Interfacing Matlab/Simulink with V-REP for an Easy Development of Sensor-Based Control Algorithms for Robotic Platforms - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Other Publications Year : 2014

Interfacing Matlab/Simulink with V-REP for an Easy Development of Sensor-Based Control Algorithms for Robotic Platforms

Abstract

This presentation will focus on how to interface the matlab/simulink environment with V-REP using the ROS communication libraries (the publisher/subscriber paradigm) for fast prototyping of robot control algorithms. We will first show how to embed ROS nodes in simulink by including custom C S-Functions representing ROS topics to be listened/published. This will make it possible for Simulink to exchange data with V-REP in real-time for obtaining the robot data and computing the needed control actions. Then, we will demonstrate our architecture in two simulated scenarios: (i) visual control of a quadrotor UAV and (ii) visual control of an industrial manipulator. The first scenario will involve a quadrotor UAV equipped with a IMU and a down-looking camera meant to control its pose w.r.t. a ground target by means of a visual servoing law. The second scenario will consider the same situation for a fixed manipulator with an eye-in-hand camera performing a classical visual servoing task.
Fichier principal
Vignette du fichier
2014_RoCh.pdf (1.59 Mo) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-01332960 , version 1 (17-06-2016)

Identifiers

  • HAL Id : hal-01332960 , version 1

Cite

Riccardo Spica, Giovanni Claudio, Fabien Spindler, Paolo Robuffo Giordano. Interfacing Matlab/Simulink with V-REP for an Easy Development of Sensor-Based Control Algorithms for Robotic Platforms. 2014. ⟨hal-01332960⟩
1440 View
1241 Download

Share

Gmail Facebook X LinkedIn More