Design Position Controlled Manipulator Using Simscape error

Dear MATLAB users.

Hello.

I ran 'Design Position Controlled Manipulator Using Simscape'(https://www.mathworks.com/help/robotics/ug/design-position-controlled-manipulator-using-simscape.html)

At 'Simulate Model', unfortunately, the simscape returns errors as below.

For your information, I moved URDF and right file to the workspace.

Thank you

Choonghan Lee

['ManipulatorPositionControl']: The following errors were found in the model ManipulatorPositionControl.

Caused by:

['ManipulatorPositionControl/Robot/Bracelet_Link/Visual']: The parameter Geometry/File Name is a file that does not exist. Resolve this issue in order to simulate the model.

['ManipulatorPositionControl/Robot/ForeArm_Link/Visual']: The parameter Geometry/File Name is a file that does not exist. Resolve this issue in order to simulate the model.

['ManipulatorPositionControl/Robot/HalfArm1_Link/Visual']: The parameter Geometry/File Name is a file that does not exist. Resolve this issue in order to simulate the model.

['ManipulatorPositionControl/Robot/HalfArm2_Link/Visual']: The parameter Geometry/File Name is a file that does not exist. Resolve this issue in order to simulate the model.

['ManipulatorPositionControl/Robot/Shoulder_Link/Visual']: The parameter Geometry/File Name is a file that does not exist. Resolve this issue in order to simulate the model.

['ManipulatorPositionControl/Robot/Wrist1_Link/Visual']: The parameter Geometry/File Name is a file that does not exist. Resolve this issue in order to simulate the model.

['ManipulatorPositionControl/Robot/Wrist2_Link/Visual']: The parameter Geometry/File Name is a file that does not exist. Resolve this issue in order to simulate the model.

['ManipulatorPositionControl/Robot/base_link/Visual']: The parameter Geometry/File Name is a file that does not exist. Resolve this issue in order to simulate the model.

Component:Simulink | Category:Block diagram error

Answer 1

[Hannes Daepp]

Hi Choonghan,

This behavior is expected. You must follow the instructions of the sections in the example, which ultimately instruct the reader to replace a the Robot subsystem in ManipulatorPositionControl.slx with the subsystem from ManipulatorPositionControl_Subsystem.slx, as detailed in the Simulate Model section of the example. Once you do this, the model will run as expected.

Note that in order for this to work, the Robotics System Toolbox Robot Library Data must be installed. Not having this support package installed will also cause the observed error, as the Robotics System Toolbox only ships with rigidbodytree meshes (i.e. for MATLAB visualization and collision-checking). The source meshes (STLs and DAEs) are supplied in this support package and are needed for Simscape visualization.

Download the SPKG and install it (using the Add-On Explorer, or from the link above). Then the example should run as-is.

Cheers,

Hannes

[Choonghan]

Dear Hannes

I appriciate your kind answer.

Robotics toolbox was already installed since I installed MATLAB as below

Also, I cannot find how to replace the subsystem in the tutorial.

Can you help me for this?

Thank you

Choonghan Lee