MATLAB Toolbox for Intelitek Scorbot-ER 4U

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.

Requirements

• Hardware Interface
  • SCORBOT-ER 4U by Intelitek with USB controller and teach pendant
  • Windows 32-bit and 64-bit OS (XP or later) to interact with SCORBOT hardware
  • MATLAB R2010b or later
• Simulation Interface
  • MATLAB R2010b or later

Documentation

• ScorBot Toolbox Quick Reference Guide
• Intelitek User Manual, ScorBot-ER 4u
• Intelitek User Manual, ScorBot USB Controller

First Time Installation Instructions

1. Download "ScorBotToolbox.zip" (or alternate version)
2. Unzip "ScorBotToolbox.zip"
3. Open MATLAB as an administrator
4. Change your MATLAB Current Directory to the location containing contents of the unzipped ScorBotToolbox
5. Run "installScorBotToolbox"
6. Move "ScorBotToolbox Example SCRIPTS" to a location of your choosing (optional)

Update Instructions

1. Open MATLAB as an administrator
2. Run "ScorUpdate"

Download ScorBot ToolBox 

• Download ScorBotToolbox

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. 

References

1. 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.
2. 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

Known Issues

• ScorSetDeltaBSEPR.m produces unexpected movements for large changes of Joint 1.
• ScorSim*.m does not include collision detection
• The workspace for the ScorBot hardware is limited to "elbow-up" configurations only.
• MATLAB crashes can occur when the connection(s) between the Teach Pendant and ScorBot Controller is/are loose.
• ScorInit.m intermittently fails to create a default waypoint vector when using a 64-bit OS.