PUMA560机器人自动补货系统仿真

function varargout = PUMA560(varargin) % PUMA560 MATLAB code for PUMA560.fig % PUMA560, by itself, creates a new PUMA560 or raises the existing % singleton*. % % H = PUMA560 returns the handle to a new PUMA560 or the handle to % the existing singleton*. % % PUMA560('CALLBACK',hObject,eventData,handles,...) calls the local % function named CALLBACK in PUMA560.M with the given input arguments. % % PUMA560('Property','Value',...) creates a new PUMA560 or raises the % existing singleton*. Starting from the left, property value pairs are % applied to the GUI before PUMA560_OpeningFcn gets called. An % unrecognized property name or invalid value makes property application % stop. All inputs are passed to PUMA560_OpeningFcn via varargin. % % *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one % instance to run (singleton)". % % See also: GUIDE, GUIDATA, GUIHANDLES % Edit the above text to modify the response to help PUMA560 % Last Modified by GUIDE v2.5 31-Dec-2020 10:03:03 % Begin initialization code - DO NOT EDIT gui_Singleton = 1; gui_State = struct('gui_Name', mfilename, ... 'gui_Singleton', gui_Singleton, ... 'gui_OpeningFcn', @PUMA560_OpeningFcn, ... 'gui_OutputFcn', @PUMA560_OutputFcn, ... 'gui_LayoutFcn', [] , ... 'gui_Callback', []); if nargin && ischar(varargin{1}) gui_State.gui_Callback = str2func(varargin{1}); end if nargout [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:}); else gui_mainfcn(gui_State, varargin{:}); end % End initialization code - DO NOT EDIT % --- Executes just before PUMA560 is made visible. function PUMA560_OpeningFcn(hObject, eventdata, handles, varargin) % This function has no output args, see OutputFcn. % hObject handle to figure % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % varargin command line arguments to PUMA560 (see VARARGIN) % Choose default command line output for PUMA560 handles.output = hObject; % Update handles structure guidata(hObject, handles); % UIWAIT makes PUMA560 wait for user response (see UIRESUME) % uiwait(handles.figure1); global pos_x global pos_y global pos_z pos_x=0; pos_y=0; pos_z=0; global px global py global pz px=0; py=0; pz=0; % --- Outputs from this function are returned to the command line. function px_Callback(hObject, eventdata, handles) % hObject handle to px (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Hints: get(hObject,'String') returns contents of px as text % str2double(get(hObject,'String')) returns contents of px as a double % --- Executes during object creation, after setting all properties. function px_CreateFcn(hObject, eventdata, handles) % hObject handle to px (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % Hint: edit controls usually have a white background on Windows. % See ISPC and COMPUTER. if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white'); end % function py_Callback(hObject, eventdata, handles) % hObject handle to py (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Hints: get(hObject,'String') returns contents of py as text % str2double(get(hObject,'String')) returns contents of py as a double % --- Executes during object creation, after setting all properties. function py_CreateFcn(hObject, eventdata, handles) % hObject handle to py (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % Hint: edit controls usually have a white background on Windows. % See ISPC and COMPUTER. if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white'); end function pz_Callback(hObject, eventdata, handles) % hObject handle to pz (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Hints: get(hObject,'String') returns contents of pz as text % str2double(get(hObject,'String')) returns contents of pz as a double % --- Executes during object creation, after setting all properties. function pz_CreateFcn(hObject, eventdata, handles) % hObject handle to pz (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % Hint: edit controls usually have a white background on Windows. % See ISPC and COMPUTER. if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white'); end % --- Executes during object creation, after setting all properties. function posx_CreateFcn(hObject, eventdata, handles) % hObject handle to posx (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % --- Executes during object creation, after setting all properties. function posy_CreateFcn(hObject, eventdata, handles) % hObject handle to posy (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % --- Executes during object creation, after setting all properties. function posz_CreateFcn(hObject, eventdata, handles) % hObject handle to posz (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called function varargout = PUMA560_OutputFcn(hObject, eventdata, handles) % varargout cell array for returning output args (see VARARGOUT); % hObject handle to figure % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Get default command line output from handles structure varargout{1} = handles.output; % --- Executes on button press in load_puma560. function load_puma560_Callback(hObject, eventdata, handles) % hObject handle to load_puma560 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) global pos_x global pos_y global pos_z mdl_puma560 if (str2double(handles.posx.String)==0)&&(str2double(handles.posy.String)==0)&&(str2double(handles.posz.String)==0) pos_x=1; pos_y=1; pos_z=1; p1 = [pos_x pos_y pos_z] ; %待抓取球体位置 elseif (str2double(handles.posx.String)~=0)||(str2double(handles.posy.String)~=0)||(str2double(handles.posz.String)~=0) pos_x=str2double(handles.posx.String); pos_y=str2double(handles.posy.String); pos_z=str2double(handles.posz.String); p1 = [pos_x pos_y pos_z] ; %待抓取球体位置 end global px global py global pz if (str2double(handles.px.String)==0)&&(str2double(handles.py.String)==0)&&(str2double(handles.pz.String)==0) px=0.1272; py=0.7858; pz=0.03258; p2=[px py pz]; elseif (str2double(handles.px.String)~=0)||(str2double(handles.py.String)~=0)||(str2double(handles.pz.String)~=0) px=str2double(handles.px.String); py=str2double(handles.py.String); pz=str2double(handles.pz.String); p2=[px py pz]; end T = transl(p1) * troty(pi/2);%待抓取球体的位置和姿态 Tt= transl(p2) * troty(pi/2);%放置位置的位置和姿态 q1= p560.ikine6s(Tt, 'ru');%机械臂起始位置 qqr = p560.ikine6s(T, 'ru');