using matlab and simulink for robotics
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2015 The MathWorks, Inc.
Using MATLAB and Simulink in
Robotics
Yanliang Zhang (Ph.D.)
Robotics Product and Industry Manager
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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
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What Are You Doing with Robotics?
Build
Robots
1Develop Robotics Applications
Using Existing Robots
2 Teach/LearnRobotics
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My Focus Today
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Using MATLAB and Simulink for
Building Robots
Plant
Recorded Webinar: How a Differential Equation Becomes a Robot
Controller+
-
Input
Output
Festo Bionic Arm DLR Humanoid Robot YZU Robot Hand
http://www.mathworks.com/videos/how-a-differential-equation-becomes-a-robot-expanding-the-power-of-matlab-with-simulink-and-the-symbolic-math-toolbox-overview-81896.htmlhttp://www.mathworks.com/videos/how-a-differential-equation-becomes-a-robot-expanding-the-power-of-matlab-with-simulink-and-the-symbolic-math-toolbox-overview-81896.html -
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Using MATLAB and Simulink for
Teaching/Learning Robots
Hardware Support Package
No need C/C++/Python
Drivers Provided Comprehensive Algorithms
Build Robots with Low-Cost Hardware?
Robotics System Toolbox
ROS/Gazebo Interface
ROS Node Generation
Comprehensive Algorithms
Use Powerful Robots Running ROS?
Visit:
www.mathworks.com/hardware
Visit:
www.mathworks.com/products/robotics
http://www.mathworks.com/hardwarehttp://www.mathworks.com/products/roboticshttp://www.mathworks.com/products/roboticshttp://www.mathworks.com/hardware -
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Using MATLAB and Simulink for
Developing Robotics Applications
Developing RoboticsApplications using
Existing Robots
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What you have and need?
My computer
+ My MATLAB
1: Interface
2: Algorithms
Example:
Develop a
Human
RobotInteraction
Application
My Robot
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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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Demo
Design and Test Robotics Algorithms with ROS-enabledRobots or Simulators (such as Gazebo)
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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 withrosbag
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Demo: Design and Test Robotics Algorithms
Prototype a path-planning algorithm in MATLAB
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Demo: Design and Test Robotics Algorithms
Test it with Gazebo through MATLAB-ROS Interface
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Demo: Design and Test Robotics Algorithms
Test it with a physical robot running ROS
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Demo: Design and Test Robotics Algorithms
Analyze the performance by reading rosbag files
Switch to Demo
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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
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Robotics Algorithms with Other MathWorks
Products
Computer Vision System Toolbox Phased Array System Toolbox
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Thank You
Yanliang Zhang (Ph.D.)Robotics Product and Industry Manager