Code Development
I have developed a number of MATLAB-based, open-source tools related to robotics, kinematics, camera hardware, camera modeling, motion capture hardware, etc. Below is an abridged list of these tools. For a full list, please visit my GitHub page.-
Universal Robot e-Series Toolbox for MATLAB
Description
This toolbox interfaces e-Series industrial manipulators from Universal Robots with MATLAB. The toolbox allows users to interface manipulators leveraging a Qt TCP/IP pipeline developed . This toolbox also includes visualization tools, forward and inverse kinematics functions, Jacobians, and a URScript control approach allowing users to smoothly command UR manipulators along desired trajectories.
Documentation
- URQt Toolbox Quick Reference Guide [COMING SOON]
Downloads
Acknowledgements
Special thanks to C. Wick and J. Thode for enabling the interaction between the UR e-Series hardware and MATLAB. Specifically, C. Wick's development and support of the Roswell/Rosette interface in Qt, and J. Thode's testing and expansion of the Roswell/Rosette pipeline. Without these contributions, this toolbox serves essentially no purpose.
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Universal Robot Simulation Toolbox for MATLAB
Description
This toolbox provides kinematics and visualization tools for industrial manipulators from Universal Robots.
Documentation
- UR Simulation Toolbox Quick Reference Guide [COMING SOON]
Downloads
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OptiTrack Toolbox for MATLAB
Description
This toolbox interfaces OptiTrack motion capture systems through the NatNet SDK. This toolbox allows users to create an OptiTrack object containing all pertinent information and conversions associated with objects tracked using the OptiTrack Motive (or similar) software package. This download includes an install file to create the toolbox, and add paths as needed. All toolbox functions include extensive help documentation and error checking.
Documentation
The following documentation is available for the OptiTrack Toolbox. This documentation is updated for the most recent version of the toolbox and may not support previous releases.
- OptiTrack Toolbox Quick Reference Guide [COMING SOON]
Downloads
Acknowledgements
Special thanks to L. DeVries and P. McCorkel for helping to develop and expand the capabilities of the OptiTrack Toolbox.
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Transformation Toolbox for MATLAB
Description
This toolbox includes functions for visualizing transformations graphically and useful shorthand for representing rotations, translations, scaling, and shear in two and three dimensions. This toolbox also includes tools for Denavit-Hartenberg convention, statistical calculations for the Special Orthogonal and Special Euclidean groups, checking for valid elements of the Special Orthogonal and Special Euclidean groups, extended functionality for defining rotations and rigidbody motions in n-dimensions including basis definitions, etc.
Documentation
- Transformation Toolbox Quick Reference Guide [COMING SOON]
Downloads
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ScorBot Toolbox for MATLAB
Description
This toolbox interfaces the Intelitek ScorBot-ER 4U with MATLAB. The toolbox allows users to control ScorBot using waypoint commands in joint space and task space, to acquire sensor information from ScorBot, create and command a simulated 3D representation of ScorBot, and to visualize aspects of ScorBot's movements. This download includes an installation function to create the toolbox, and add paths as needed. All toolbox functions include extensive help documentation and error checking.
Documentation
The following documentation is available for the ScorBot Toolbox. This documentation is updated for the most recent version of the toolbox and may not support previous releases.
- ScorBot Toolbox Quick Reference Guide
- Intelitek User Manual, ScorBot-ER 4u
- Intelitek User Manual, ScorBot USB Controller
Downloads
Acknowledgements
Special thanks to C. Wick and J. Donnal for enabling the interaction between ScorBot hardware and MATLAB. Specifically, C. Wick's development of and continued support for the RobotDll interface to the Intelitek USBC library enables all hardware interaction with the ScorBot; and J. Donnal's ScorbotServer enables interaction with the RobotDll library while using a 64-bit Windows OS. Without these contributions, this toolbox serves very little purpose beyond kinematics and visualization tools.
ScorDrawMaker.m - Thank you Carl.
References
- J. Esposito, C. Wick, & K. Knowles, "Matlab Toolbox for the Intelitek Scorbot: An open source robotics education library," in Proc. American Society of Engineering Education Annual Conference, Vancouver, BC, 2011.
- C. Wick, J. Esposito, & K. Knowles, (2012, Aug 25) Matlab Toolbox for the Intelitek Scorbot (MTIS) [Online]. Available: https://www.usna.edu/Users/weapsys/esposito/scorbot.matlab.php
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Universal Robot CB3 Series Toolbox for MATLAB
Description
This toolbox interfaces CB3 series industrial manipulators from Universal Robots with MATLAB. The toolbox allows users to interface manipulators leveraging the URX Python library . This toolbox also includes visualization tools, forward and inverse kinematics functions, Jacobians, and a URScript control approach allowing users to smoothly command UR manipulators along desired trajectories.
Documentation
- UR Toolbox Quick Reference Guide [COMING SOON]
- Universal Robots UR3 User Manual
- Universal Robots UR5 User Manual
- Universal Robots UR10 User Manual
- Universal Robots URScript Programming Manual (v3.2)
- Universal Robots Software (PolyScope) Manual (v3.2)
Downloads
