Robot Simulation
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The document discusses how MATLAB and Simulink can be used for robot simulation and implementation, highlighting several robotics projects that used these tools including simulating a Tesla Roadster and developing thought-controlled prosthetics. It then demonstrates how algorithms developed in MATLAB and Simulink can be tested in robot simulators like Gazebo and on physical robots through ROS, and how Simulink models can be converted to C++ code to deploy as standalone ROS nodes.
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MSalah_20161010
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Justin Basilico, Research/ Engineering Manager at Netflix at MLconf SF - 11/1...
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Robot Simulation
- 1. 1© 2015 The MathWorks, Inc. Using MATLAB and Simulink for Robot Simulation and Implementation Yanliang Zhang (Ph.D.) Robotics Product and Industry Manager Yanliang.Zhang@mathworks.com RoboUniverse, 5/11/2015
- 2. 2 Tesla Roadster: Whole Car Simulated using Simulink
- 3. 3 Orion Spacecraft Successful first flight (unmanned) Dec. 5, 2014
- 5. 5 #1 (tied) Drone Formation Flying – University of Sydney
- 7. 7 Move from Simulation to Implementation? Hand convert to C/C++ node? Simulation Implementation
- 8. 8 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
- 9. 9 Demo1 Overview: Airplane Wing Landing Gear Control Switch to Demo
- 10. 10 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 and analyze the performance with rosbag Switch to Demo
- 11. 11 Demo 2: Design and Test Robotics Algorithms • Prototype a path-planning algorithm in MATLAB
- 12. 12 Demo 2: Design and Test Robotics Algorithms • Test it with Gazebo through MATLAB-ROS Interface
- 13. 13 Demo 2: Design and Test Robotics Algorithms • Test it with a physical robot running ROS
- 14. 14 Demo 2: Design and Test Robotics Algorithms • Analyze the performance by reading rosbag files
- 15. 15 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. 16 Demo 3: Generate a ROS Node from a Simulink Model • Connect Simulink Model to a ROS network to simulate a Collision Avoidance algorithm
- 17. 17 Demo 3: Generate a ROS Node from a Simulink Models • Convert Simulink model to C++ code for a standalone ROS node
- 18. 18 Demo 3: Generate a ROS Node from a Simulink Model • Verify the generated ROS node
- 19. 19 Key Features of Robotics System Toolbox (v1.0) • MATLAB-ROS Interface • Simulink-ROS Interface • Robotics Algorithms • Comprehensive Demos
- 20. 20 Key Takeaways Robot simulation is important Moving from simulation to implementation is easy, especially if you use MATLAB/Simulink MathWorks new launched Robotics System Toolbox has seamless integration between MATLAB/Simulink and ROS and Gazebo
- 21. 21 Thank You… Yanliang Zhang (Ph.D.) Robotics Product and Industry Manager Yanliang.Zhang@mathworks.com