How to import robot to workspace

I modelled a manipulator in solidworks and exported to (.xml) file , now i need to work in inverse kinematics designer with the same robot. How do i import this robot to my workspace .

Answer 1

[Abhiram]

Hi @Kannan,

To import a manipulator model from SolidWorks to MATLAB, enable the “Simscape Multibody Link” plug-in on your SolidWorks installation to begin exporting your CAD assemblies. Refer to the MATLAB Documentation to see the step-by-step process:

https://www.mathworks.com/help/smlink/ref/linking-and-unlinking-simmechanics-link-software-with-solidworks.html

After ensuring that the model has been exported into an XML format, follow the given steps to import the model into MATLAB:

• Open MATLAB and navigate to the folder containing your exported XML file.
• Use the “smimport” function to import the XML file into MATLAB. This function converts the XML file into a Simscape Multibody model as specified in the given MATLAB Documentation page:

https://www.mathworks.com/help/sm/ref/smimport.html

Refer to the MATLAB Documentation pages for “Simscape Multibody Link” plug-in for further guidance:

https://www.mathworks.com/help/smlink/solidworks.html

Answer 2

[Shantanu Dixit]

Hi Kannan,

You can import the manipulator into MATLAB's Inverse Kinematics Designer app by following the below steps:

• Import the robot model into MATLAB using 'importrobot': https://www.mathworks.com/help/robotics/ref/importrobot.html This function accepts XML files of the format 'URDF', 'XML Macros', 'SDF' and imports the robot returning a 'rigidBodyTree' object in MATLAB.
• Launch the Inverse Kinematics Designer app: You can open the application through the terminal with the command 'inverseKinematicsDesigner'or alternately by navigating to : Apps > Robotics and Autonomous Systems > Inverse Kinematics Designer in the MATLAB toolstrip. https://www.mathworks.com/help/robotics/ref/inversekinematicsdesigner-app.html
• Loading the robot model into the app: In the Inverse Kinematics Designer app, you can click on "New Session". In the dialog box, select "Load from workspace" and choose your imported 'rigidBodyTree' object (robot).

Hope this helps!