Interfacing Matlab and v-Rep



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Lagadic group Inria Rennes Bretagne Atlantique & IRISA http://wwwirisafr/lagadic Interfacing Matlab/Simulink with V‐REP for an Easy Development of Sensor‐Based Control Algorithms for Robotic Platforms Riccardo Spica, Giovanni Claudio, Fabien Spindler and Paolo Robuffo Giordano 1 Why using Matlab/Simulink • fast prototyping (debugging+testing) complex control algorithms - debugging, scopes, displays - post‐processing, plotting, logging • powerful scripting language • huge libr
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  Lagadic group Inria Rennes Bretagne Atlantique IRISA http://wwwirisafr/lagadic Interfacing Matlab/Simulink with V   REP for an Easy Development of Sensor    Based Control Algorithms for Robotic Platforms Riccardo Spica, Giovanni Claudio, Fabien Spindler and Paolo Robuffo Giordano 1  Why using Matlab/Simulink • fast prototyping (debugging+testing) complex control algorithms -debugging, scopes, displays -post ‐ processing, plotting, logging • powerful scripting language • huge library + File Exchange • integrate external C/C++ code (MEX files and s ‐ function) • automatic code generation -speed up execution time -deployment to other platforms (eg, the robot itself) 2  Why using Matlab/Simulink • fast prototyping (debugging+testing) complex control algorithms -debugging, scopes, displays -post ‐ processing, plotting, logging • powerful scripting language • huge library + File Exchange • integrate external C/C++ code (MEX files and s ‐ function) • automatic code generation -speed up execution time -deployment to other platforms (eg, the robot itself) • missing a rigid body dynamics simulator 2