Hi there,
Is there any way that I can add a feedback controller in Simulink to the OpenSim model, so that I can precisely control the motion of each joint? Thank you very much!
OpenSim & Simulink Interface
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Zhenwei Liu
- Posts: 6
- Joined: Sat Sep 15, 2018 7:03 pm
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Dimitar Stanev
- Posts: 1096
- Joined: Fri Jan 31, 2014 5:14 am
Re: OpenSim & Simulink Interface
There are a several ways to do this. Perhaps you could look at the following projects:
https://simtk.org/projects/opensim-matlab/
https://simtk.org/projects/opensimmatlab
Alternatively, you can create a plugin in OpenSim where you will implement your controller as an extension of OpenSim::Controller class or OpenSim::Force. Then you can load the new controller as a plugin in Matlab and use it in an iterative manner. Please look at the following examples of controllers:
https://github.com/mitkof6/task-space/b ... roller.cpp (torque controller as OpenSim::Controller)
https://github.com/mitkof6/opensim-task ... dForce.cpp (torque controller as OpenSim::Force)
OpenSim plugin: https://simtk-confluence.stanford.edu/d ... ng+Plugins
https://simtk.org/projects/opensim-matlab/
https://simtk.org/projects/opensimmatlab
Alternatively, you can create a plugin in OpenSim where you will implement your controller as an extension of OpenSim::Controller class or OpenSim::Force. Then you can load the new controller as a plugin in Matlab and use it in an iterative manner. Please look at the following examples of controllers:
https://github.com/mitkof6/task-space/b ... roller.cpp (torque controller as OpenSim::Controller)
https://github.com/mitkof6/opensim-task ... dForce.cpp (torque controller as OpenSim::Force)
OpenSim plugin: https://simtk-confluence.stanford.edu/d ... ng+Plugins