Robot Modeling and 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.
Kinematic Motion Models
|Car-like steering vehicle model|
|Bicycle vehicle model|
|Differential-drive vehicle model|
|Unicycle vehicle model|
|Model rigid body tree motion given joint-space inputs|
|Model rigid body tree motion given task-space reference inputs|
|Initialize connection settings for Gazebo Co-Simulation MATLAB interface|
|Assign and retrieve Gazebo model link information|
|Assign and retrieve Gazebo model joint information|
|Assign and retrieve Gazebo model information|
|Interact with Gazebo world|
|Generate dependencies for Gazebo custom message support|
|Create Gazebo plugin package for Simulink|
Robotics Cuboid Scenarios
|Define coordinate frames and relative transformations|
|Graph object representing tree structure|
|Get relative transform between frames|
|List all frame names and stored timestamps|
|Remove frame transform relative to its parent|
|Show transform tree|
|Update frame transform relative to its parent|
|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|
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|
|Differential Drive Kinematic Model||Compute vehicle motion using differential drive kinematic model|
|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||Compute vehicle motion using unicycle kinematic model|
- 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 a 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
This example shows how to 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.
- Plan and Execute Task- and Joint-Space 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
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.