Control of Robotic arm using Simulink and ROS

Simulink example models to demonstrate the use of ROS together with hardware support packages to create a multi-node robotic system.

This submission contains example file to interface RaspberryPi and Arduino using Simulink and ROS. We used an Arduino along with RAMPS board to control our robotic arm which contains 3 stepper motors.

The file "arduino_code.slx" contains the blocks for the stepper controllers and ROS node. We used this model to program the Arduino.
The file "robot_node.slx" contains the implementation of inverse kinematics of our robotic arm. We created a standalone ROS node using Simulink coder and robotics toolbox.