====== Interfacing the Lab Manipulators in Matlab ======

This site has links to the manipulator interface/control code for the manipulators to be used in the lab, their calibration GUIs, as well as implementation examples.  You should be able to get things working from the reources available here. The manipulator interface code is incomplete.  As the course progresses, it will be filled in.

===== Piktul Manipulator =====
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The //piktul// manipulator is a small RC servo controlled SCARA-type manipulator.  As a planar manipulator design with additional height control, it operates in $SE(2) \times \mathbb{R}^+$.  The manipulator is good for introducing fundamental concepts in a simpler end-effector space, one that actually can be represented in vector form with little problems given the actuator limits of the servos used. //The current piktuls are configured to use the Lynxmotion SSC-32 controllers.//

Matlab code: {{ECE4560:piktul_calibrate.m| _____ Calibration GUI}} ; {{ECE4560:piktul_display.m | _____ Display Code}}

**Lynxmotion SSC-32** Matlab code: {{ECE4560:piktul.m | _____ Interface Stub}}

**Arduino Control Box** Matlab code: {{ECE4560:ControlBox:piktul.m | _____ Interface Stub}}

Instructions: [[ECE4560:Piktul:Setup| Setup]] ; [[ECE4560:Piktul:Calibrate | Calibration]] ; [[ECE4560:Piktul:Issues | Issues]] ; [[ECE4560:Piktul:Interfacing]]

===== Lynx6 =====
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The slightly more fully functional manipulator to be used in the course is called the **Lynx 6** manipulator made by [[http://www.lynxmotion.com | Lynxmotion]].  We have different versions, from the earliest Lexan one, up to the more recent aluminum ones. Eventually we'll probably design a better one, but for now, this is it. We also have different interfacing schemes for the manipulator, based on the connected microcontroller and the language. //The current version to use is the Arduino Control Box. See the Resolving Issues page below if you have trouble with it, or to avoid having trouble with it.//

**Arduino Control Box** Matlab code: {{ECE4560:ControlBox:lynx6_calibrate.m| _____ Calibration GUI}} ; {{ECE4560:ControlBox:lynx6.m | _____ Interface Stub}}

**Lynxmotion SSC-32** Matlab code: {{ECE4560:Lynx6:lynx6_calibrate.m| _____ Calibration GUI}} ; {{ECE4560:Lynx6:lynx6.m | _____ Interface Stub}}

Instructions: [[ECE4560:Lynx6::Calibrate | Calibration]] ; [[ECE4560:Lynx6:Interfacing]]

===== Arduino Control Box =====
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A new microcontroller interface has been designed for use with this course.  Instructions on how to use it can be found here.

Instructions and Tips: [[ECE4560:ControlBox:Connecting | Connecting]]  ;  
[[ECE4560:ControlBox:Issues | Resolving Issues]] 



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