Robotics lab resources

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

sp=serial_port_start()

initializes the serial port, returning an object referencing it (sp)

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]