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| ece4560:piktul:setup [2015/03/02 14:40] – pvela | ece4560:piktul:setup [2024/08/20 21:38] (current) – external edit 127.0.0.1 |
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| ====== Piktul Setup ====== | ====== Piktul Setup ====== |
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| This page describes how to get it connected up and ready for use through Matlab. After the [[ECE4560:Piktul:calibrate|calibration]] step, [[ECE4560:Piktul:interfacing|interfacing]] the manipulator is done through a **piktul** class file. | This page describes how to get it connected up and ready for use through Matlab. After the [[ECE4560:Piktul:calibrate|calibration]] step, [[ECE4560:Piktul:interfacing|interfacing]] the manipulator is done through a **piktul** class file. If you have Matlab on your laptop and would prefer to use it in the lab rather than the lab computers, then feel free to do so. However, that would most likely mean that you will need a USB-to-Serial converter. I have some in my office and will try to remember to bring them in. To be safe, just e-mail me as a reminder. A good portion of the setup, calibration, etc. will still apply, so it would be good to read through it anyhow. |
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| Since we are sharing the lab, I am afraid that you will have to setup and cleanup the manipulator each time. Here is how the setup goes: | Since we are sharing the lab, I am afraid that you will have to setup and cleanup the manipulator each time. Here is how the setup goes: |
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| Once you get good at it, this part shouldn't take very much time at all. When you really care about getting the runs to work precisely, then I would quickly double-check the calibration by going through some kind of calibration check sequence. Usually it involves going to pre-programmed joint configurations and checking that the end effector location is correct/reasonably close. | Once you get good at it, this part shouldn't take very much time at all. When you really care about getting the runs to work precisely, then I would quickly double-check the calibration by going through some kind of calibration check sequence. Usually it involves going to pre-programmed joint configurations and checking that the end effector location is correct/reasonably close. |
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| | You can re-run the calibration with you parameters much like with the ''piktul'' constructor: |
| | <code> |
| | piktul_calibrate(load('pikparms.mat')); |
| | </code> |
| | The calibration will start with your saved values. you can then make minor modifications if it appears to be necessary. |
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| | --------- |
| | ;#; |
| | [[ece4560:manicontrol | Back ]] |
| | ;#; |
