V-REP与MATLAB进行通讯的方法

V-REP是一款多功能的机器人仿真器,1.具有4种物理引擎((ODE,Bullet,Vortex,Newton));2.支持Windows，Linux，MacOS三种操作系统;3.支持六种编程方法;4.七种编程语言(

(C/C++、Python、Java、Lua、Matlab、Octave、和Urbi))。本文将简单地介绍如何将MATLAB与V-REP进行通讯，分别实现简单的读取机器人关节角，传送机器人关节角这两种功能。一.所需的m文件在路径...\V-REP3\V-REP_PRO_EDU\programming\remoteApiBindings\matlab\matlab中将所有的m文件复制到项目文件夹中。二.关键的语句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.具体做法1.在V-REP中新建一个空白的场景，并从模型浏览器(ModleBrowser)填加一个Baxter机器人。(此时运行仿真，机器人会运动。我们的目标就是把各个关节角变化的情况记录下来)2.点击控制右臂的相应代码，在开头增加一句：simExtRemoteApiStart(19999)3.新建一个matlab函数，其代码如下：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.运行V-REP仿真，同时运行MATLAB。如果运行成功，会生成一个angle的txt文件，导入到MATLAB可以观测到到Baxter机器人7个关节角的变化如图所示：5.接下来尝试将这组关节角输入到V-REP中，控制机器人运动。首先是再建一个V-REP场景，添加Baxter机器人，把机器人右臂相关的代码删除，添加上下面一句：simExtRemoteApiStart(19999)6.新建一个MATLAB函数，其代码如下：

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);

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