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Michael D. M. Kutzer, Ph.D.

Code Development

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.

Downloads

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
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

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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