HAL will be down for maintenance from Friday, June 10 at 4pm through Monday, June 13 at 9am. More information
Skip to Main content Skip to Navigation
Other publications

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

Riccardo Spica 1 Giovanni Claudio 1 Fabien Spindler 1 Paolo Robuffo Giordano 1
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
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.
Document type :
Other publications
Complete list of metadata

Cited literature [3 references]  Display  Hide  Download

https://hal.inria.fr/hal-01332960
Contributor : Eric Marchand Connect in order to contact the contributor
Submitted on : Friday, June 17, 2016 - 11:22:31 AM
Last modification on : Thursday, January 20, 2022 - 4:20:35 PM

File

2014_RoCh.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-01332960, version 1

Citation

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⟩

Share

Metrics

Record views

1341

Files downloads

1179