Robot Simulation
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Transcript of Robot Simulation
1© 2015 The MathWorks, Inc.
Using MATLAB and Simulink for Robot Simulation and Implementation
Yanliang Zhang (Ph.D.)Robotics Product and Industry [email protected]
RoboUniverse, 5/11/2015
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Demos…
1. Airplane Wing Landing Gear Control
2. Design and Test Robotics Algorithms Robots or Simulators with MATLAB
3. Design and Test Robotics Algorithms Robots or Simulators with Simulink
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Demo 2 Overview: Design and Test Robotics Algorithms
Prototype algorithms
(e.g., Path Planning) in MATLAB
Test algorithms with ROS-enabled Simulators such
as Gazebo
Test algorithms on a Robot
andanalyze the
performance with rosbag
Switch to Demo
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Demo 3 Overview: Generate a ROS Node from a Simulink Model
Prototype algorithms
(e.g., Collision Avoidance) in Simulink
Test algorithms with a ROS-
enabled Simulator or Robot
Generate a standalone ROS node from the
Simulink Model
Switch to Demo
16
Demo 3: Generate a ROS Node from a Simulink Model• Connect Simulink Model to a ROS network to simulate a Collision
Avoidance algorithm
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Demo 3: Generate a ROS Node from a Simulink Models
• Convert Simulink model to C++ code for a standalone ROS node
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Key Features of Robotics System Toolbox (v1.0)
• MATLAB-ROS Interface
• Simulink-ROS Interface
• Robotics Algorithms
• Comprehensive Demos
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Key Takeaways
Robot simulation is important
Moving from simulation to implementation is easy, especially if you use MATLAB/Simulink
MathWorks new launched Robotics System Toolboxhas seamless integration between MATLAB/Simulink and ROS and Gazebo