机器人建模和仿真

Kinematic and motion models, Gazebo co-simulation

When working with robots, modeling and simulation enable you to prototype algorithms quickly and test scenarios by mimicking the behavior of real-world systems. These functions provide kinematic models for both manipulators and mobile robots to model their motion. The toolbox also supports synchronized stepping of Simulink^®with Gazebo to design your robotics algorithms with physical simulations.

功能

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Fixed-Rate Execution

`ratecontrol`	以固定频率执行循环
`statistics`	过去执行期的统计数据
`waitfor`	Pause code execution to achieve desired execution rate
`reset`	Reset`Rate`目的

Kinematic Motion Models

`ackermannKinematics`	Car-like steering vehicle model
`bicycleKinematics`	Bicycle vehicle model
`差异化基因学`	Differential-drive vehicle model
`unicycleKinematics`	Unicycle vehicle model
`jointSpaceMotionModel`	Model rigid body tree motion given joint-space inputs
`任务SpaceMotionModel`	Model rigid body tree motion given task-space reference inputs

Gazebo Co-Simulation

`gzinit`	初始化凉亭共模拟MATLAB接口的连接设置
`gzlink`	Assign and retrieve Gazebo model link information
`gzjoint`	分配和检索凉亭模型联合信息
`gzmodel`	Assign and retrieve Gazebo model information
`gzworld`	与凉亭世界互动
`gazebogenmsg`	生成凉亭自定义消息支持的依赖关系金宝app
`PackageGazeBoplugin`	为Simulink创建凉亭插件包金宝app

Robotics Cuboid Scenarios

`Robotscenario`	Generate robot simulation scenario
`RobotPlatform`	Create robot platform in scenario
`Robotsensor`	Sensor for robot scenario
`extendedObjectMesh`	Mesh representation of extended object
`pointCloud`	存储3-D点云的对象

传感器模型

`gpsSensor`	GPS receiver simulation model
`Inssensor`	Inertial navigation system and GNSS/GPS simulation model
`robotLidarPointCloudGenerator`	从网格产生点云

转化树

`变换树`	Define coordinate frames and relative transformations
`getGraph`	代表树结构的图对象
`getTransform`	在帧之间获得相对变换
`信息`	List all frame names and stored timestamps
`removeTransform`	Remove frame transform relative to its parent
`节目`	显示变换树
`UpdateTransform`	Update frame transform relative to its parent

Blocks

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Gazebo Co-Simulation

Gazebo Apply Command	将命令发送到凉亭模拟器
Gazebo Blank Message	创建空白凉亭命令
Gazebo Pacer	在凉亭和Simulink之间进行同步步进的设置金宝app
Gazebo Read	从凉亭服务器接收消息
Gazebo Publish	将自定义消息发送到凉亭服务器
凉亭订阅	从凉亭服务器接收自定义消息
Gazebo Select Entity	选择一个凉亭实体

Kinematic Motion Models

Ackermann Kinematic Model	Car-like vehicle motion using Ackermann kinematic model
Bicycle Kinematic Model	Compute car-like vehicle motion using bicycle kinematic model
差分驱动运动模型	使用差速运动运动模型计算车辆运动
Joint Space Motion Model	Model rigid body tree motion given joint-space inputs
任务空间运动模型	型号刚体的身体树运动给定任务空间输入
独轮运动模型	使用Unicycle运动学模型计算车辆运动

