# 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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### how to implement and code inner and outer PD controllers for quadrotor for position tracking

The quadrotor system is multi-ODEs equations. The linearized model is usually used especially for position tracking, therefore one can determine the desired x-y positions based on the roll and pitch ...
5k 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 ...
1k 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 ...
257 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. ...
480 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 ...
2k 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 ...
2k 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 ...
1k 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 ...
1k views

### inverse kinematics matlab RVC for 3 joint RRR

Hi im having problem with Inverse kinematic using RVC toolbox in matlab for RRR manipulator. ...
801 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. ...
904 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 ...
90 views

### 3-DOF Robot Dynamics error in Robotics Toolbox

I am trying to compute dynamics of 3 DOF robot using Robotics Toolbox by executing this code: robot.accel(q, zeros(1,3), zeros(1,3)) But I am getting this error: ...
195 views

3k 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 ...
382 views

### 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 ...
61 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., $$D(z)=C(z)*G(z)$$ ...
6k 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 ...
648 views

### Quadcopter PID output and duty cycle conversion

I'm trying to design two PD controllers to control the roll and pitch angle of my quadcopter and a P controller to control the yaw rate. I give to the system the reference roll, pitch and yaw rate ...
579 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 ...
949 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 ...
2k views

### RGB-D SLAM - Compute Information Matrix

currently im working on a RGB-D SLAM with a Kinect v1 Camera. In the front-end the SLAM estimates the pose with Ransac as an initial guess for the ICP. With the pose estimation i transform the ...
423 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/...
5k 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] ...
465 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 ...
704 views

### 7DOF inverse kinematics spherical wrist

Is it possible to apply kinematic decoupling for a 7 DOF 7R manipulator with spherical wrist? If it is possible, can anyone suggest a reference on how to apply this approach with a redundant ...
147 views

### Regarding kalman filter implementation

I think I might have originally posted this in the wrong stack exchange forum, link. I think this might be the right place, I am not sure if posting again is considered "bad style", I apologize if ...
279 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 ...
559 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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### Problem with inverse kinematics in robotic arm using Matlab

I define my robotic arm with following code ...
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### 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: ...
103 views

### 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 ...
352 views

### Inverse Jacobian to find joint angles

I am trying to implement a joint space control with the UR5 in MATLAB/Simulink and have programmed the forward kinematics of the same. Now, I want to find out the joint angles of the manipulator using ...
112 views

### RRT star Convergence

My Code gives the following convergence characteristics, I wanted to know if it is correct Updated code { ...
949 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 ...
916 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. ...
201 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 ...
61 views

### 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 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 ...