function varargout = puma560_control(varargin)
% PUMA560_CONTROL M-file for puma560_control.fig
% PUMA560_CONTROL, by itself, creates a new PUMA560_CONTROL or raises the existing
% singleton*.
%
% H = PUMA560_CONTROL returns the handle to a new PUMA560_CONTROL or the handle to
% the existing singleton*.
%
% PUMA560_CONTROL('CALLBACK',hObject,eventData,handles,...) calls the local
% function named CALLBACK in PUMA560_CONTROL.M with the given input arguments.
%
% PUMA560_CONTROL('Property','Value',...) creates a new PUMA560_CONTROL or raises the
% existing singleton*. Starting from the left, property value pairs are
% applied to the GUI before puma560_control_OpeningFcn gets called. An
% unrecognized property name or invalid value makes property application
% stop. All inputs are passed to puma560_control_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_control
% Last Modified by GUIDE v2.5 04-May-2008 17:11:08
% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
gui_State = struct('gui_Name', mfilename, ...
'gui_Singleton', gui_Singleton, ...
'gui_OpeningFcn', @puma560_control_OpeningFcn, ...
'gui_OutputFcn', @puma560_control_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_control is made visible.
function puma560_control_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_control (see VARARGIN)
% Choose default command line output for puma560_control
handles.output = hObject;
% Update handles structure
guidata(hObject, handles);
% UIWAIT makes puma560_control wait for user response (see UIRESUME)
% uiwait(handles.puma560_control);
%初始化程序
puma_gui=findobj('Tag','puma560_gui');
if ~isempty(puma_gui),
%存在PUMA560演示窗口
else
%不存在PUMA560演示窗口
uiwait(msgbox('您还没有打开PUMA560演示窗口。程序将自动为您打开！','提示'));
puma560_gui();
end
% --- Outputs from this function are returned to the command line.
function varargout = puma560_control_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 pushbtn_yunZ.
function pushbtn_yunZ_Callback(hObject, eventdata, handles)
% hObject handle to pushbtn_yunZ (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
%运动学正问题
% Forward kinematics is the problem of solving the Cartesian position and
% orientation of a mechanism given knowledge of the kinematic structure and
% the joint coordinates.
close(findobj('tag','puma560_gui'));
prompt={'输入时间向量t：','输入起始点坐标:','输入终止点坐标：'};
name='参数：';
numlines=1;
defaultanswer={'0:0.056:2','[0 0 0 0 0 0]','[0 pi/2 -pi/2 0 0 0]'};
answer=inputdlg(prompt,name,numlines,defaultanswer);
if ~isempty(answer),
t=str2num(answer{1});
qz=str2num(answer{2});
qr=str2num(answer{3});
end
eval('puma560');
figure('Name','PUMA560机器人仿真演示窗口---运动学正问题');
q=jtraj(qz,qr,t);
T=fkine(p560,q);
subplot(3,1,1);
plot(t, squeeze(T(1,4,:)));
xlabel('Time (s)');
ylabel('X (m)');
subplot(3,1,2);
plot(t, squeeze(T(2,4,:)));
xlabel('Time (s)');
ylabel('Y (m)');
subplot(3,1,3);
plot(t, squeeze(T(3,4,:)));
xlabel('Time (s)');
ylabel('Z (m)');
puma_gui=puma560_gui();
puma_gui=guihandles(puma_gui);
axes(puma_gui.axes1);
plot(p560,q);
x=squeeze(T(1,4,:));
y=squeeze(T(2,4,:));
z=squeeze(T(3,4,:));
figure('Name','PUMA560机器人仿真演示窗口---运动学正问题');
plot3(x,y,z);
% --- Executes on button press in pushbtn_yunN.
function pushbtn_yunN_Callback(hObject, eventdata, handles)
% hObject handle to pushbtn_yunN (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
%运动学逆问题
% Inverse kinematics is the problem of finding the robot joint coordinates,
% given a homogeneous transform representing the last link of the manipulator.
% It is very useful when the path is planned in Cartesian space, for instance
% a straight line path as shown in the trajectory demonstration.
eval('puma560');
close(findobj('tag','puma560_gui'));
prompt={'输入时间向量：','输入起始点坐标:','输入终止点坐标：'};
name='参数：';
numlines=1;
defaultanswer={'0:0.056:2','transl(0.6,-0.5,0)','transl(0.4,0.5,0.2)'};
answer=inputdlg(prompt,name,numlines,defaultanswer);
if ~isempty(answer),
t=str2num(answer{1});
T1=str2num(answer{2});
T2=str2num(answer{3});
end
T=ctraj(T1,T2,length(t));
q=ikine(p560,T);
figure('Name','PUMA560机器人仿真演示窗口---运动学逆问题');
subplot(3,2,1)
plot(t,q(:,1))
xlabel('Time (s)');
ylabel('Joint 1 (rad)')
subplot(3,2,2)
plot(t,q(:,2))
xlabel('Time (s)');
ylabel('Joint 2 (rad)')
subplot(3,2,3)
plot(t,q(:,3))
xlabel('Time (s)');
ylabel('Joint 3 (rad)')
subplot(3,2,4)
plot(t,q(:,4))
xlabel('Time (s)');
ylabel('Joint 4 (rad)')
subplot(3,2,5)
plot(t,q(:,5))
xlabel('Time (s)');
ylabel('Joint 5 (rad)')
subplot(3,2,6)
plot(t,q(:,6))
xlabel('Time (s)');
ylabel('Joint 6 (rad)')
eval('puma560');
puma_gui=guihandles(puma560_gui());
axes(puma_gui.axes1);
plot(p560,q);
% --- Executes on button press in pushbtn_dongZ.
function pushbtn_dongZ_Callback(hObject, eventdata, handles)
% hObject handle to pushbtn_dongZ (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
%动力学正问题
% Forward dynamics is the computation of joint accelerations given position and
% velocity state, and actuator torques. It is useful in simulation of a robot
% control system.
prompt={'输入时间段：'};
name='参数';
numlines=1;
defaultanswer={'[0 2]'};
answer=inputdlg(prompt,name,numlines,defaultanswer);
if ~isempty(answer),
t0=str2num(answer{1});
end
eval('puma560');
[t,q,qd]=fdyn(nofriction(p560),t0(1),t0(2));
nq=find(all(q==0)==0);
figure('Name','PUMA560机器人仿真演示窗口---动力学正问题(位置)','NumberTitle','off');
for i=1:length(nq),
subplot(round(length(nq)/2),2,i);
plot(t,q(:,i));
xlabel('Time(s)');
ylabel(['Joint ' num2str(nq(i)) ' (rad)']);
end
nq=find(all(qd==0)==0);
figure('Name','PUMA560机器人仿真演示窗口---动力学正问题(速度)','NumberTitle','off');
for i=1:length(nq),
subplot(round(length(nq)/2),2,i);
plot(t,qd(:,i));
xlabel('Time(s)');
ylabel(['Joint ' num2str(nq(i)) ' (rad/s)']);
end
puma_gui=guihandles(puma560_gui());
axes(puma_gui.axes1);
plot(p560,q);
% --- Executes on button press in pushbtn_dongN.
function pushbtn_dongN_Callback(hObject, eventdata, handles)
% hObject handle to pushbtn_dongN (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
%动力学逆问题
% Inverse dynamics computes the joint torques required to achieve the specified
% state of joint position, velocity and acceleration.
% The recursive N
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