Robotics lab resources

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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_inir(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]

Hardware repair

Pioneer III DXe mobile robot

LEGO Mindstorm mobile robot

Bioloid humanoid kit