로봇 모델링과 시뮬레이션

기구학과 모션 모델, Gazebo 연동 시뮬레이션

로봇의 모델링과 시뮬레이션을 통해 실제 시스템의 동작을 모방하여 알고리즘을 신속하게 프로토타이핑하고 시나리오를 테스트할 수 있습니다. 다음 함수들은 매니퓰레이터와 이동 로봇의 모션을 모델링할 수 있는 기구학 모델을 제공합니다. 이 툴박스는 또한 Simulink^®와 Gazebo 간에 동기화된 스텝 간격 구성을 지원하므로 로보틱스 알고리즘 설계에서 물리적 시뮬레이션을 수행할 수 있습니다.

함수

모두 확장

고정 레이트 실행

`rateControl`	Execute loop at fixed frequency
`statistics`	과거 실행 기간의 통계량
`waitfor`	Pause code execution to achieve desired execution rate
`reset`	Reset `Rate` object

기구학적 모션 모델

`ackermannKinematics`	Car-like steering vehicle model
`bicycleKinematics`	자전거 이동체 모델
`differentialDriveKinematics`	차동 구동 이동체 모델
`unicycleKinematics`	외륜 이동체 모델
`jointSpaceMotionModel`	Model rigid body tree motion given joint-space inputs
`taskSpaceMotionModel`	Model rigid body tree motion given task-space reference inputs

Gazebo 연동 시뮬레이션

`gzinit`	Initialize connection settings for Gazebo Co-Simulation MATLAB interface
`gzlink`	Assign and retrieve Gazebo model link information
`gzjoint`	Assign and retrieve Gazebo model joint information
`gzmodel`	Assign and retrieve Gazebo model information
`gzworld`	Interact with Gazebo world
`gazebogenmsg`	Generate dependencies for Gazebo custom message support
`packageGazeboPlugin`	Create Gazebo plugin package for Simulink

로보틱스 직육면체 시나리오

`robotScenario`	Generate robot simulation scenario
`robotPlatform`	Create robot platform in scenario
`robotSensor`	Sensor for robot scenario
`extendedObjectMesh`	Mesh representation of extended object
`pointCloud`	3차원 포인트 클라우드를 저장하기 위한 객체

센서 모델

`gpsSensor`	GPS receiver simulation model
`insSensor`	Inertial navigation system and GNSS/GPS simulation model
`robotLidarPointCloudGenerator`	Generate point cloud from meshes
`createCustomRobotSensorTemplate`	Create sample implementation for robot custom sensor interface
`robotics.SensorAdaptor`	Custom robot sensor interface

변환 트리

`transformTree`	Define coordinate frames and relative transformations
`getGraph`	Graph object representing tree structure
`getTransform`	Get relative transform between frames
`info`	List all frame names and stored timestamps
`removeTransform`	Remove frame transform relative to its parent
`show`	Show transform tree
`updateTransform`	Update frame transform relative to its parent

블록

모두 확장

Gazebo 연동 시뮬레이션

Gazebo Apply Command	Send command to Gazebo simulator
Gazebo Blank Message	Create blank Gazebo command
Gazebo Pacer	Settings for synchronized stepping between Gazebo and Simulink
Gazebo Read	Receive messages from Gazebo server
Gazebo Publish	Send custom messages to Gazebo server
Gazebo Subscribe	Receive custom messages from Gazebo server
Gazebo Select Entity	Select a Gazebo entity

기구학적 모션 모델

Ackermann Kinematic Model	Ackermann 기구학 모델을 사용한 차륜 이동체의 모션
Bicycle Kinematic Model	자전거 기구학 모델을 사용하여 차륜 이동체의 모션 계산
Differential Drive Kinematic Model	차동 구동 기구학 모델을 사용하여 이동체 모션 계산
Joint Space Motion Model	Model rigid body tree motion given joint-space inputs
Task Space Motion Model	Model rigid body tree motion given task-space inputs
Unicycle Kinematic Model	외륜 기구학 모델을 사용하여 이동체 모션 계산

