V-REP與MATLAB進(jìn)行通訊的方法

V-REP是一款多功能的機(jī)器人仿真器,1.具有4種物理引擎((ODE,Bullet,Vortex,Newton));2.支持Windows，Linux，MacOS三種操作系統(tǒng);3.支持六種編程方法;4.七種編程語言(

(C/C++、Python、Java、Lua、Matlab、Octave、和Urbi))。本文將簡單地介紹如何將MATLAB與V-REP進(jìn)行通訊，分別實(shí)現(xiàn)簡單的讀取機(jī)器人關(guān)節(jié)角，傳送機(jī)器人關(guān)節(jié)角這兩種功能。一.所需的m文件在路徑...\V-REP3\V-REP_PRO_EDU\programming\remoteApiBindings\matlab\matlab中將所有的m文件復(fù)制到項(xiàng)目文件夾中。二.關(guān)鍵的語句V-REP端：

simExtRemoteApiStart(19999)MATLAB端：vrep=remApi('remoteApi');%usingtheprototypefile(remoteApiProto.m)

vrep.simxFinish(-1);%justincase,closeallopenedconnections

clientID=vrep.simxStart('',19999,true,true,5000,5);三.具體做法1.在V-REP中新建一個(gè)空白的場景，并從模型瀏覽器(ModleBrowser)填加一個(gè)Baxter機(jī)器人。(此時(shí)運(yùn)行仿真，機(jī)器人會(huì)運(yùn)動(dòng)。我們的目標(biāo)就是把各個(gè)關(guān)節(jié)角變化的情況記錄下來)2.點(diǎn)擊控制右臂的相應(yīng)代碼，在開頭增加一句：simExtRemoteApiStart(19999)3.新建一個(gè)matlab函數(shù)，其代碼如下：functionbaxter_read()

disp('Programstarted');

%vrep=remApi('remoteApi','extApi.h');%usingtheheader(requiresacompiler)

vrep=remApi('remoteApi');%usingtheprototypefile(remoteApiProto.m)

vrep.simxFinish(-1);%justincase,closeallopenedconnections

clientID=vrep.simxStart('',19999,true,true,5000,5);

r1=[];

r2=[];

r3=[];

r4=[];

r5=[];

r6=[];

r7=[];

k=0;

if(clientID>-1)

disp('ConnectedtoremoteAPIserver');

%gethandleforBaxter_rightArm_joint1

[res,handle_rigArmjoint1]=vrep.simxGetObjectHandle(clientID,'Baxter_rightArm_joint1',vrep.simx_opmode_oneshot_wait);

[res,handle_rigArmjoint2]=vrep.simxGetObjectHandle(clientID,'Baxter_rightArm_joint2',vrep.simx_opmode_oneshot_wait);

[res,handle_rigArmjoint3]=vrep.simxGetObjectHandle(clientID,'Baxter_rightArm_joint3',vrep.simx_opmode_oneshot_wait);

[res,handle_rigArmjoint4]=vrep.simxGetObjectHandle(clientID,'Baxter_rightArm_joint4',vrep.simx_opmode_oneshot_wait);

[res,handle_rigArmjoint5]=vrep.simxGetObjectHandle(clientID,'Baxter_rightArm_joint5',vrep.simx_opmode_oneshot_wait);

[res,handle_rigArmjoint6]=vrep.simxGetObjectHandle(clientID,'Baxter_rightArm_joint6',vrep.simx_opmode_oneshot_wait);

[res,handle_rigArmjoint7]=vrep.simxGetObjectHandle(clientID,'Baxter_rightArm_joint7',vrep.simx_opmode_oneshot_wait);

while(vrep.simxGetConnectionId(clientID)~=-1),%whilev-repconnectionisstillactive

t=vrep.simxGetLastCmdTime(clientID)/1000.0;%getcurrentsimulationtime

if(t>1000)break;

end%stopaftert=1000seconds

[res,r1angle]=vrep.simxGetJointPosition(clientID,handle_rigArmjoint1,vrep.simx_opmode_oneshot_wait);

[res,r2angle]=vrep.simxGetJointPosition(clientID,handle_rigArmjoint2,vrep.simx_opmode_oneshot_wait);

[res,r3angle]=vrep.simxGetJointPosition(clientID,handle_rigArmjoint3,vrep.simx_opmode_oneshot_wait);

[res,r4angle]=vrep.simxGetJointPosition(clientID,handle_rigArmjoint4,vrep.simx_opmode_oneshot_wait);

[res,r5angle]=vrep.simxGetJointPosition(clientID,handle_rigArmjoint5,vrep.simx_opmode_oneshot_wait);

[res,r6angle]=vrep.simxGetJointPosition(clientID,handle_rigArmjoint6,vrep.simx_opmode_oneshot_wait);

