Designing Robot Manipulator Algorithms

Jose Avendano and Sebastian Castro walk you through the robot manipulator workflows available within MATLAB® and Simulink®. You will see how you can import your own designs or create MATLAB and Simulink representations to quickly program and simulate manipulation tasks such as waypoint tracking using existing algorithms within the Robotics System Toolbox™.
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You will learn how to import the geometry of a robot manipulator from a description file into a MATLAB representation as well as how to use available features, such as forward and inverse kinematics, to solve for the necessary robot configurations to reach a point in space and follow a desired trajectory. In addition, Jose and Sebastian cover how to import your robot's geometry to Simscape Multibody™ to obtain a 3D simulation environment for integrating MATLAB code, designing and verifying supervisory logic, and testing control algorithms. As a bonus, you will also see how to create robot manipulator simulations that involve perception to complete more advanced manipulation tasks.
For more information, check out the following resources:
Download all template and example files on the MATLAB Central File Exchange: goo.gl/J8pKKs
Find out more about programming robots in MATLAB and Simulink: goo.gl/h1inHf
Learn more about inverse kinematics (IK) algorithm design for robot manipulator: bit.ly/2G0HZQJ
Visit blog pages on robot manipulator kinematics (bit.ly/43xMp73) and dynamics (bit.ly/3pwTery)
Try Robotics System Toolbox: bit.ly/3sm3fEz
Try other resources that use MATLAB and Simulink for robotics: github.com/mat...
#robotmanipulator #roboticssystemtoolbox

[@Sttch-ms1df]

Thank you Sebastian, you've helped me, and thank to you I've learned new things about Robots.

[@ahmadeskandari3370]

Hello. Thanks a lot for the video. What's the difference between 'Homeposition' property and 'Homeconfiguration' structure?

[@pd.dataframe2833]

Why do u need a forward kinematics block? u got the joint positions from Ik and all we have to do is pass those joint positions to the actuators right?

[@moulayelazhari9231]

Hi, thank you for the informative video. I would like to duplicate some of the work you did in this video. are the codes available somewhere ?

[@harshpatil6168]

Can you add other CAD geometries into the simulation when the robot goes through its planned trajectory ? To check for interference ?

[@ssaa66oo]

Hi! I have Matlab 2018b (recently updated) and the Robotics systems toolbox (from the MATLAB App window). When I try any of the commands fromt he RST package, I get 'Undefined function or variable' error. My goal is to simulate a robot behaviour and do not intend to connect the code to the robot hence I don't have ROS or gazebo. Can sb tell me how to make the toolbox work? Thanks!

[@vidcresnik9814]

How can you program the speed of a simulating robot? What is the procedure?

[@merondesta3895]

thank you the video was wonderful. and i want to design mainly control a vision guided pick and place robot on matlab is there any video on that? that means when i have some image as an inout and i want the robot to pick that given object from lets say a conveyer and to put on some place or any video on such related issue?please

[@wolffle3905]

Thank you! This video helps me so much .

[@reelslover3375]

Sir how can we use fuzzy slide mode control for robotic controller are used please suggest

[@memoreap7410]

Hello can you help me on fuzzy slide mode control

[@memoreap7410]

We are doing project on it

[@yourmum706]

Hey are there more videos in the series. If yes can I get the link for those

[@TheMorris22]

Could you explain it from the point of exporting from solid works, and also where you get the block from.

[@roboticseabass]

You can see an example of SolidWorks export here: www.mathworks.com/help/physmod/smlink/ug/export-robot-assembly-from-solidworks-software.html Also, the blocks for robot kinematics and dynamics are explained in this video: kzbin.info/www/bejne/p2XQenSOYreWo8k

[@davemumo9539]

how do i create a Robot.urdf file with my robot description to import to matlab

[@yangliu5101]

Hi! Thanks for your video, could you please tell me how to change the waypoints, so that I can generate my own path.

[@roboticseabass]

If you want to add your own path, you should remove the "Input Trajectory" block. Then, you can use your own Constant blocks that define the variables eePositions (the trajectory) and wayPoints (the waypoint locations)... or, you know, whatever variable names you choose. Those are the ones we use in the example.

[@ritaassaf3790]

Hello. I downloaded the files from file exchange but i have an older verssion of matlab. so can you please export them to the older version and download them? thank you

[@vaibhavjain2770]

Can we Import a Solidworks Robot Model.

[@ayarioussama676]

hello thank you for this video . i imported my robot (kuka 220) with simcape multibody but i don't know how to add a path or trajectory and order the robot to follow it . Any help please

[@roboticseabass]

Hi Oussama -- I am currently working on some material for trajectory generation and following. Stay tuned!

[@АлексИкон]

Hello! i need a help how to control real manipulator by simulink?

[@MandeepSingh-du8kg]

Sir how to control robotic arm with hand gesture with the help of simulink

[@RohitKumar-uo8rh]

can you please provide the cad model used in there??

[@pottoker612]

how does this translate to a real robot in the real world? not one that "has some kind of sensors"

[@rahmanajjarrn]

Thank you for the great video Can you please help me by providing more info about importing a model from Autodesk inventor?

[@neha-ky3jq]

sir my program is not running in 'import robot ' part only

[@roboticseabass]

If you have an error, email us at [e-mail] and we can try help you!

[@saichaitanyabalasankula6255]

I really like the work, can you please share the '.m' file of the Matlab code.

[@roboticseabass]

You can find all the files here! www.mathworks.com/matlabcentral/fileexchange/65316-designing-robot-manipulator-algorithms

[@hemreozgur]

Thank you for this useful video. It has showed many answer for my questions about model importing etc. But I could'nt see anything about ROS. Are you going to continue on ROS communication etc. example on this model? Edit: Shared template & example file does not include robot models. And it's content is little different from the video.

[@roboticseabass]

We don't have any plans to add ROS to this particular model, but we have 4 videos on ROS connectivity out right now! Look for them in the playlist. Also, yes, the example files have been changing as new features/fixes come out. And the robot models have to be downloaded externally because they belong to ROBOTIS, the robot manufacturer. The instructions should all be there, but you can reach out at [e-mail] if you have any questions.

[@harishankertiwari1088]

sir can i make 3d cad model from matlab

[@abdhis7810]

hey can u use neural network as controller

[@ahmadbalasie]

of course

[@knighttime19]

That's what I need !! But where to put those files !!?

[@roboticseabass]

The link is in the video description. www.mathworks.com/matlabcentral/fileexchange/65316-matlab-and-simulink-robotics-arena--designing-robot-manipulator-algorithms

[@williamhuang5329]

Hanzhen harmonic drive gear , robot arm gear , over 30 years experience