Modelado y simulación de robots

Este ejemplo muestra cómo modelar diferentes modelos cinemáticos de robot en un entorno y compararlos.

Control and simulate multiple robots working in a warehouse facility or distribution center.

Este ejemplo es una extensión del ejemplo de Simulate a Mobile Robot in a Warehouse Using Gazebo. El ejemplo muestra cómo cambiar el planificador de rutas PRM con un planificador A* y añadir un algoritmo de histograma de campo vectorial (VFH) para evadir obstáculos.

Ejecute un flujo de trabajo de pick-and-place con el robot ABB YuMi, que muestra cómo diseñar algoritmos de robótica en Simulink® y, luego, simule la acción en un entorno de prueba con Simscape™. El ejemplo también muestra cómo modelar un sistema con diferentes niveles de fiabilidad para centrarse más en el diseño del algoritmo asociado.

Este ejemplo muestra cómo configurar un flujo de trabajo de pick-and-place de extremo a extremo para un manipulador robótico como KINOVA® Gen3 y simular el robot en el simulador de física Gazebo.

Simulate control of a robotic manipulator using co-simulation between Simulink and Gazebo. The example uses Simulink™ to model the robot behavior, generate control commands, send these commands to Gazebo, and control the pace of the Gazebo simulation.

Set up an end-to-end, pick-and-place workflow for a mobile manipulator using Simulink® and Gazebo®.

Create a scenario to simulate a mobile robot navigating a room. The example demonstrates how to create a scenario, model a robot platform from a rigid body tree object, obtain a binary occupancy grid map from the scenario, and plan a path for the mobile robot to follow using the mobileRobotPRM path planning algorithm.

Create a scenario to simulate two mobile robots performing obstacle avoidance in a warehouse. This example demonstrates how to create a warehouse scenario, add mobile robots using the rigid body tree representation, model the kinematics of the robots, and simulate the behavior of the control algorithms using the resultant scenario.

Set up an end-to-end pick-and-place workflow for a robotic manipulator like the Kinova® Gen3, and simulate the robot in the Unity® game engine.

Use Simulink® to enable synchronized simulation between ROS and the Gazebo robot simulator using the Gazebo Pacer block.

Focuses on creating and mounting an ultrasonic sensor on a mobile robot in a robotScenario. The ultrasonicDetectionGenerator from the Automated Driving Toolbox™ cannot be used directly with robotScenario. We will be implementing a custom sensor adaptor for the ultrasonicDetectionGenerator that makes it compatible with robotScenario. The sensor will be used to position a mobile robot correctly at a charging station.

Simulation of an automated assembly to demonstrate virtual commissioning applications. The assembly line is based on a modular industrial framework created by ITQ GmbH known as Smart4i. This system consists of four components: two robotic workcells that are connected by a shuttle track and a conveyor belt. One of the two robots places cups onto the shuttle, while the other robot places balls in the cups. A slider then delivers those cups to a container. This simulation uses Stateflow® to control the system control and demonstrates how you can use Unreal Engine™ to simulate a complete virtual commissioning application in Simulink®. For an example showing how to deploy the main logic in Stateflow using Simulink PLC Coder™, see Generate Structured Text Code for Shuttle and Robot Control (Simulink PLC Coder).

In this example, you create a scenario to simulate a manipulator performing pick-and-place operations with obstacle avoidance in a collision-object-based environment. This example demonstrates how to create a scene with collision-object-based static meshes, add a manipulator using the rigid body tree representation, plan manipulator motion with manipulatorRRT, and simulate the pick-and-place workflow in the scenario.