# 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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### Libraries to simulate path planning in a dynamic environment for a 2D space

I need to simulate a path planning approach for a 2D space where the obstacles are moving. Initially, I need to implement probabilistic road map, D* lite, A* and Bug2 algorithm. The robot needs to be ...
395 views

### Forward Kinematics Frame Simulation in MATLAB

I've worked out the T matrix of the tip (position and orientation) with respect to the base frame of a 6 DoF robot for 2 seconds at 1kHz. So the size of the total T matrix is 4*4*1000. How can I ...
60 views

### Data Driven Modelling for Motor Position Control

I am trying to identify a plant model for a motor position control using MATLAB System identification toolbox. If it is a speed control example the data set can be generated easily. In this a case ...
227 views

### Getting position from joint angles in Matlab RigidBodyTree

I want to use matlab for estimating the position of end effector given joint angles. I saw convenient tool to build robot model using RigidBodyTree. My manipulator is planar, with only revolute joints ...
271 views

### Laser Scanner for localization in particle filter

I'm working on a particle filter implementation in Matlab and I found one very good in the Robotics Toolbox (available here https://github.com/petercorke/robotics-toolbox-matlab). My problem is that I ...
339 views

### Baxter and Robotics System Toolbox

I am trying to setup a two way communication with the Baxter Robot using the Robotics System Toolbox from MATLAB. However, I am unable to move the arms or record a trajectory using the rosactionclient ...
182 views

### Disturbance rejection of PID controller with low sampling rate

I have a closed-loop system with the following discrete-time plant: $P(z) = \frac{0.1262}{z^2-0.3303z+0.07517}$ With a fixed (and horrendously low) sampling time of 0.05 seconds. The plant has a ...
183 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/...
667 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 ...
418 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 ...
66 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 ...
563 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 ...
740 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: ...
109 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 ...
12k 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, ...
94 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 ...
775 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 ...
416 views

### Matlab toolbox (Windows) for Sick lasers?

Does anybody know where I can get a matlab toolbox or functions to work with a SICK laser-scanner (Windows OS)? I'm using a SICK-LDRS2110 with ethernet cable, but SOPAS software does not allow me to ...
23 views

### Finding the right PD values for a quadcopter simulator

I am working on this short assignment where I have to find the right PD values for a simulated quadcopter. I have to reach 0.9 meters under 1 second with an overshoot of less than 5%. This is my ...
65 views

### How can I modeling a simple haptic interface system to obtain results similar to 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 ...
23 views

### SerialLink.ikine producing inconsistent inner coordinates - Robotics Toolbox

I'm trying to write a Matlab function that will enable me to write letters and numbers using my 6dof manipulator (RRRRRR). I have a function named gensym that ...
42 views

### Use Camera Calibration Matrix without Toolbox

I am doing this little project where try to calibrate a Raspberry Pi Camera. I use Matlab and I do not want to use the Calibration Toolbox (!). The algorithm I use is the direct linear transformarion ...
32 views

### How to communicate vrep with ESP8266 via wifi to send and receive data

I'm looking for some guidance on a project that I've been doing for quite a long time; the project is about a 4WD robotic platform for obstacle avoidance with haptic feedback. If you know about the ...
29 views

### Robotics: Solving differential equations using computer program

I am having trouble trying to do problem 2 of this robotics problem. Problem 2 requires making a code to solve the derived equations using computer programs such as Maethematica or Matlab. How would I ...
17 views

### why cumtrapz integrator always return zero?

I have been trying to use cumtrapz function to integrate velocity at a given time interval to get the position. However, it keeps giving me zero position at the beginning and end of the iteration, ...
66 views

### Compensator design

I got a plant $G(s)=\left(0.13s+1\right)/s^2$ to design a compensator which provides below demands: Settling time : max 2s Overshoot : max %35 Gain margin : min 10 dB Phase margin : min 30 deg ...
57 views

### Using CTRV UKF, to predict yaw and yaw_rate without measuring it

I would like to know does it makes sense to use CTRV (constant turn rate & velocity) motion model [x, y, v, yaw, yaw_rate] with Unscented Kalman filter if I have only measurements of the position ...
105 views

### How do you control the end effector of a rigid body system using keyboard keys?

So in my lab, I am to create a rigid body tree robot that has an end effector that can be teleoperated by keyboard commands. I found a function called waitforbuttonpress that allowed me to give the ...
51 views

### Rotation at SerialLink.teach Robotic Toolbox

Im using robotic toolbox to simulate my robot, but i always confused when i see the value of rpy. It always different if i compare with tr2rpy and tr2eul. What kind of rotation used in SerialLink....
30 views

After some research Robotic hand simulation in MatLab? After some motivation, I have tried to go inside Matlab Simulink and was able to do this :- https://drive.google.com/open?id=...
509 views

### Inverse Kinematics 5DOF - general approach - Wrong solution MATLAB

Can anyone name a good source for a general approach (cookbook-like) for the inverse kinematics regarding a 5-DOF? The paper by De Xu et al. is aiming for a general approach, but it doesn't work for ...
371 views

### Project ideas for Robot modeling

I am a 1st-year grad student majoring in robotics. I have the opportunity to select and execute my own projects for a course called Robot Modeling. For the project, I have decided to model a UR5 and ...
171 views

### Robot real time control [closed]

I want to control a arduino based robot in real time , i am confused whether simulink real time control is a better option or Using ROS ?? I am familiar with the simulink , My application is to ...
480 views

### Tracking a ball returning its x,y,z coordinates [closed]

I'm a Mechatronics Student Engineer, and still new with the computer vision field and am now working on a project that needs to Tracks a small ball and need to determine it's (x,y,z). 1st) Kinect was ...
1k 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 ...
90 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( ...
269 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?
111 views

### Pole placement gains tuning

given my control system I have found the region of the complex space that satisfies my specifications, determining poles position in 0.5 +- 0.2i. Now I want to find the gains that fix the desider ...