[res,r7angle]=vrep.simxGetJointPosition(clientID,handle_rigArmjoint7,vrep.simx_opmode_oneshot_wait);

r1=[r1r1angle];

r2=[r2r2angle];

r3=[r3r3angle];

r4=[r4r4angle];

r5=[r5r5angle];

r6=[r6r6angle];

r7=[r7r7angle];

k=k+1%totest

end

r=[r1'r2'r3'r4'r5'r6'r7'];

fid=fopen('angle.txt','wt');

[m,n]=size(r);

fori=1:1:m

forj=1:1:n

ifj==n

fprintf(fid,'%g\n',r(i,j));

else

fprintf(fid,'%g\t',r(i,j));

end

end

end

fclose(fid);

%BeforeclosingtheconnectiontoV-REP,makesurethatthelastcommandsentouthadtimetoarrive.Youcanguaranteethiswith(forexample):

vrep.simxGetPingTime(clientID);

%NowclosetheconnectiontoV-REP:

vrep.simxFinish(clientID);

else

disp('FailedconnectingtoremoteAPIserver');

end

vrep.delete();%callthedestructor!

disp('Programended');

end

4.運(yùn)行V-REP仿真，同時(shí)運(yùn)行MATLAB。如果運(yùn)行成功，會(huì)生成一個(gè)angle的txt文件，導(dǎo)入到MATLAB可以觀測到到Baxter機(jī)器人7個(gè)關(guān)節(jié)角的變化如圖所示：5.接下來嘗試將這組關(guān)節(jié)角輸入到V-REP中，控制機(jī)器人運(yùn)動(dòng)。首先是再建一個(gè)V-REP場景，添加Baxter機(jī)器人，把機(jī)器人右臂相關(guān)的代碼刪除，添加上下面一句：simExtRemoteApiStart(19999)6.新建一個(gè)MATLAB函數(shù)，其代碼如下：

functionbaxter_write()

disp('Programstarted');

%vrep=remApi('remoteApi','extApi.h');%usingtheheader(requiresacompiler)

vrep=remApi('remoteApi');%usingtheprototypefile(remoteApiProto.m)

vrep.simxFinish(-1);%justincase,closeallopenedconnections

clientID=vrep.simxStart('',19999,true,true,5000,5);

%readthejointangledatafrom'angle.txt'

jointValue=load('angle.txt');%Amatrixof7x150.EachcolumnvectorrecordedthechangesofeachjointAngle

[mn]=size(jointValue);

if(clientID>-1)

disp('ConnectedtoremoteAPIserver');

%gethandleforBaxter_rightArm_joint1

[res,handle_rightArmjoint1]=vrep.simxGetObjectHandle(clientID,'Baxter_rightArm_joint1',vrep.simx_opmode_oneshot_wait);

[res,handle_rightArmjoint2]=vrep.simxGetObjectHandle(clientID,'Baxter_rightArm_joint2',vrep.simx_opmode_oneshot_wait);

[res,handle_rightArmjoint3]=vrep.simxGetObjectHandle(clientID,'Baxter_rightArm_joint3',vrep.simx_opmode_oneshot_wait);

[res,handle_rightArmjoint4]=vrep.simxGetObjectHandle(clientID,'BaxterrightArm_joint4',vrep.simx_opmode_oneshot_wait);

[res,handle_rightArmjoint5]=vrep.simxGetObjectHandle(clientID,'Baxter_rightArm_joint5',vrep.simx_opmode_oneshot_wait);

[res,handle_rightArmjoint6]=vrep.simxGetObjectHandle(clientID,'Baxter_rightArm_joint6',vrep.simx_opmode_oneshot_wait);

[res,handle_rightArmjoint7]=vrep.simxGetObjectHandle(clientID,'Baxter_rightArm_joint7',vrep.simx_opmode_oneshot_wait);

%Setthepositionofeveryjoint

while(vrep.simxGetConnectionId(clientID)~=-1),%whilev-repconnectionisstillactive

fori=1:m

vrep.simxPauseCommunication(clientID,1);

vrep.simxSetJointTargetPosition(clientID,handle_rightArmjoint1,jointValue(i,1),vrep.simx_opmode_oneshot);

vrep.simxSetJointTargetPosition(clientID,handle_rightArmjoint2,jointValue(i,2),vrep.simx_opmode_oneshot);

vrep.simxSetJointTargetPosition(clientID,handle_rightArmjoint3,jointValue(i,3),vrep.simx_opmode_oneshot);

vrep.simxSetJointTargetPosition(clientID,handle_rightArmjoint4,jointValue(i,4),vrep.simx_opmode_oneshot);

vrep.simxSetJointTargetPosition(clientID,handle_rightArmjoint5,jointValue(i,5),vrep.simx_opmode_oneshot);

vrep.simxSetJointTargetPosition(clientID,handle_rightArmjoint6,jointValue(i,6),vrep.simx_opmode_oneshot);

vre