E177 Advanced Matlab, object oriented programming
Berkeley Laboratory for Automation Science and Engineering
Professor Ken Goldberg
Spring 2013
Berkeley Laboratory for Automation Science and Engineering
Professor Ken Goldberg
Spring 2013
Team members:
Rundong Tian– DH Parameters, Link/Robot Classes and associated subclasses, GUI design
Eric Soenksen– GUI design and implementation, GUI callback functions
Keeley Maher – loading trajectory files, trajectory to text, creating trajectory files, GUI design
Fred Hertlein – getframe, simulation window, GUI design and implementation, playback, and viewing angles
The coursework of this class introduced object oriented programming, GUIs, and interfaces (JAVA, .NET, C) in the context of Matlab.
For the final project, we chose to build a visualizer for the RAVEN surgical robot platform, which is a part of a research project me and Keeley are involved in. The objective of this visualizer was to aid in debugging the various accuracy issues we were experiencing sans joint encoders, as well as an exercise in object oriented programming and robot kinematics.
Although our visualizer was made for the RAVEN surgical robot, it can easily be extended for general kinematic chains.