Robotic arm control, how can I implement a path planner block in Simulink?

Hello everybody,

I am using the ctraj function of the Corke's library ( http://www.petercorke.com/RTB/r9/html/ctraj.html ) to generate a cartesian trajectory in order to drive a robotic arm built in simmechanics. In the picture is depicted the control I would implement in Simulink: I implemented the Inverse Kinematics with a Matlab Function block that receives in inputs a 6x1 time-dependent array, and here is the problem. How can I implement the Path Planner block in order to pass data to the kinematics block every t millisecond, i.e. I would have a Path Planner block that computes the pose every t millisecond and send it to the Inverse Kinematics block in real-time, how can I do it ?

Answer 1

[Abdallah Bader]

In order to answer your question, please notice that such a trajectory can be generated even before starting the simulation, that of course only if you have a prescribed path. Now for you to apply such a generated trajectory within Simulink, you can define your trajectory as a timeseries within MATLAB environment, and use fromworkspace block to get the trajectory from workspace to Simulink.