Using MATLAB and Simulink in
Robotics
Yanliang Zhang (Ph.D.)
Robotics Product and Industry Manager
[email protected] 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
[email protected]16