话题

机器人系统工具箱的凉亭仿真
了解如何在MATLAB中使用机器人技术算法，然后使用Simulink使用凉亭模拟器在虚拟环境中可视化其金宝app性能。
Gazebo Simulation Environment Requirements and Limitations
在凉亭环境中进行模拟时，请记住这些软件要求，最低硬件建议和限制。
How Gazebo Simulation for Robotics System Toolbox Works
Learn about the co-simulation framework between MATLAB and Simulink and the Gazebo simulator.
在固定速率上执行代码
通过恒定的间隔执行代码，您可以准确地安排任务。
Simulate Different Kinematic Models for Mobile Robots
This example shows how to model different robot kinematics models in an environment and compare them.
在Simulink和凉亭之间进行共同模拟金宝app
This example shows how to set up a synchronized simulation between Simulink™ and Gazebo to send commands and receive data from Gazebo.
用Simulink控制凉亭中的差速器机器人金宝app
This example shows how to control a differential drive robot in Gazebo co-simulation using Simulink.
Control and Simulate Multiple Warehouse Robots
This example shows how to control and simulate multiple robots working in a warehouse facility or distribution center.
使用凉亭在仓库中模拟移动机器人
This example shows how to simulate a warehouse robot in Gazebo.
Configure Gazebo and Simulink for Co-simulation of a Manipulator Robot
Set up a UR10 robot model to perform co-simulation between Gazebo and Simulink™.
Control Manipulator Robot with Co-Simulation in Simulink and Gazebo
Simulate control of a robotic manipulator using co-simulation between Simulink and Gazebo.
计划和执行任务——和关节空间Trajectories Using KINOVA Gen3 Manipulator
This example shows how to generate and simulate interpolated joint trajectories to move from an initial to a desired end-effector pose.
Plan and Execute Collision-Free Trajectories Using KINOVA Gen3 Manipulator
这个例子展示了如何计划闭环collision-free robot trajectories from an initial to a desired end-effector pose using nonlinear model predictive control.
模拟MATLAB中的关节空间轨迹跟踪
This example shows how to simulate the joint-space motion of a robotic manipulator under closed-loop control.

特色示例

Simulate Different Kinematic Models for Mobile Robots

Model different robot kinematics models in an environment and compare them.

Open Live Script

Control and Simulate Multiple Warehouse Robots

控制和模拟在仓库设施或配送中心工作的多个机器人。机器人在设施周围驾驶，并将其运送到电台进行存储或处理。此示例在仓库机器人示例的执行任务之上构建，该示例在同一设施周围驱动一个机器人。

Open Live Script

仓库中的*路径规划和避免障碍物

An extension to the Simulate A Mobile Robot in a Warehouse using Gazebo example. The example shows to change the PRM path planner with an A* planner, and add a vector field histogram (VFH) algorithm to avoid obstacles.

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用机器人和Simscape模型并控制机械臂

使用ABB YUMI机器人执行挑选工作流，该机器人演示了如何在Simulink®中设计机器人算法，然后使用SIMSCAPE™在测试环境中模拟该动作。金宝app该示例还显示了如何建模具有不同水平的保真度的系统，以更好地关注相关算法设计。

Open Live Script

Pick-and-Place Workflow in Gazebo Using ROS

Setup an end-to-end pick and place workflow for a robotic manipulator like the KINOVA® Gen3 and simulate the robot in the Gazebo physics simulator.

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Control Manipulator Robot with Co-Simulation in Simulink and Gazebo

Simulate control of a robotic manipulator using co-simulation between Simulink and Gazebo. The example uses Simulink™ to model the robot behavior, generate control commands, send these commands to Gazebo, and control the pace of the Gazebo simulation.

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Design and Simulate Warehouse Pick-and-Place Application Using Mobile Manipulator in Simulink and Gazebo

在Simulink®中的Husky®移动机器人上的Kinova®Gen3上的移动操纵器设置端到端的采摘工作流程。金宝app

Open Live Script

使用移动机器人执行路径计划模拟

创建一个场景，以模拟移动机器人导航房间。该示例演示了如何创建场景，从刚性身体树对象建模机器人平台，从场景中获取二进制占用网格映射，并计划使用MobilerObotprm Path Planning算法遵循移动机器人的路径。

Open Live Script

使用移动机器人在仓库场景中执行避免障碍物

Create a scenario to simulate two mobile robots performing obstacle avoidance in a warehouse. This example demonstrates how to create a warehouse scenario, add mobile robots using the rigid body tree representation, model the kinematics of the robots, and simulate the behavior of the control algorithms using the resultant scenario.

Open Live Script