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

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.....

Answer 1

[Vasco Lenzi]

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