{"id":390,"date":"2015-03-27T16:54:27","date_gmt":"2015-03-27T16:54:27","guid":{"rendered":"http:\/\/babel.isa.uma.es\/jafma\/?p=390"},"modified":"2023-03-03T08:55:00","modified_gmt":"2023-03-03T08:55:00","slug":"matlab-toolbox-for-control-and-simulation-of-scorbot-er-v-robots","status":"publish","type":"post","link":"https:\/\/babel.isa.uma.es\/jafma\/index.php\/2015\/03\/27\/matlab-toolbox-for-control-and-simulation-of-scorbot-er-v-robots\/","title":{"rendered":"Matlab Toolbox for Control and Simulation of Scorbot ER-V Robots"},"content":{"rendered":"<p><img loading=\"lazy\" decoding=\"async\" class=\"alignright size-medium wp-image-394\" src=\"https:\/\/babel.isa.uma.es\/jafma\/wp-content\/uploads\/2016\/05\/scorbotp2_fondo_chica-156x300.png\" alt=\"scorbotp2_fondo_chica\" width=\"156\" height=\"300\" srcset=\"https:\/\/babel.isa.uma.es\/jafma\/wp-content\/uploads\/2016\/05\/scorbotp2_fondo_chica-156x300.png 156w, https:\/\/babel.isa.uma.es\/jafma\/wp-content\/uploads\/2016\/05\/scorbotp2_fondo_chica-230x444.png 230w, https:\/\/babel.isa.uma.es\/jafma\/wp-content\/uploads\/2016\/05\/scorbotp2_fondo_chica.png 453w\" sizes=\"(max-width: 156px) 100vw, 156px\" \/> The Scorbot ER-V robotic manipulator arms, sold by <a href=\"http:\/\/www.intelitek.com\/robots\/\" target=\"_blank\">Intellitek<\/a> in the early 90s, are still -in their new models and in the oldies, if they still survive- a nice educational tool for Robotics subjects, lying in an intermediate level between real industrial manipulators and low-cost devices.<\/p>\n<p>In this page you can find a <a href=\"http:\/\/www.mathworks.com\/products\/matlab\/\" target=\"_blank\">Matlab\u00a9<\/a> toolbox (entirely written in Matlab\u00a9) that includes a kinematic simulation of these kind of robots and a connection, through RS232 serial port, to a real robot of the old versions. This has served us for recovering and still using these robust machines in a modern environment, even after so many years. It has been reported previously in this <a href=\"https:\/\/library.iated.org\/view\/FERNANDEZMADRIGAL2014USI\" target=\"_blank\">paper<\/a>.<\/p>\n<p>The toolbox is still in a beta version, but it has several nice features already:<\/p>\n<ul>\n<li>Faithful kinematic simulation (only poses, not speeds) of the ER-V robotic arm, that includes both direct and inverse kinematic models.<\/li>\n<li>Graphical window that shows a wireframe simple 3D model of the robot in simulation mode, with some visual aids such as spatial references.<\/li>\n<li>Serial connection to a real ER-V controller to command the robot from Matlab\u00a9, that only consumes a position variable in the RAM of the controller (all the other stuff -positions, program logic, etc.- is managed in Matlab\u00a9).<\/li>\n<li>Easy programming in Matlab\u00a9 of the robot (both real and simulated) through a basic set of commands and a very simple object-oriented interface.<\/li>\n<li>Possibility of controlling both the simulation and the real robot simultaneously, with a single object.<\/li>\n<\/ul>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-401 size-full\" src=\"https:\/\/babel.isa.uma.es\/jafma\/wp-content\/uploads\/2016\/05\/snapshot.png\" alt=\"snapshot\" width=\"568\" height=\"500\" srcset=\"https:\/\/babel.isa.uma.es\/jafma\/wp-content\/uploads\/2016\/05\/snapshot.png 568w, https:\/\/babel.isa.uma.es\/jafma\/wp-content\/uploads\/2016\/05\/snapshot-300x264.png 300w, https:\/\/babel.isa.uma.es\/jafma\/wp-content\/uploads\/2016\/05\/snapshot-444x391.png 444w\" sizes=\"(max-width: 568px) 100vw, 568px\" \/><\/p>\n<p><strong>Installation and usage: <\/strong><\/p>\n<ol>\n<li>Download the sources of the library (<a href=\"https:\/\/babel.isa.uma.es\/_utils\/downloads\/logdownloads.php?u=jafma&amp;t=zip&amp;f=downloads\/jafma\/docencia\/ScorbotERVlibForMatlab.zip\">zip<\/a>).<\/li>\n<li>Decompress the ScorbotERVlibForMatlab.zip file into any accessable MatLab\u00a9 folder.<\/li>\n<li>Run <code>demo<\/code> to see a basic demo.<\/li>\n<li>Type help <code>Scorbot<\/code> to see detailed help of the <code>Scorbot<\/code> object, its methods and usage.<\/li>\n<\/ol>\n<p>Here you can see a video of the basic demo that comes with the toolbox:<\/p>\n<p><iframe loading=\"lazy\" src=\"https:\/\/www.youtube.com\/embed\/9rr6oyRMsIk\" width=\"480\" height=\"360\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/p>\n","protected":false},"excerpt":{"rendered":"<p>The Scorbot ER-V robotic manipulator arms, sold by Intellitek in the early 90s, are still -in their new models and in the oldies, if they still survive- a nice educational tool for Robotics subjects, lying in an intermediate level between real industrial manipulators and low-cost devices. In this page you can find a Matlab\u00a9 toolbox [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":4,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3],"tags":[],"class_list":["post-390","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-software"],"_links":{"self":[{"href":"https:\/\/babel.isa.uma.es\/jafma\/index.php\/wp-json\/wp\/v2\/posts\/390"}],"collection":[{"href":"https:\/\/babel.isa.uma.es\/jafma\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/babel.isa.uma.es\/jafma\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/jafma\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/jafma\/index.php\/wp-json\/wp\/v2\/comments?post=390"}],"version-history":[{"count":17,"href":"https:\/\/babel.isa.uma.es\/jafma\/index.php\/wp-json\/wp\/v2\/posts\/390\/revisions"}],"predecessor-version":[{"id":393,"href":"https:\/\/babel.isa.uma.es\/jafma\/index.php\/wp-json\/wp\/v2\/posts\/390\/revisions\/393"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/jafma\/index.php\/wp-json\/wp\/v2\/media\/4"}],"wp:attachment":[{"href":"https:\/\/babel.isa.uma.es\/jafma\/index.php\/wp-json\/wp\/v2\/media?parent=390"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/jafma\/index.php\/wp-json\/wp\/v2\/categories?post=390"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/jafma\/index.php\/wp-json\/wp\/v2\/tags?post=390"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}