create kuka robot simulation in matlab

To create a Kuka robot simulation in Matlab, you can use the Robotics Toolbox. The Robotics Toolbox is a collection of functions and tools for simulation and control of robotic systems in Matlab.

First, you need to define the Kuka robot model in the Robotics Toolbox. This can be done using the robotics.RigidBodyTree object. You can use the urdf2robot function to convert a URDF file of the Kuka robot to a robotics.RigidBodyTree.

main.m
kuka_robot_urdf = 'path/to/kuka/robot.urdf';
kuka_robot = importrobot(kuka_robot_urdf);
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Next, you can define the initial state of the Kuka robot. The state of the Kuka robot is defined by the position and orientation of its joints. The joint positions and orientations can be set using the setJointPositions function.

main.m
q0 = [0 0 0 0 0 0 0]; % initial joint positions
kuka_robot = kuka_robot.setJointPositions(q0);
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To simulate the Kuka robot, you can create a physics engine using the RigidBodyTreeInspector object. This object allows you to visualize the robot in 3D and simulate its motion. You can use the step function of the RigidBodyTreeInspector object to simulate the robot.

main.m
physics_engine = RigidBodyTreeInspector(kuka_robot);
tspan = 0:0.1:10; % simulation time span
for t = tspan
    kuka_robot = kuka_robot.setJointPositions(new_joint_positions); % set new joint positions
    physics_engine.step(0.1); % simulate for 0.1 seconds
end
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Finally, you can use the plot function of the RigidBodyTreeInspector object to visualize the Kuka robot simulation.

main.m
physics_engine.plot();
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Note that this is just a basic example of how to create a Kuka robot simulation in Matlab. You can customize the simulation and add control algorithms to control the robot motion.