Questions tagged [matlab]
MATLAB is a high-level language and interactive programming environment for numerical computation and visualization developed by MathWorks.
133
questions
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0answers
243 views
Maintaining scale factor for essential matrix
I want to recover the trajectory of a vehicle using a monocular camera via the computation of the essential matrix between t-1 and ...
0
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1answer
131 views
Should the kalmanfilter have disturbance as input?
This is a kalmanfilter
As you can see, the process noise(disturbance) is not going to the kalmanfilter. But the state space model for the state feedback system is written as this: https://youtu.be/...
0
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1answer
146 views
Can I implement continuous time feedback regulator in an Arduino microcontroller?
Arduino is a digital mikrocontroller. But I wonder if it's possible to implement an continuous time feedback regulator in an Arduino microprocessor?
Continuous time feedback regulators such as PID:
$...
4
votes
1answer
170 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\\ \...
2
votes
2answers
310 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
1answer
467 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:
...
4
votes
2answers
384 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 ...
0
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1answer
128 views
What is exact model of haptic interface system in 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 ...
0
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2answers
1k views
Send numerical values from Matlab to arduino
I have an array (2x4) in Matlab which may contains integer values as well as values in decimals. For example: [1.1, 23, 1.56, 5.29; 2.14, 2.39, 67, 4.001]. I have to send these values to arduino using ...
1
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2answers
282 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
1answer
777 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 ...
0
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1answer
592 views
Inverse kinematic solution not giving the same forward kinematics answer
I'm working on an assignment where I need to derive IK for 5 DOF Youbot kuka robotic arm manipulatorofficial website. I'm using inverse kinematics decoupling and following a geometrical approach using ...
1
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1answer
670 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 ...
0
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1answer
2k views
How to get Max Torque on Robot arm 's Joints (RRR)
Suppose I have a Robot Arm with 3 joint(revolute)( 3 DOF) as shown below , and I'm given
-The ranges of each joint q1,q2,q3
-The lengths of each link L1,L2,L3
-Load on the end effector [Fx Fy M]
...
0
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2answers
357 views
Error when using Matlab Function block in Simechanics (nested functions and parsing of Matlab function both error)
I create a simple simulink model using Matlab Function block to calculate angles of 4 dof robotic arm using Robotic toolbox Matlab while input is x, y and z values. I used forward kinematics to ...
0
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1answer
62 views
Motion input in Simmechanics Matlab.
I have this figure in which motion is given to revolute joint in Simmechanics.
In this, constant 2 is used and then integration is used. I want to know what will be effect of 2 here and how ...
1
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2answers
759 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. ...
0
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2answers
388 views
Mathematical modelling of system dynamic on matlab
I want to make a matlab (simulink) control model for the system in the image below.
The original pdf is only accessible if logged in Carleton's Learning Management System.
How do I get the dynamics ...
0
votes
1answer
830 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 ...
1
vote
0answers
502 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 ...
1
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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 ...
0
votes
1answer
538 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 ...
1
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1answer
214 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.
...
1
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2answers
483 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 ...
1
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1answer
2k views
Problem with inverse kinematics in robotic arm using Matlab
I define my robotic arm with following code
...
1
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1answer
871 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 ...
0
votes
2answers
651 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:
...
1
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1answer
655 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:
...
1
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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]
...
1
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2answers
648 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 ...
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)$$
...
0
votes
1answer
101 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 ...
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 ...
1
vote
2answers
372 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
2answers
430 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 ...
4
votes
1answer
724 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 ...
0
votes
1answer
264 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'...
1
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2answers
424 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 ...
0
votes
1answer
376 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 ...
1
vote
2answers
391 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 ...
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 ...
1
vote
1answer
398 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 ...
1
vote
1answer
453 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 ...
1
vote
1answer
331 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 ...
2
votes
1answer
127 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\...
1
vote
3answers
603 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 ...
3
votes
3answers
841 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 ...
0
votes
1answer
87 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( ...
0
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4answers
2k 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 ...
2
votes
2answers
192 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 ...
