import robot as a rigidbody tree from simscape model

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Yi Wan
Yi Wan 2018-10-10
回答： dimple bhalla 2019-7-5
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.

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Sebastian Castro
Sebastian Castro 2018-10-10
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
  2 个评论
Wan Yi
Wan Yi 2018-10-10
Thank you Sebastian! Does this mean that I can only export to URDF from Solidworks model? (the CAD model already exists in solidworks)
PS, since the inverse kinematics block also comes out after 2018b, is there an alternative way for me to make the robot manipulator example work (trajectory mode needs IK block)? Or I need to write my own IK function?
Sorry for so many questions... Thanks!
Sebastian Castro
Sebastian Castro 2018-10-10
You can export to URDF and import into Robotics System Toolbox, but I think it may be easier to upgrade to R2018b if you have the chance.
Yes, there is a way to use the inverse kinematics in an earlier version, but it's a little involved.
Why don't you email us at roboticsarena@mathworks.com and I can share an example of this with you?
You can also email me your Simscape Multibody model if you don't have access to R2018b and I can generate the Rigid Body Tree for you... though I can't guarantee the conversion will be successful, I can try?

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dimple bhalla
dimple bhalla 2019-7-5
Can you please help me in importing my simscape multibody file to rigid body tree?

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