Trossen Robotics Pincher can't connect to Matlab

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Stephen Wilkerson
Stephen Wilkerson 2017-12-27
评论： Walter Roberson 2019-3-4
I have the libraries from Peter Corke installed, but when I start it tells meopen failed. Has anyone seen this: >> arb=Arbotix("port", "/dev/cu.usbserial-AL03ERRI", "nservos", 5); open failed ans = 'Open failed: Port: is not available. Available ports: /dev/tty.Bluetooth-Incoming-Port, /dev/cu.Bluetooth-Incoming-Port, /dev/tty.usbserial-AL03ERRI, /dev/cu.usbserial-AL03ERRI. Use INSTRFIND to determine if other instrument objects are connected to the requested device.'

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回答（2 个）

Walter Roberson
Walter Roberson 2017-12-27
Check the permissions on the device. Os-x and Linux default to having the dev tty devices available only to root.
You might need to sudo chmod or sudo chown the device. But changes made this way usually do not survive reboot;the way to make them persistent depend on your os
Jason
Jason 2019-3-4
You probably have a fix for this but I had the same error. I just replaced "/dev/cu.usbserial-AL03ERRI" (which I have no idea what it was trying to do) with the actual COM port I was using. Like "COM7".
I'm actually having some issues using Corke's "Using the Robotics Toolbox with a real robot" document. The inverse kinematics dies when I try it saying the DOF is not sufficient. I'm using the exact same matlab code as he did. I'm guessing something must have changed.
Good Luck
Jason
  1 个评论
Walter Roberson
Walter Roberson 2019-3-4
/dev/cu.usbserial-AL03ERRI is Linux convention for an automatically created device name for a virtual serial port that is interfacing to a USB emulated serial port for a device with identifier AL03ERRI . On Windows, emulated serial ports appear as COM* devices.

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