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.