Control a MOTOMAN HP3L Robot using a joystick.

Control a MOTOMAN HP3L Robot using a joystick with a Matlab interface.

This application started its development a few years ago as part of the proposed work in the Curricular Unit of Robotic Systems of the Master in Electrical Engineering.
1) The first step was to create a Matlab GUI (Graphical User Interface) that had a virtual robot similar to MOTOMAN HP3L and slider buttons to change the internal coordinates of the robot links motors.
2) The second step was to update the Matlab interface in order to allow the communication between the PC and the robot were the robot coordinates come from a joystick commands.
3) The third, and most recently, step was to update the Matlab interface in order to allow bidirectional communication between the PC and the robot were the PC sends the coordinates to the robot and receives from the robot the state of 3 external buttons that are used to choose from one of 8 possible operating modes.