Is it possible to call a rigidBodyTree robot model in a Matlab function in Simulink?
7 Ansichten (letzte 30 Tage)
Ältere Kommentare anzeigen
Lorenzo Scalera
am 19 Mai 2020
Kommentiert: Lorenzo Scalera
am 9 Apr. 2021
Hi everybody,
I am trying to use the Robotic System Toolbox functions inside a Matlab function in Simulink.
I am having troubles in importing the rigidBodyTree model in the Matlab function.
How can I manage this issue?
Thank you very much in advance!
4 Kommentare
Valeria Leto
am 7 Apr. 2021
Hi Lorenzo! could you post your code? I have the same problem but I didn't understand how to fix it.
Akzeptierte Antwort
Yiping Liu
am 4 Nov. 2020
Bearbeitet: Yiping Liu
am 7 Apr. 2021
Lorenzo, the persistent variable is the correct way.
You should also check out the rigid body tree algorithm Simulink blocks in RST:
An example of using the persistent variable (NOTE to get a robot inside a function, starting in 21a, you can also use loadrobot command or the new API on rigidBodyTree class called writeAsFunction, both supporting codegen)
function [q, solInfo] = computeIK(T, qini, solTol, gradTol)
%COMPUTEIK
% input:
% Q - 4x4 homogenerous matrix representing end-effector pose
% qini - initial guess for joint configurations (a vector)
% solTol - Solution Toleraance
% gradTol - Gradient Tolerance
persistent ik
if isempty(ik)
robot = robotics.manip.internal.robotplant.puma560DH(); % Since 21a, there are better/cleaner ways to create a robot inside a function.
robot.DataFormat = 'column';
ik = inverseKinematics('RigidBodyTree', robot);
ik.SolverParameters.MaxIterations = 100;
ik.SolverParameters.AllowRandomRestart = false;
end
ik.SolverParameters.SolutionTolerance = solTol;
ik.SolverParameters.GradientTolerance = gradTol;
[q, solInfo] = ik('L6', T, ones(1,6), qini);
end
% codegen command:
% codegen computeIK.m -args {eye(4), ones(1,13), 0, 0}
Weitere Antworten (0)
Siehe auch
Kategorien
Mehr zu Manipulator Modeling finden Sie in Help Center und File Exchange
Produkte
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!