How can I link between Simscape mulyibody robot model and gazebo environment for simulation

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catalin dosoftei
catalin dosoftei 2020-9-25
回答： Vasco Lenzi 2020-9-28
We build a model of omnidirectional platform in SIMSCAPE Multibody and we must to equip the robot with sensors (sonars and lidars) and put to work in a simulated environment. For environment we prefer Gazebo, we can make a digital twin of the robot from Simscape....but all dynamic propreties are necessary to come from Simscape.....

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Vasco Lenzi
Vasco Lenzi 2020-9-28
Hi Catalin!
Please take a look at the Robotics System Toolbox. It offers a native library to Simulink to perform co-simulation. I believe you may seti it up in order to achieve what you want:
https://ch.mathworks.com/products/robotics.html
Here is the list of examples:
https://ch.mathworks.com/help/robotics/examples.html?s_tid=CRUX_lftnav_example_%5Bobject+Object%5D&category=index
Hope this helps
Vasco

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