1CONFIDENTIAL |© 2015 The MathWorks, Inc.CONFIDENTIAL

Design and Simulation of Robotics Systems

Dhirendra Singh

Application Engineer

Dhirendra.singh@mathworks.in

Deepak Sharma

Sales Manager

Deepak.sharma@mathworks.in

TEQIP WORKSHOP ONADVANCED ROBOTICS at IIT KANPUR

15-19 MARCH, 2016

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Agenda

Physical modeling of Mechanical and Electrical systems o Simscape to model multi-domain systemso SimPowersystems to model power electronicso Importing CAD Modelso Multi-body dynamics simulation

Build Robotic system using Arduino, Lego and Turtleboto Kinematics / Inverse kinematics and dynamics analysis o Controller design & PID tuningo Working with embedded systems for auto code generation (Arduino, Lego and Turtlebot)

Neural network for Image processing applicationo Acquire live webcam image using image acquisition toolboxo Train a neural network

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Key Industries

Aerospace and Defense

Automotive

Biotech and Pharmaceutical

Communications

Education

Electronics and Semiconductors

Energy Production

Financial Services

Industrial Automation and

Machinery

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July 2014 News

IEEE Spectrum used 12 different metrics to compare

programming language popularity and use.

Data sources include Google CareerBuilder, and

Github.

The Right Language for the Task

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Background

Your current project may require you to prototype a Machine that has

Wheels

Arms

Sensors

Etc.

It may need to navigate in a building, pick and place objects, or perform other

maneuvers. You may know the basics of kinematics, dynamics, servo, stepper

motors, or CAD tools. Simulink can help convert your ideas and concepts into a

functional designs.

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Challenges

Three of the most critical questions that engineers and scientists need to

answer are:

• How do I design and simulate a

machine?

• How do I prototype and test

algorithms for my machine?

• How do I connect to my machine

platforms and peripherals?

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Example

DEMO: Path Planning and Navigation

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Importing CAD models

Open the CAD model in Simwise 4D

SimWise converts the CAD model into

SimMechanics convertible format (*.wm3)

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Automatically Create SimMechanics Models using

GetMechanics App

GetMechanics App can import

SimWise *.wm3 file

To get GetMechanics App

Contact MathWorks

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Data-Driven ModelingFirst Principles Modeling

Neural NetworkToolbox

SimMechanics

SimDriveline

SimPowerSystemsSystem

IdentificationToolbox

Aerospace Blockset

SimulinkParameterEstimation

Simulink

Tools for Modeling Dynamic Systems

Modeling Approaches

Modeling Dynamic Systems in Simulink

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Modeling the Controller

Know your plant/system -Linearization

PID

Design the controller with linear plant model

Test the controller in real time

Test controller with non-linear plant in closed-loop

Design state-logic and supervisory logic

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SimulinkRun on target hardware

With a click, your model runs on

target hardware

Supported target hardware:

– R2013a: Raspberry Pi®

– R2013a: Gumstix® Overo®

– R2012b: PandaBoard

– R2012a: Arduino®, LEGO®

MINDSTORMS® NXT and

BeagleBoard

Run Simulink models on low-cost target

hardware

new

Raspberry Pi ®

new

PandaBoard

Arduino® LEGO® MINDSTORMS® NXT

BeagleBoard

Gumstix® Overo®

new

new

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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

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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 1 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

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Demo 1: Design and Test Robotics Algorithms

• Prototype a path-planning algorithm in MATLAB

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Demo 1: Design and Test Robotics Algorithms

• Test it with Gazebo through MATLAB-ROS Interface

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Demo 1: Design and Test Robotics Algorithms

• Test it with a physical robot running ROS

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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

– 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…