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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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
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 ...
5
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1answer
209 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. ...
5
votes
2answers
417 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 ...
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
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 ...
4
votes
2answers
602 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 ...
4
votes
3answers
919 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 ...
4
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2answers
802 views

inverse kinematics matlab RVC for 3 joint RRR

Hi im having problem with Inverse kinematic using RVC toolbox in matlab for RRR manipulator. ...
4
votes
1answer
759 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. ...
4
votes
1answer
770 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 ...
4
votes
1answer
70 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: ...
4
votes
1answer
183 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
784 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
251 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
144 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 ...
3
votes
2answers
445 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 ...
3
votes
2answers
181 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
890 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
1answer
458 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 ...
3
votes
1answer
5k 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 ...
3
votes
1answer
131 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\...
3
votes
2answers
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 ...
3
votes
1answer
123 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 ...
3
votes
1answer
59 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
5k 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 ...
3
votes
1answer
598 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
2answers
478 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
2answers
781 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 ...
2
votes
2answers
55 views

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 ...
2
votes
1answer
4k 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] ...
2
votes
2answers
418 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 ...
2
votes
1answer
248 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
680 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 ...
2
votes
1answer
499 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
2k views

Problem with inverse kinematics in robotic arm using Matlab

I define my robotic arm with following code ...
2
votes
1answer
809 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: ...
2
votes
3answers
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 ...
2
votes
1answer
190 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
90 views

RRT star Convergence

My Code gives the following convergence characteristics, I wanted to know if it is correct Updated code { ...
2
votes
1answer
860 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
835 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. ...
2
votes
2answers
194 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
0answers
43 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
2answers
489 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, ...
2
votes
1answer
570 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
348 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/...
2
votes
0answers
138 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 ...
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
229 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) \...