v-rep (CoppeliaSim) matlab client , and animation of robot joints [ legacyRemoteApi ]
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- Опубликовано: 22 авг 2024
- In this video, I will show you how to connect Matlab with v-rep. It is divided into two parts:
1- setting all files needed.
2-1:55 A Matlab test program in which we will command the joints of a KUKA robot.
All the Matlab reoteAPI function are available here :
www.coppeliarob...
⚠️ 𝙉𝙤𝙩𝙚𝙨 :
♜ A small update, with coppeliaSim the remote API server is already opened on port 19999 (continuous remote API server service). So, you don't have to do step2 anymore (1:26). For more details: www.coppeliaro...
♜ All the joint origins, torques and velocities are set arbitrarily.
♜ I personally recommend using "simxSetJointTargetPosition" instead of "simxSetJointPosition " for a better smooth movement.
♜ Make sure to have a pause value that guarantees that all joints reach their final positions.
The Kuka v-rep model is available in the description of this video :
• Import Solidworks robo...
I hope that this video is helpful. Thank you for your attention.
⚠️𝑪𝒐𝒎𝒎𝒐𝒏 𝒗𝒊𝒆𝒘𝒆𝒓𝒔 𝒑𝒓𝒐𝒃𝒍𝒆𝒎𝒔 :
⦿ I got this error in Matlab : (Note: always make sure you use the corresponding remoteApi library
(i.e. 32bit Matlab will not work with 64bit remoteApi, and vice-versa))
→ It's a warning: 1- You must start the VREP simulation before running the Matlab code.
2- at minute 0:59, the "windows" contains two .dll files (32 bit and 64bit) make sure to copy the right one depending on your laptop architecture.
⦿ I got an error "Unable to resolve the name vrep.simx_opmode_blocking" (Zacxk Dz):
→ I solved it by changing the vrep. prefix to sim. prefix. Do this in every line (Tomi Psenicnik).
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I am using CoppeliaSim and I did step 2, otherwise it doesn't work, just if anybody has trouble; thank you so much, it works really well
thanks a lot... you saved my robotics modeling project!
amazing music💓💓
it helps me a lot !!!! thank you !
you're welcome
many thanks man, you are great
very good; i would like to learn more about that
thank you very much for this video,
I have a question:
how i can command two or three joints at the same time?
Hi sir. I got an error "Unable to resolve the name vrep.simx_opmode_blocking"
Searched the solution and couldnt find any.
i also get this error @mechatronics Ninja
@Zacxk Dz I solved it by changing the vrep. prefix to sim. prefix. Do this in every line.
@@99tomson1 thank you very much sir! It works!
I want to create pipeline environment in Coppeliasim. Can you tell me how to make pipes with bends in Coppeliasim?
I did not have two files. In the windows folder, i have remoteapi.dll. Just this. After doing the steps, it says access denied.
Here is the file needed for matlab which I copied from CoppeliaSim installation folder :
drive.google.com/file/d/1JGf5A5I81Ebu3LBMaSIoyepo_sOXXaEK/view?usp=sharing
I got an error "unable to resolve the name vrep.simx_opmode_blocking"
hi based on
Tomi Psenicnik comment : 'I solved it by changing the vrep. prefix to sim. prefix. Do this in every line.'
@mechatronics Ninja, thank you for making these videos! They are highly informative and very well done! Question, I have completed the steps listed in this video. However, when I hit the play button in V-REP (even before I get a chance to hit the play button in Matlab), the robot falls apart. Unchecking the "body is dynamic box" keeps the robot from falling apart, but then the robot will not move. Can you please offer any suggestions?
Hi, glad to hear that. Did you increase the axis torques and the weights of the parts (9:00) ?
Hi, Brandon DelSpina, I have the same problem, did you solve it?
Hi! Why do you type "r" in number returnCode, when using simxGetObjectHandle? Thanks, great video btw !
Hi Ricardo,
r is a return value that will indicate if we have a successful function or not. Because it comes first in the function declaration, I have to type it even if I will not use it:
[𝙣𝙪𝙢𝙗𝙚𝙧 𝙧𝙚𝙩𝙪𝙧𝙣𝘾𝙤𝙙𝙚,𝙣𝙪𝙢𝙗𝙚𝙧 𝙝𝙖𝙣𝙙𝙡𝙚]=𝙨𝙞𝙢𝙭𝙂𝙚𝙩𝙊𝙗𝙟𝙚𝙘𝙩𝙃𝙖𝙣𝙙𝙡𝙚(𝙣𝙪𝙢𝙗𝙚𝙧 𝙘𝙡𝙞𝙚𝙣𝙩𝙄𝘿,𝙨𝙩𝙧𝙞𝙣𝙜 𝙤𝙗𝙟𝙚𝙘𝙩𝙉𝙖𝙢𝙚,𝙣𝙪𝙢𝙗𝙚𝙧 𝙤𝙥𝙚𝙧𝙖𝙩𝙞𝙤𝙣𝙈𝙤𝙙𝙚)
Whats the music from
ruclips.net/video/I0gSMPlVPms/видео.html
I did not have two files. In the windows folder, i have remoteapi.dll. Just this. After doing the steps, it says access denied. Please reply
Here is the file needed for matlab which I copied from CoppeliaSim installation folder :
drive.google.com/file/d/1JGf5A5I81Ebu3LBMaSIoyepo_sOXXaEK/view?usp=sharing
Thankyou for your reply. I have the same files. But when I try to run the coppelia simulation and then the one on matlab, it says error in loadlibrary. Access denied.
@@ruhisharma8509 screenshot the error message please
Are you able to see the screenshot?
@@mechatronicsninja3806 please reply
My robot disappear when I select "Body is dynamic", do you know why?
Hi Samuel, this is the first time I saw this problem, I suggest that you select the invisible part , go to "common" and change the visibility like that :
drive.google.com/drive/folders/1HeQYxnPrTpWt7zfOq5Wp1HdLINoVOXgT?usp=sharing
I hope it resolves your problem.
@@mechatronicsninja3806 Thank you so much !
You ' re welcome
Hey, have you ever used IRB4600 in Vrep ?
No, why ?
@@mechatronicsninja3806 I am currently working on it ..
hi, ninja i got a problem.
the body was broken when i run it.
and this is the message i got
The scene contains one or several non-convex dynamic meshes, which are not supported with the selected dynamics engine. Those meshes will be simulated with their convex hull instead.
what should i do please if u can answer me fast i will be so thankful.
can you please share your files so that I can check the problem and what you are trying to do
@@mechatronicsninja3806 actually I'm trying to put my files in comments but i don't know how can i put it 😫
@@mechatronicsninja3806 drive.google.com/folderview?id=1iK_ykPLtPxkwL0DQjYjAlZxzBqScYmsu
U will find the files here please help me okay
All i wanna fo is just to do like this project to move things from place to other place to send it to my prof tomorrow morning
@@mechatronicsninja3806 drive.google.com/file/d/1igKbJBKuIRSNtRYkBl_J7kI2u0yPfcZQ/view?usp=drivesdk
@@mechatronicsninja3806 drive.google.com/file/d/1iV91X3_s6N3hmyKM0ZgbSm1zID7jdTXH/view?usp=drivesdk
This all files
nhạc buồn ngủ vãi l