How to simulate pick and place application with matlab only？

I am curious how to use matlab to complete the robot's grasping simulation,

mainly how to simulate the movement of the object with the arm gripper with matlab.

Can someone help me with this?

Thanks very much!

-John

Answer 1

[Steve Miller]

Hi @snow John,

You can assemble the robot arms using parts and joints. The joints you use depend on how many degrees of freedom your robot has. A good place to begin is a Simscape Multibody tutorial. Here is one that models a pendulum. Your final robot will be a few pendula linked together.

https://www.mathworks.com/help/sm/gs/model-pendulum.html

The gripper part will require a few more parts and joints plus a means of modeling contact forces between parts. The construct in Simscape Multibody for modeling contact forces is the Spatial Contact Force block. You will model contact between the gripper fingers and the object that it will pick up.

Some more elaborate examples you can look at

1. Robot Arm with Conveyor Belts - this models a robot arm that transfers parts from one conveyor belt to another.
2. Industrial Robot Models in Simscape - this repository has many robots, including one example of a two-armed robot that stacks cubes. The model of the ABB Yumi is created by importing CAD files

--Steve