File Exchange

image thumbnail

kutzer/ScorBotToolb​ox

version 5.1.0 (6.11 MB) by Michael Kutzer
ScorBot Toolbox

12 Downloads

Updated 08 Jan 2021

From GitHub

View Version History

View license on GitHub

This toolbox interfaces and simulates the Intelitek ScorBot-ER 4U with MATLAB. The toolbox allows users to control ScorBot, to acquire sensor information from ScorBot and to visualize aspects of ScorBot's movements. This download includes an install file to create the toolbox and add paths as needed. All toolbox functions include extensive help documentation, error checking, and visualization tools.
Toolbox Reference Guide:
https://www.usna.edu/Users/weapsys/kutzer/_files/documents/ScorBot%20Toolbox%20Quick%20Reference%20Guide.pdf

Additional information:
https://www.usna.edu/Users/weapsys/kutzer/_Code-Development/ScorBot_Toolbox.php
The basic hardware functionality of this toolbox is built on MTIS:
[1] J. Esposito, C. Wick, & K. Knowles, "Matlab Toolbox for the Intelitek Scorbot: An open source robotics education library," in Proc. American Society of Engineering Education Annual Conference, Vancouver, BC, 2011.
[2] C. Wick, J. Esposito, & K. Knowles, (2012, Aug 25) Matlab Toolbox for the Intelitek Scorbot (MTIS) [Online]. Available: https://www.usna.edu/Users/weapsys/esposito/scorbot-matlab.php

Cite As

Michael Kutzer (2021). kutzer/ScorBotToolbox (https://github.com/kutzer/ScorBotToolbox), GitHub. Retrieved .

Comments and Ratings (11)

ANDRES MARIN

SCRIPT_ScorDance does not work, the following appears on the screen:
Possible table contact expected, skipping move.

Error using -
Matrix dimensions must agree.

Error in ScorSetXYZPR (line 107)
dq = abs( q1 - q0 );

Error in ScorSetBSEPR (line 124)
confirm = ScorSetXYZPR(XYZPR,'MoveType',mType);

Error in SCRIPT_ScorDance (line 24)
confirm = ScorSetBSEPR(BSEPR,'MoveType','LinearJoint');

ANDRES MARIN

Thanks for answering before, it worked
now I have another question, trying through the speech2text toolbox to send the command "open / close" gripper the simulation works open / close gripper but the real robot does not

Do you have any ideas?

% --- Executes on button press in voz_btn.
function voz_btn_Callback(hObject, eventdata, handles)
% hObject handle to voz_btn (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
recObj = audiorecorder;
Fs = 44100 ;
nBits = 16 ;
nChannels = 1 ;
ID = -1; % default audio input device
recObj = audiorecorder(Fs,nBits,nChannels,ID);
disp('Start speaking.');
recordblocking(recObj, 5);
disp('stop speaking.');
y = getaudiodata(recObj);
filename = 'temp.wav';
audiowrite(filename,y,Fs);
[y,fs] = audioread('temp.wav');
%r = speechrecognition('temp.wav');
%disp(r);
speechObject = speechClient('IBM','languageCode','es-ES');
speechObject.Options;
tableOut = speech2text(speechObject,y,fs)
tableOut=table2array(tableOut);
command = tableOut(1,1);
execute_voice_command(command,hObject, eventdata, handles);

function execute_voice_command(voice_command,hObject, eventdata, handles)
if strcmp(voice_command,'open') == 1
if handles.is_sim_enabled == 1
if handles.pos_gripper >= 0.0
handles.pos_gripper = 00.0;
ScorSimSetGripper(handles.sim_obj,'Open');
guidata(hObject, handles);
display(handles.pos_gripper);
end
end
if handles.is_real_enabled == 1
if handles.pos_gripper >= 0.0
handles.pos_gripper = 0.0;
ScorSetGripper(handles.pos_gripper);
guidata(hObject, handles);
display(handles.pos_gripper);
end
end
elseif strcmp(voice_command,'close') == 1
if handles.is_sim_enabled == 1
if handles.pos_gripper <= 70.0
handles.pos_gripper = 70.0;
ScorSimSetGripper(handles.sim_obj,'Close');
guidata(hObject, handles);
display(handles.pos_gripper);
end
end
if handles.is_real_enabled == 1
if handles.pos_gripper <= 70.0
handles.pos_gripper = 70.0;
ScorSetGripper(handles.pos_gripper);
guidata(hObject, handles);
display(handles.pos_gripper);
end
end
else
list_files = dir('*.m');
for k1 = 1:length(list_files)
if strcmp(voice_command,list_files(k1).name) == 1
run(list_files(k1).name(handles.sim_obj));
break;
end
end
end

Michael Kutzer

Andres, you need to download and install ScorBase to get the Intelitek DLLs to interact with the robot. Please download and install ScorBase for the ER-4u using this link: https://downloads.intelitek.com/Software/Robotics/ER-4u/

Once you have it installed, you can run "ScorUpdate" and you should be off to the races.

ANDRES MARIN

I have downloaded scorbotToolbox (update 9 October) and installed it when run hardware_test.m appears "Warning: Server did not start successfully."
So I clicked ScorbotServer.exe and I get "Unhandled Exception: System.DllNotFoundException: Cannot load DLL 'RobotDll.dll': Cannot find the specified module. (Exception from HRESULT: 0x8007007E)
is ScorbotServer.HttpServer.RInitialize ()
is ScorbotServer.HttpServer.Main () "

what is the problem?
windows version: Windows 10 Enterprise 2016 LTSB
Matlab version 2019a

Michael Kutzer

Remember that you need to run MATLAB as an administrator to install and update the toolbox.

Mario Arbulu

Could you help me with Transformation Toolbox, I am installing but appears this message:

>> installScorBotToolbox
Downloading the Transformation Toolbox...SUCCESS
Failed to create Scorbot Toolbox folder:
"C:\Program Files\MATLAB\R2014a\toolbox\transformation"
Possible solution:
(1) Close current instance of MATLAB
(2) Open a new instance of MATLAB "as administrator"
(a) Locate MATLAB shortcut
(b) Right click
(c) Select "Run as administrator"
Error using installTransformationToolbox (line 84)
Acceso denegado.

Error in installScorBotToolbox>ToolboxUpdate (line
427)
installToolbox(true);

Error in installScorBotToolbox (line 30)
ToolboxUpdate('Transformation');

Tommy Berntzen

Michael Kutzer

Intelitek does not currently provide any SDKs for their robots. As a result, we were forced to build this toolbox around what we could glean from their compiled codebase. If/when Intelitek opens their code to developers, this toolbox can be extended to all of their available hardware.

MIDN_Sim

Wow this is a really well made toolbox! Someone really put some time into making this!

Yerkhan Kosmagambetov

We are trying to use this toolbox to control another robot Scorbot ER-9Pro. We have replaced configuration files of the robot with others from Scorbase. Using the toolbox we have successed with initialization, however it cannot home the robot. There is no proper definition for the error. Thanks for the toolbox. Looking forward to see your response.

MATLAB Release Compatibility
Created with R2011a
Compatible with any release
Platform Compatibility
Windows macOS Linux
Acknowledgements

Inspired by: Matlab Toolbox for the Intelitek Scorbot

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

ScorBotToolbox Example SCRIPTS

ScorBotToolboxFunctions

ScorBotToolboxFunctions/GeneralTools