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tq yu
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after import robot from urdf ,how can i sent angles to the joints ,and test my own kinermatic algorithm?

Asked by tq yu
on 17 Apr 2019
Latest activity Answered by J Chen on 23 Apr 2019
I have a problem and need help. I want to use 'smimport' by simscape or 'importrobor' by robotics robotics system toolbox from a .XML or .URDF file ,exactly i don't know the differences.The file is from solidworks .step file . so my question ,
1: what's the difference between 'importrobot' and 'smimport' ? I want to use the file to build my own robot in matlab ,and test with my own kinematics and the trajectory planning algorithm in .m file .
So my second QS: How can i get the interface to send the joints angles to my robots ?How can i get the interface to send the joints angles to my robots ?Can you show me an soucecode case of dealing with that problem ? I want to call the function by my own ,such like the Robotics Toolbox does, use the inverse()to calculate the joints angles .
Sincerely

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1 Answer

Answer by J Chen on 23 Apr 2019
 Accepted Answer

'importrobot' imports files into Robostics System toolbox while 'smimport' imports files into Simscape Multibody (was named SimMechanics).
If you import files into Simscape Multibody, you can specify joint angles by double click at the corresponding Revolute Joint block, then change Actuation - Motion to 'Provided by Input' and Actuation - Torque to 'Automatically Computed'. Next add a Simulink source block and 'Simulink-PS Converter' block (under Utilities) to provide the angle command.

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