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3answers
554 views

How to apply A bang-bang signal of amplitude 1 N and 1 s width as an input force to reproduce certain results in Matlab?

I working on dynamic modeling and simulation of a mechanical system (overhead crane), after I obtained the equation of motion, in the form: $$ M(q)\ddot{q}+C(q,\dot{q})\dot{q}+G(q)=Q $$ All the ...
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3answers
730 views

Kuka KR16L-2 robot simulation base and wrist rotation inconsistent with original robot

The issue is regarding simulation of Kuka robot KR16L6-2 in MATLAB using Robotics toolkit by Peter Corke. I wish to simulate the kinematic before passing a command to real robot for motion. I have ...
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1answer
85 views

Dynamic Model of a Manipulator

I'm stuck on equation 4.30 of page 176 in http://www.cds.caltech.edu/~murray/books/MLS/pdf/mls94-complete.pdf This equation: $\frac {\partial M_{ij}} {\partial \theta_k} = \sum_{l=\max(i,j)}^n \Bigl( ...
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4answers
1k views

Robotic Arm analysis in Matlab/simulink

I am going through a paper, Kinematic Modelling and Simulation of a 2-R Robot Using SolidWorks and Verification by MATLAB/Simulink, which is about a 2-link revolute joint robotic arm. According to the ...
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2answers
186 views

Angle to a circle tangent line

I want to simulate the detection of a moving object by a unicycle type robot. The robot is modelled with position (x,y) and direction theta as the three states. The obstacle is represented as a circle ...
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1answer
326 views

Pick and place robot [closed]

I have to simulate a pick and place robot (3 DOF). I tried with MATLAB. It should pick and place different objects according to their geometry. Where can I find similar m-codes and algorithms?
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1answer
678 views

simulation of robots

I am designing a new mechanism similar to robot arm. It would be a 6 or 7 axis with arms but not the same with traditional articulated arms. As a result, new DH matrix,and inverse kinematics involve. ...
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0answers
130 views

Use MATLAB Compiler SDK generated package in KUKA Sunrise.Workbench

The MATLAB Compiler SDK allows to create a wrapper for a MATLAB function which can be accessed by Java software. Based on my understanding, KUKA's Sunrise.Workbench IDE uses most of the standard Java ...
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1answer
214 views

How to import catia assembly to Matlab. Simmechanics

In catia .stl format is available only for part file not for assembly file. Please help how to import asembly in simmechanics .CATProduct to .stl Or Is there any other way to do?
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0answers
75 views

how to actuate pneumatic muscle by the signals received by emg sensors interfaced with raspberry pi?

My aim is to actuate a pneumatic muscle based on signals received by EMG sensors placed on the biceps. Is there any Matlab code which can process the received EMG signals and convert them into any ...
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1answer
967 views

Real-time GY-85 IMU sensor interfacing with Simulink

How do I read real time values from the GY-85 IMU sensor at Simulink connected via Arduino? Also, I intend to interact with the Virtual Reality environment at Simulink using this GY-85 IMU sensor. Is ...
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1answer
152 views

Calculating required torques for a given trajectory using Lagrange-Euler

I have a 2DOF robot with 2 revolute joints, as shown in the diagram below. I'm trying to calculate (using MATLAB) the torque required to move it but my answers don't match up with what I'm expecting. ...
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3answers
216 views

Dynamic simulation of compliant elements in quadruped robot

I have a preliminary design for a legged robot that uses compliant elements in the legs and in parallel with the motors for energy recovery during impact as well as a pair of flywheels on the front ...
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2answers
9k views

Running my 3 DOF Inverse Kinematics Code: Works in MATLAB, not in Python

I asked a question similar to this earlier, but I believe I have a new problem. I've been working on figuring out the inverse kinematics given an x,y,z coordinate. I've adopted the Jacobian method, ...
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1answer
570 views

Filtering IMU angle discontinuities

I try to measure Euler angles from an IMU, but some discontinuities happens during measurement, even in vibrationless environment, as shown in the images below. Can someone explain which type of ...
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2answers
748 views

Using Gazebo installed on same machine in MATLAB

I am planning to use MATLAB and Gazebo for one of my course projects. However all the tutorials I have seen till now use Gazebo by using a virtual machine which has ROS and Gazebo installed. I have ...
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1answer
378 views

Are there any aerodynamics modeling/simulation software that is capable to consume a SolidWorks model and to interface with MATLAB/Simulink?

Currently I am developing a control system for an aircraft of a unique design (something in between a helicopter and a dirigible). At this moment I can model only the dynamics of this vehicle without ...
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2answers
87 views

How can I control fast real time sensor (250Hz) with slow system display(60Hz)

We do some experiments of real time representation of sensor position on TV. In this experiments, we used sensors for collect real time position in 3D at 250Hz and TV for Display the sensor position ...
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1answer
679 views

Mobile Robot path reconstruction by using IMU acceleration and Yaw angle

I hope you can help me with my project. I'm using a skid-steering wheeled mobile robot for autonomous navigation and I'd like to find a way to be able to perform path reconstruction in Matlab. By ...
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4answers
1k views

Image Based Visual Servoing algorithm in MATLAB

I was trying to implement the IBVS algorithm (the one explained in the Introduction here) in MATLAB myself, but I am facing the following problem : The algorithm seems to work only for the cases that ...
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2answers
1k views

How can I get the values of a IMU from the serial message received in Simulink via UART?

I try to read IMU sensor data from an Arduino mega 2560 UART with serial receive block of Arduino support package for simulink. The IMU can send binary packets and also nmea packets and I can ...
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2answers
2k views

Gyroscope - How can I remove low frequency component with a high pass filter only?

I'm using Matlab to suppress low frequency components with a high pass filter. Objective Filter angular velocity measurements affected by high frequency noise and bias in order to get the best ...
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1answer
4k views

MATLAB 3D Simulation with SOLIDWORKS model

I'm learning to make a 3D simulation in MATLAB based on a model designed from SOLIDWORKS. There is an example: SIMULINK+SOLIDWORKS The way used here is: Create a 3D model in SOLIDWORKS Create a ...