Updated 20 Apr 2017
Matlab Library for the Robotis Dynamixel Pro servos
By: Federico Parietti. Special thanks to Benjamin Jenkins.
The Dynamixel Pro are high-torque servos manufactured by Robotis. Currently, for these servos there is no official Robotis library for Matlab. I developed this library in order to control my robots (http://federicoparietti.com/ ), and I wanted to publish it so that anyone using Matlab to control their Dynamixel Pro can do it quickly and without reverse-engineering the Robotis C libraries (http://support.robotis.com/en/techsupport_eng.htm#product/dynamixel_pro.htm ).
Note: the smaller Dynamixel servos are controlled with the DXL SDK, for which there are extensive online resources (including Matlab code). However, the Dynamixel Pro servos use the DXL SDK 2.0, which is substantially different from the DXL SDK. Any code developed for the old SDK will not work for the Dynamixel Pro. This library has been developed to control the Dynamixel Pro using the DXL SDK 2.0.
Federico Parietti (2021). Dynamixel Pro Library for Matlab (https://github.com/FredPar/Dynamixel-Pro-Library-for-Matlab), GitHub. Retrieved .
I've used your library for testing purposes on a thesis research project I'm working on. In short, part of my research involves a 2DOF, two-link, planar robotic arm. I'm using dynamixel pro actuators; M42 series. My question I was hoping you could help with...I am trying to send a very specific torque profile to both actuators so that the two-link arm will move in a specific trajectory for 90 degrees. The thesis is an optimal control problem. The torque profile lasts 2.1 seconds and is broken down into about 50 time steps. Can you give advice on how to control the actuators in this specific way?
Thank you for your help and time.
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