matlab读取vrep中关节位置等信息

1、matlab与vrep的通信，好些博主都写过了，简单附上代码

vrep端

simExtRemoteApiStart(19999)

matlab端

vrep=remApi('remoteApi'); % using the prototype file (remoteApiProto.m)
vrep.simxFinish(-1); % just in case, close all opened connections
clientID=vrep.simxStart('127.0.0.1',19997,true,true,5000,5);

%将remApi.m、remoteApiProto.m和remoteApi.dll添加进对应的文件夹下

2、运行代码angle

不同的机器人，需要将关节对应的名称改一致，要不会在写入的angle文本里，出现一堆43......

function position_read()
clear all
clc

disp('Program started');
vrep=remApi('remoteApi'); % using the prototype file (remoteApiProto.m)
% vrep=remApi('remoteApi','extApi.h'); % using the header (requires a compiler)
vrep.simxFinish(-1); % just in case, close all opened connections
clientID=vrep.simxStart('127.0.0.1',19997,true,true,5000,5);
%创建空矩阵用于接收关节位置
r1=[];
r2=[];
r3=[];
r4=[];
r5=[];
r6=[];

if (clientID>-1)
    disp('Connected to remote API server');
% vrep.simxSynchronous(clientID,true);%是否要开启同步，不同步的话可能有失真，不清楚这个
vrep.simxStartSimulation(clientID,vrep.simx_opmode_oneshot);%启动仿真

  %下面的 NiryoOneJoint1 一定要和vrep里采用的模型的关节一致，要不就会出现43...... 
 
  [res,NiryoOneJoint1] = vrep.simxGetObjectHandle(clientID,'NiryoOneJoint1',vrep.simx_opmode_oneshot_wait);
  [res,NiryoOneJoint2] = vrep.simxGetObjectHandle(clientID,'NiryoOneJoint2',vrep.simx_opmode_oneshot_wait);
  [res,NiryoOneJoint3] = vrep.simxGetObjectHandle(clientID,'NiryoOneJoint3',vrep.simx_opmode_oneshot_wait);
  [res,NiryoOneJoint4] = vrep.simxGetObjectHandle(clientID,'NiryoOneJoint4',vrep.simx_opmode_oneshot_wait);
  [res,NiryoOneJoint5] = vrep.simxGetObjectHandle(clientID,'NiryoOneJoint5',vrep.simx_opmode_oneshot_wait);
  [res,NiryoOneJoint6] = vrep.simxGetObjectHandle(clientID,'NiryoOneJoint6',vrep.simx_opmode_oneshot_wait);

% 下面是某博主采用的批量获取对象句柄
% NiryoOneJoint=zeros(1,6);
%  for i=1:6
%      [res,NiryoOneJoint(i)] = vrep.simxGetObjectHandle(clientID,['handle_joint' num2str(i)],vrep.simx_opmode_blocking);
%  end

    while(vrep.simxGetConnectionId(clientID) ~= -1), % while v-rep connection is still active
         t = vrep.simxGetLastCmdTime(clientID) / 1000.0; % get current simulation time
         if (t > 30) break;
         end % stop after t = 30 seconds 建议时间设的小点
 
  [res,r1angle]=vrep.simxGetJointPosition(clientID,NiryoOneJoint1,vrep.simx_opmode_oneshot_wait);
  [res,r2angle]=vrep.simxGetJointPosition(clientID,NiryoOneJoint2,vrep.simx_opmode_oneshot_wait);
  [res,r3angle]=vrep.simxGetJointPosition(clientID,NiryoOneJoint3,vrep.simx_opmode_oneshot_wait);
  [res,r4angle]=vrep.simxGetJointPosition(clientID,NiryoOneJoint4,vrep.simx_opmode_oneshot_wait);
  [res,r5angle]=vrep.simxGetJointPosition(clientID,NiryoOneJoint5,vrep.simx_opmode_oneshot_wait);
  [res,r6angle]=vrep.simxGetJointPosition(clientID,NiryoOneJoint6,vrep.simx_opmode_oneshot_wait);

  r1= [r1 r1angle];
  r2= [r2 r2angle];
  r3= [r3 r3angle];
  r4= [r4 r4angle];
  r5= [r5 r5angle];
  r6= [r6 r6angle];

    end

r=[r1' r2' r3' r4' r5' r6'];

% 下面的代码参考的这位博主的，写入文本形式下，
fid=fopen('angle.txt','wt');
[m,n]=size(r);
for i=1:1:m
for j=1:1:n
if j==n
fprintf(fid,'%g\n',r(i,j));
else
fprintf(fid,'%g\t',r(i,j));
end
end
end
fclose(fid);
 
% Before closing the connection to V-REP, make sure that the last command sent out had time to arrive. You can guarantee this with (for example):
vrep.simxGetPingTime(clientID);

 %Now close the connection to V-rep
  vrep.simxStopSimulation(clientID,vrep.simx_opmode_oneshot_wait); %停止仿真
  vrep.simxFinish(clientID);
  
else
    disp('Failed connecting to remote API server');
end


vrep.delete(); % call the destructor!
    
disp('Program ended');
end

3、运行结果

vrep端

matlab端

 

 matlab端的数据跟vrep端的不一样，（不清楚），具体再了解

4、参考博主

感谢这些博主的付出，有问题及时交流哈！

（1）[机器人仿真软件(一)]V-REP与MATLAB进行通讯的方法_weixin_34144450的博客-CSDN博客

5、接下来计划

获取关节力矩，matlab控制vrep进行力控，主要应用在抓取作业中。