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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6
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2answers
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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 ...
6
votes
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 ...
5
votes
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 ...
4
votes
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 ...
4
votes
1answer
166 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\\ \...
4
votes
1answer
705 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 ...
4
votes
1answer
163 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. ...
4
votes
1answer
81 views

Yaw drift when implementing AHRS filter fusion

I am using the Matlab AHRS filter fusion algorithm with an InvenSense ICM-20948 to determine object orientation. I seem to be obtaining reasonable results however I am getting what appears to be ...
4
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0answers
126 views

Matlab: Simulate received signals of sonar sensors [closed]

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 ...
4
votes
2answers
374 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 ...
3
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2answers
85 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 ...
3
votes
2answers
817 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 ...
3
votes
2answers
190 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 ...
3
votes
3answers
813 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 ...
3
votes
2answers
498 views

inverse kinematics matlab RVC for 3 joint RRR

Hi im having problem with Inverse kinematic using RVC toolbox in matlab for RRR manipulator. ...
3
votes
1answer
731 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. ...
3
votes
1answer
48 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: ...
3
votes
1answer
58 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., $$D(z)=C(z)*G(z)$$ ...
3
votes
1answer
4k 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 ...
2
votes
2answers
275 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 ...
2
votes
2answers
416 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 ...
2
votes
1answer
414 views

Human arm inverse kinematics

Hi I want to implement an human arm robot and a task such as moving a glass between two points using Robotic Toolbox for Matlab by Peter Coorke. I'm a student and I'm a newbie in this kind of things ...
2
votes
1answer
149 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 ...
2
votes
1answer
124 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\...
2
votes
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 ...
2
votes
1answer
3k 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 ...
2
votes
1answer
427 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 $M\ddot{\theta} + C\theta + G = \tau$ (...
2
votes
1answer
653 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 ...
2
votes
3answers
1k 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 ...
2
votes
1answer
84 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 ...
2
votes
1answer
733 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 ...
2
votes
2answers
191 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 ...
2
votes
1answer
549 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 ...
2
votes
0answers
38 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 ...
2
votes
1answer
439 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: ...
2
votes
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 ...
1
vote
4answers
219 views

Why I'm getting very long terms in the inertia matrix (or dynamics model) of the robot using matlab script?

I'm working on the dynamics model of a RRRR articulated robot, I'm following Euler-Lagrange approach and developing my code in m-file in matlab; I'm looking for dynamic model of this form: $$ D(q) \...
1
vote
6answers
4k views

How do I work out the kinematic solution of a robot arm?

I draw a robotic arm in Solidworks, but I'm not so sure about how to find out the DOF, forward and backward kinematic. Could anyone help me understand how to work out the kinematic solution of this ...
1
vote
1answer
631 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 ...
1
vote
2answers
610 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 ...
1
vote
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] ...
1
vote
2answers
342 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 ...
1
vote
2answers
342 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 ...
1
vote
1answer
28 views

Roy Featherstone toolbox robot model

I want to model these D-H parameters in spatial toolbox: Link: alpha, a, theta, d Link 1 : -90 0 theta1* d1 Link 2 : 0 a2 ...
1
vote
1answer
850 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 ...
1
vote
2answers
408 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 ...
1
vote
3answers
231 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 ...
1
vote
1answer
636 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 ...
1
vote
1answer
38 views

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 ...
1
vote
2answers
444 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 ...