Simulink Mex File Integration of UR Control with RTDE

Easy Universal Robot Control integration into simulink through a mex file project using the ur-rtde

ur_rtde_mex

Simulink mex project for connecting a universal robot to matlab/simulink

File : mex_rtde_moveL.cpp

Abstract: An CPP-file S-function for Simulink to control a UR Robot

Inputs:

• 1x6 TCPPose Target (X,Y,Z,RX,RY,RZ)

Outputs:

• 1x6 TCPPose Actual (X,Y,Z,RX,RY,RZ)
• 1x6 Q Actual (Q1, Q2, Q3, Q4, Q5, Q6)

Parameters:

• Speed of Robot
• Accel of Robot
• Sample Time of s-Function
• string IP Address of Robot

Example Parameter List: 3 5 0.05 '192.168.255.128'

Notes for compilation:

This file needs to be compiled against the ur-rtde and boost libraries

Link for ur-rtde here: https://gitlab.com/sdurobotics/ur_rtde Link for boost here: https://www.boost.org/

Tested are the following versions:

• Microsoft Visual C++ 2019

• Matlab 2023b

• URSim Virtual 5.14.6

• Boost Version 1.84.0

• ur_rtde Branch Version: bbbd7a42 IMPORTANT!!!! In order to maintain Real-time performance, the branch needs to be modified in accordance with Issue 151. https://gitlab.com/sdurobotics/ur_rtde/-/issues/151 Although the solution is in a submitted merge request, it is not solved in the current Master. Solution: Comment out break at line 518 in rtde.cpp

                 }
                 robot_state->unlockUpdateStateMutex();
  
                 //break;
             }                             
  

My Compiler function:

 mex -r2018a mex_rtde_moveL.cpp ...
        -IC:\Users\Gavin\source\repos\ur_rtde\include ...
        -IC:\dev\boost_1_84_0 ...
        -LC:\Users\Gavin\source\repos\ur_rtde-build\Release ...
        -lrtde.lib ...
        -LC:\dev\boost_1_84_0\bin.v2\libs\thread\build\msvc-14.3\release\link-static\threadapi-win32\threading-multi ...
        -LC:\dev\boost_1_84_0\bin.v2\libs\system\build\msvc-14.3\release\link-static\threading-multi ...
        -llibboost_system-vc143-mt-x64-1_84.lib ...
        -llibboost_thread-vc143-mt-x64-1_84.lib 

Copyright Gavin Kane 2023