MATLAB: Import robot as a rigidbody tree from simscape model

importrobotMATLABrigidbodytreerobotic system toolboxroboticsRobotics System ToolboxSimscapeSimscape Multibodysimulink

Recently I am trying to import a simscape multibody robot model to a rigidbodytree using 'importrobot' function. Following the documentation, the syntax is [robot,RobotInfo]=importrobot(gcs). I have opened my simscape model by the way. But error occured: "Too many output arguments"

Is it because importrobot from simscape model is not supported? But the documentation clearly states it can. I am using 2018a by the way.

Best Answer

Actually, if you look at the Robotics System Toolbox release notes, the ability to use importrobot on a model is only out in R2018b:

https://www.mathworks.com/help/robotics/release-notes.html

This might have been misleading because importrobot worked with URDF files as of R2017a.

- Sebastian

Related Solutions

MATLAB: From urdf to simscape model

Hi,

You can import urdf model into Simscape using smimport.

References: Urdf-import

Hope it helps.

MATLAB: How to import XACRO files as Rigid Body Trees in Robotics System Toolbox

You can use the ROS xacro utility to convert your XACRO files to URDF before importing into MATLAB.

In a ROS enabled terminal, you can enter the following command, replacing the paths and names for your input and output files:

rosrun xacro xacro --inorder -o ~/myfile.urdf ~/myfile.xacro

You can then check the generated file to see if it's valid

check_urdf ~/myfile.urdf

If this step is successful, you can copy the URDF file and its dependent meshes somewhere accessible by MATLAB. Then, you can try import your robot as follows

>> robot = importrobot('myfile.urdf');

- Sebastian

Best Answer

Related Solutions

MATLAB: From urdf to simscape model

MATLAB: How to import XACRO files as Rigid Body Trees in Robotics System Toolbox

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