Arduino / MATLAB - 4DOF with force sensing

Setup can be made to automatically sweep in X and Y direction or controlled manually using the GUI.

Last link is fitted with a force sensing resistor to detect obstacles. It is always perpendicular to the datum plane. On contact with obstacle (my hand in the video), it changes direction in the Z axis. The location of the obstacle is recorded and shown on the MATLAB GUI.

Resources: Seeeduino Mega1280, MATLAB, x4 Hitec servomotors and 1 force sensing resistor.

Prototype Setup

MATLAB GUI

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Arduino / MATLAB - Servo Calibration

Interface between MATLAB and Arduino microcontroller to calibrate servo.
The Seeeduino Mega 1280 is used in this case.

Problem:
Servo does not center accurately and extends beyond 180 degrees.
Solution:
Identify error margin and apply correction in MATLAB

Resources used:
http://www.mathworks.com/matlabcentral/fileexchange/27843
http://arduino.cc/en/Reference/map

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