基于MatLab的PUMA560机器人系统仿真

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