|
Toolbox Features
Requirements
Download
About
|
|
Project Overview
The
Intelitek Scorbot is an articulated 5 degree of freedom robot
arm, used primarily for education at universities, and technical
schools.
Older version of the
Scorbot used a serial interface, making it easy to control in
any programming language.
The ER-4U version uses a USB interface and conceals the API.
Out of the package, users can only control the arm using
Scorbase - Intelitek's proprietary, stand alone programming
environment. This toolbox provides a set of libraries (DLLs and
M-files) that let you control the robot directly using Matlab.
|
|
The toolbox consists of two
components: (1) a set of DLL files that set up the low level
interface to the robot via USB; and (2) a set of Matlab functions (aka "wrappers")
for common high level commands. In particular it lets you:
- Create a link between your PC and
Scorbot using your PC's USB port.
- Interact with the robot's
sensors and motors via user-friendly
commands. Unlike the native Scorbot interface,
standard units and sign conventions are used and angle
definitions match the Denavitt-Hardenberg convention.
- A set of utility
functions is provided for forward and inverse kinematics,
and Jacobian
computations.
- The toolbox allows you to
exploit the full functionality of Matlab's standard
development, visualization and computation tools -- in
addition to any licensed toolboxes such as image processing,
neural network, control systems, etc.
|
|
|
Scorbot:
The toolbox is developed for the Intelitek
ER-4U with USB connection. The Scorbase software version was
5.3.3.2. The control box software was version 14.
Matlab: The toolbox was developed and tested with MATLAB
2010A and B. It is expected to work in Matlab 2011. It
has not been tested on previous versions of Matlab or on freeware
clones such as Octave or SciLab, but is likely to work.
It does not require any additional toolboxes.
Operating Systems:
The toolbox was developed and tested under windows XP 32 bit
operating system. It has been tested on Windows 7.
It has not been tested under Linux, Mac, or 64 bit Windows. We
anticipate supporting 64 bit Windows OS in the future.
Note that the Beta version has not be
thoroughly tested. The authors make no guarantees about
performance or compatibility. Please report any bugs
to esposito (at) usna (dot) edu.
-
MTIS files
-
This
paper serves as the documentation (citation information
below and inside PDF).
Appendix A provides installation instructions, Appendix B is
a command reference, toolbox concepts and sample programs
are included in Sections 3-4.
|
|
|
|
Authors: The MATLAB
Toolbox for the iRobot Create was
developed by Professors
Joel
Esposito, Carl Wick and Ken Knowles at the United States
Naval Academy in the Systems Engineering Department's
RaVision Group.
Contact: Direct
question and bug reports to Professor
Joel Esposito: esposito (at) u s n a (dot) e d u
Citation Information: The tool box is free.
If you use it in a publication, please cite:
@inproceedings{MatlabScorbot,
author = {Joel M. Esposito and Carl Wick and Ken Knowles},
title = { Matlab Toolbox for the Intelitek Scorbot: An
open source robotics education library },
inproceedings = {American Society of Engineering Education
Annual Confernce},
year = {2011}
city = {Vancouver, BC},
}
Resources:
|
|
|
|
|
|
|
|
