Robotics lab resources: Difference between revisions
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; serial_port_start(): initializes the serial port, returning an object referencing it | ; serial_port_start(): initializes the serial port, returning an object referencing it | ||
In the following functions, the argument ''sp'' corresponds to this serial port object | In the following functions, the argument ''sp'' corresponds to this serial port object. | ||
; rob3_init(sp): initializes the arm, returning a (meaningless) integer | ; rob3_init(sp): initializes the arm, returning a (meaningless) integer | ||
; rob3_move_joint(sp,n,x): moves joint ''n'' to angular position ''x'' | ; rob3_move_joint(sp,n,x): moves joint ''n'' to angular position ''x'' | ||
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; rob3_read_joint(sp,n): reads the angular position of joint ''n'', returning a vector [64+joint-1, position, 3] | ; rob3_read_joint(sp,n): reads the angular position of joint ''n'', returning a vector [64+joint-1, position, 3] | ||
; rob3_read_joints(sp): reads the angular position of all joints, returning a vector [71, position_1, ..., position_6, 3] | ; rob3_read_joints(sp): reads the angular position of all joints, returning a vector [71, position_1, ..., position_6, 3] | ||
Functions rob3_move_joint_with_speed and rob3_move_joints_with_speed are similar to the ones above without the _with_speed, except that these take an extra argument corresponding to the speed(s) of the joints. | |||
=== Hardware repair === | === Hardware repair === | ||
Revision as of 07:56, 9 April 2008
This page contains information regarding the undergrad course Robotics at Instituto Superior Técnico. This is NOT the course official page (which can be found here looking up for Robótica).
ROB3/TR5 robotic arm
Interface with MATLAB
The latest version of the software (developed in house) can be found here: Media:Matlab rob3 tr5.zip
Application interface
- serial_port_start()
- initializes the serial port, returning an object referencing it
In the following functions, the argument sp corresponds to this serial port object.
- rob3_init(sp)
- initializes the arm, returning a (meaningless) integer
- rob3_move_joint(sp,n,x)
- moves joint n to angular position x
- rob3_move_joints(sp,v)
- moves all 6 joints to the positions defined by the vector v (1x6)
- rob3_read_joint(sp,n)
- reads the angular position of joint n, returning a vector [64+joint-1, position, 3]
- rob3_read_joints(sp)
- reads the angular position of all joints, returning a vector [71, position_1, ..., position_6, 3]
Functions rob3_move_joint_with_speed and rob3_move_joints_with_speed are similar to the ones above without the _with_speed, except that these take an extra argument corresponding to the speed(s) of the joints.