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Using Matlab and Simulink For Robotics

matlab pour la robotique comment se fait la programation matlab pour la commande ou la simulation des robot.

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didoumax
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362 views

Using Matlab and Simulink For Robotics

matlab pour la robotique comment se fait la programation matlab pour la commande ou la simulation des robot.

Uploaded by

didoumax
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 16

Using MATLAB and Simulink in

Robotics

Yanliang Zhang (Ph.D.)


Robotics Product and Industry Manager
Yanliang.Zhang@mathworks.com

2015 The MathWorks, Inc.1

Agenda

Using MATLAB and Simulink for


Building Robots
Developing Robotics Applications using Existing Robots
Teaching/Learning Robotics

Demonstrating Robotics System Toolbox


(R2015a, March 2015)
Robotics Algorithms
MATLAB-ROS Interface
Simulink-ROS Interface
2

What Are You Doing with Robotics?

1
Build
Robots

2
Develop Robotics Applications
Using Existing Robots

3
Teach/Learn
Robotics

My Focus Today
3

Using MATLAB and Simulink for


Building Robots
Input +

Output
-

Festo Bionic Arm

Controller

Plant

DLR Humanoid Robot

YZU Robot Hand

Recorded Webinar: How a Differential Equation Becomes a Robot


4

Using MATLAB and Simulink for


Teaching/Learning Robots
Build Robots with Low-Cost Hardware?

No need C/C++/Python
Drivers Provided
Comprehensive Algorithms

Hardware Support Package

Visit:
www.mathworks.com/hardware

Use Powerful Robots Running ROS?

ROS/Gazebo Interface
ROS Node Generation
Comprehensive Algorithms

Robotics System Toolbox

Visit:
www.mathworks.com/products/robotics
5

Using MATLAB and Simulink for


Developing Robotics Applications

What you have and need?


Example:
Develop a
Human
Robot
Interaction
Application

2
Developing Robotics
Applications using
Existing Robots

1: Interface

2: Algorithms

My computer
+ My MATLAB

My Robot
6

Key Features of Robotics System Toolbox (v1.0)

MATLAB-ROS Interface

Simulink-ROS Interface
Robotics Algorithms
Comprehensive Demos

Demo
Design and Test Robotics Algorithms with ROS-enabled
Robots or Simulators (such as Gazebo)

Demo 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
and
analyze the
performance with
rosbag

Demo: Design and Test Robotics Algorithms


Prototype a path-planning algorithm in MATLAB

10

Demo: Design and Test Robotics Algorithms


Test it with Gazebo through MATLAB-ROS Interface

11

Demo: Design and Test Robotics Algorithms


Test it with a physical robot running ROS

12

Demo: Design and Test Robotics Algorithms


Analyze the performance by reading rosbag files

Switch to Demo

13

Key Capabilities Demonstrated

MATLAB-ROS Interface
Create a ROS node inside MATLAB
Design and test robotics algorithms on a robot simulator
such as Gazebo
Test robotics algorithms on a physical robot
Import rosbag log files into MATLAB

Simulink-ROS Interface (Refer to Doc


Examples)
Simulink I/O with ROS networks
ROS node generation from Simulink models

Algorithms in Robotics System Toolbox


14

Robotics Algorithms with Other MathWorks


Products

Computer Vision System Toolbox

Phased Array System Toolbox


15

Thank You

Yanliang Zhang (Ph.D.)


Robotics Product and Industry Manager
Yanliang.Zhang@mathworks.com

16

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