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Interfacing Matlab and V-Rep

This document discusses interfacing Matlab/Simulink with V-REP, a 3D simulation software, for developing and testing sensor-based control algorithms for robots. It describes how Matlab allows fast prototyping of complex control algorithms through features like debugging tools and automatic code generation, but is missing a dynamics simulator. V-REP provides a simulator with sensors, robots and algorithms for simulation and testing, and interfaces with Matlab through ROS, an open-source robotics framework. The document demonstrates visual servoing control of a quadrotor and manipulator in a synchronized simulation between Matlab and V-REP.

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Goutham Mareeswaran B
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791 views

Interfacing Matlab and V-Rep

This document discusses interfacing Matlab/Simulink with V-REP, a 3D simulation software, for developing and testing sensor-based control algorithms for robots. It describes how Matlab allows fast prototyping of complex control algorithms through features like debugging tools and automatic code generation, but is missing a dynamics simulator. V-REP provides a simulator with sensors, robots and algorithms for simulation and testing, and interfaces with Matlab through ROS, an open-source robotics framework. The document demonstrates visual servoing control of a quadrotor and manipulator in a synchronized simulation between Matlab and V-REP.

Uploaded by

Goutham Mareeswaran B
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Interfacing Matlab/Simulink with VREP for an

Easy Development of SensorBased Control


Algorithms for Robotic Platforms
Riccardo Spica, Giovanni Claudio,
Fabien Spindler and Paolo Robuffo Giordano
Lagadic group
Inria Rennes Bretagne Atlantique & IRISA
http://www.irisa.fr/lagadic

Why using Matlab/Simulink


fast prototyping (debugging+testing) complex control
algorithms
- debugging, scopes, displays
- postprocessing, plotting, logging
powerful scripting language
huge library + File Exchange
integrate external C/C++ code (MEX files and sfunction)
automatic code generation
- speed up execution time
- deployment to other platforms (e.g., the robot itself)

Why using Matlab/Simulink


fast prototyping (debugging+testing) complex control
algorithms
- debugging, scopes, displays
- postprocessing, plotting, logging
powerful scripting language
huge library + File Exchange
integrate external C/C++ code (MEX files and sfunction)
automatic code generation
- speed up execution time
- deployment to other platforms (e.g., the robot itself)

missing a rigid body dynamics simulator


2

Why using a simulator

easy testing and debugging algorithms


no risk to damage real robots
no need to have a real robot (useful for teaching)
create different virtual environments or particular testing
conditions
testing faster than real time

Why using a simulator

easy testing and debugging algorithms


no risk to damage real robots
no need to have a real robot (useful for teaching)
create different virtual environments or particular testing
conditions
testing faster than real time
V-Rep
- open source and free for academics
- provides sensors, mechanisms, robots
- algorithms for collision detection,
planning, inverse kinematics,
- support different simulation modes
- highly customizable (e.g. C++ plugins)
- support for ROS communication
framework
3

Interfacing Matlab and V-Rep with ROS


open source
widely spread benefits support from a big developer
community
provides many standard drivers/algorithms
provides additional tools for logging/plotting/debugging
same code with the simulated and real robots (just
change some nodes and topic name)
native support by V-Rep + custom
plugin vrep_ros_bridge
official support for Matlab on the way
but many unofficial solutions available
(e.g. integrate ROS in C++ s-function)
4

Synchronizing Matlab and V-Rep (?)


synchronize both softwares with the system time (real
time execution)
V-Rep supports real-time and real-time-factor running
in Matlab (my understanding):
- official solution: use a real time target in code generation
- our quick & dirty solution: use a custom s-function block that
pauses the simulation to keep simulation time and system
time synchronized

Demo: visual servoing for a quadrotor and a


manipulator
camera
information
Images

quadrotor
status
feature
location

commands

Demo: visual servoing on simulated/real Pioneer

Links and Contacts


Lagadic: http://www.irisa.fr/lagadic/
ViSP: http://www.irisa.fr/lagadic/visp/
vrep_ros_bridge:
- ROS wiki: http://wiki.ros.org/vrep_ros_bridge
- GIT Repository: https://github.com/lagadic/vrep_ros_bridge
- Demo: http://www.irisa.fr/lagadic/demo/demo-vrep/

Contacts:
- Giovanni Claudio: [email protected]
- Riccardo Spica: [email protected]
- Fabien Spindler: [email protected]

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