도움말 항목

Gazebo Simulation for Robotics System Toolbox
Learn how to use robotics algorithms in MATLAB and Simulink and visualize their performance in a virtual environment using the Gazebo simulator.
Gazebo Simulation Environment Requirements and Limitations
When simulating in the Gazebo environment, keep these software requirements, minimum hardware recommendations, and limitations in mind.
How Gazebo Simulation for Robotics System Toolbox Works
Learn about the co-simulation framework between MATLAB and Simulink and the Gazebo simulator.
Execute Code at a Fixed-Rate
By executing code at constant intervals, you can accurately time and schedule tasks.
Simulate Different Kinematic Models for Mobile Robots
This example shows how to model different robot kinematics models in an environment and compare them.
Perform Co-Simulation between Simulink and Gazebo
This example shows how to set up a synchronized simulation between Simulink™ and Gazebo to send commands and receive data from Gazebo.
Control Differential Drive Robot in Gazebo with Simulink
This example shows how to control a differential drive robot in Gazebo co-simulation using Simulink.
Control and Simulate Multiple Warehouse Robots
Control and simulate multiple robots working in a warehouse facility or distribution center.
Simulate a Mobile Robot in a Warehouse Using Gazebo
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.
KINOVA Gen3 매니퓰레이터를 사용하여 작업-공간 궤적과 조인트-공간 궤적을 계획하고 실행하기
이 예제는 엔드 이펙터의 초기 자세에서 원하는 자세로 이동하도록 보간된 조인트 궤적을 생성하고 시뮬레이션하는 방법을 보여줍니다.
Plan and Execute Collision-Free Trajectories Using KINOVA Gen3 Manipulator
This example shows how to plan closed-loop collision-free robot trajectories from an initial to a desired end-effector pose using nonlinear model predictive control.
Simulate Joint-Space Trajectory Tracking in MATLAB
This example shows how to simulate the joint-space motion of a robotic manipulator under closed-loop control.

추천 예제

Simulate Different Kinematic Models for Mobile Robots

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

라이브 스크립트 열기

Control and Simulate Multiple Warehouse Robots

Control and simulate multiple robots working in a warehouse facility or distribution center.

라이브 스크립트 열기

A* Path Planning and Obstacle Avoidance in a Warehouse

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.

라이브 스크립트 열기

Model and Control Manipulator Arm with Robotics and Simscape

Execute a pick-and-place workflow using an ABB YuMi robot, which demonstrates how to design robot algorithms in Simulink®, and then simulate the action in a test environment using Simscape™. The example also shows how to model a system with different levels of fidelity to focus better on the associated algorithm design.

라이브 스크립트 열기

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.

라이브 스크립트 열기

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.

라이브 스크립트 열기

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

Set up an end-to-end, pick-and-place workflow for a mobile manipulator using Simulink® and Gazebo®.

라이브 스크립트 열기

Perform Path Planning Simulation with Mobile Robot

Create a scenario to simulate a mobile robot navigating a room. The example demonstrates how to create a scenario, model a robot platform from a rigid body tree object, obtain a binary occupancy grid map from the scenario, and plan a path for the mobile robot to follow using the mobileRobotPRM path planning algorithm.

라이브 스크립트 열기

Perform Obstacle Avoidance in Warehouse Scenario with Mobile Robots

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.

라이브 스크립트 열기

Pick-and-Place Workflow in Unity 3D Using ROS

Set up an end-to-end pick-and-place workflow for a robotic manipulator like the KINOVA® Gen3, and simulate the robot in the Unity® game engine.

라이브 스크립트 열기

Sign Following Robot with Time Synchronization Using ROS and Gazebo Co-Simulation

Use Simulink® to enable synchronized simulation between ROS and the Gazebo robot simulator using the Gazebo Pacer block.

라이브 스크립트 열기

Simulate Ultrasonic Sensors Mounted on Mobile Robots

Focuses on creating and mounting an ultrasonic sensor on a mobile robot in a robotScenario. The ultrasonicDetectionGenerator from the Automated Driving Toolbox cannot be used directly with robotScenario. We will be implementing a custom sensor adaptor for the ultrasonicDetectionGenerator that makes it compatible with robotScenario. The sensor will be used to position a mobile robot correctly at a charging station.

라이브 스크립트 열기