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Table of Contents
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
Matlab code: Calibration GUI ; Interface Stub
OK, it looks like some code was off and I didn't catch it even though I've been using it for a bit now. The calibration function did not properly adjust the matrices being generated. The file here will fix things if you run it. Make sure that the piktul parameter file can be found. Also, please download again the piktul Matlab file. I made a correction to it also.
Instructions: Setup ; Calibration ; Issues ; Interfacing
Lynx6
The slightly more fully functional manipulator to be used in the course is called the Lynx 6 manipulator made by 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.
Matlab code: Calibration GUI ; Interface Stub
Instructions: Calibration ; Interfacing