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| % This is PUMA3d.M, a 3D Matlab Kinematic model of a Puma robot located
% in the robotics lab of Walla Walla University.
% The file uses CAD data converted to Matlab using cad2matdemo.m, which
% is located on the Mathworks central file exchange.
%
% This file is still being developed, for the latest version check the
% Mathworks central file exchange.
%
% Todo list:
% 1) optimize pumaANI, lots of stuff in loop that needs help.
% 2) move x, y, and z position to end effecter, not link 6 origin.
% 3) Toggle kinematics buttons on/off with inverse kinematics button.
% 4) Make this work with real time inverse kinematics.
% 5) Make the track on and off option better.
% 6) add other things that makes this program fun.
% 7) check for noplots and nogos
% 8) add some better "demos" for the button
% 9) Fix problem of more than one robot window.
%
function puma3d
% GUI kinematic demo for the Puma Robot.
% Robot geometry uses the CAD2MATDEMO code in the Mathworks file exchange
%
%%
loaddata
InitHome
%
% Create the push buttons: pos is: [left bottom width height]
demo = uicontrol(fig_1,'String','Demo','callback',@demo_button_press,...
'Position',[20 5 60 20]);
rnd_demo = uicontrol(fig_1,'String','Random Move','callback',@rnd_demo_button_press,...
'Position',[100 5 80 20]);
clr_trail = uicontrol(fig_1,'String','Clr Trail','callback',@clr_trail_button_press,...
'Position',[200 5 60 20]);
%
home = uicontrol(fig_1,'String','Home','callback',@home_button_press,...
'Position',[280 5 70 20]);
%
% Kinematics Panel
%
K_p = uipanel(fig_1,...
'units','pixels',...
'Position',[20 45 265 200],...
'Title','Kinematics','FontSize',11);
%
% Angle Range Default Name
% Theta 1: 320 (-160 to 160) 90 Waist Joint
% Theta 2: 220 (-110 to 110) -90 Shoulder Joint
% Theta 3: 270 (-135 to 135) -90 Elbow Joint
% Theta 4: 532 (-266 to 266) 0 Wrist Roll
% Theta 5: 200 (-100 to 100) 0 Wrist Bend
% Theta 6: 532 (-266 to 266) 0 Wrist Swivel
t1_home = 90; % offset to define the "home" position as UP.
t2_home = -90;
t3_home = -90;
LD = 105; % Left, used to set the GUI.
HT = 18; % Height
BT = 156; % Bottom
%% GUI buttons for Theta 1. pos is: [left bottom width height]
t1_slider = uicontrol(K_p,'style','slider',...
'Max',160,'Min',-160,'Value',0,...
'SliderStep',[0.05 0.2],...
'callback',@t1_slider_button_press,...
'Position',[LD BT 120 HT]);
t1_min = uicontrol(K_p,'style','text',...
'String','-160',...
'Position',[LD-30 BT+1 25 HT-4]); % L, from bottom, W, H
t1_max = uicontrol(K_p,'style','text',...
'String','+160',...
'Position',[LD+125 BT+1 25 HT-4]); % L, B, W, H
t1_text = uibutton(K_p,'style','text',... % Nice program Doug. Need this
'String','\theta_1',... % due to no TeX in uicontrols.
'Position',[LD-100 BT 20 HT]); % L, B, W, H
% t1_text = uicontrol(K_p,'style','text',... % when matlab fixes uicontrol
% 'String','t1',... % for TeX, then I can use this.
% 'Position',[LD-100 BT 20 HT]); % L, B, W, H
t1_edit = uicontrol(K_p,'style','edit',...
'String',0,...
'callback',@t1_edit_button_press,...
'Position',[LD-75 BT 30 HT]); % L, B, W, H
%
%% GUI buttons for Theta 2.
BT = 126; % Bottom
t2_slider = uicontrol(K_p,'style','slider',...
'Max',115,'Min',-115,'Value',0,... % Mech. stop limits !
'SliderStep',[0.05 0.2],...
'callback',@t2_slider_button_press,...
'Position',[LD BT 120 HT]);
t2_min = uicontrol(K_p,'style','text',...
'String','-110',...
'Position',[LD-30 BT+1 25 HT-4]); % L, from bottom, W, H
t2_max = uicontrol(K_p,'style','text',...
'String','+110',...
'Position',[LD+125 BT+1 25 HT-4]); % L, B, W, H
t2_text = uibutton(K_p,'style','text',...
'String','\theta_2',...
'Position',[LD-100 BT 20 HT]); % L, B, W, H
t2_edit = uicontrol(K_p,'style','edit',...
'String',0,...
'callback',@t2_edit_button_press,...
'Position',[LD-75 BT 30 HT]); % L, B, W, H
%
%% GUI buttons for Theta 3.
BT = 96; % Bottom
t3_slider = uicontrol(K_p,'style','slider',...
'Max',135,'Min',-135,'Value',0,...
'SliderStep',[0.05 0.2],...
'callback',@t3_slider_button_press,...
'Position',[LD BT 120 HT]);
t3_min = uicontrol(K_p,'style','text',...
'String','-135',...
'Position',[LD-30 BT+1 25 HT-4]); % L, from bottom, W, H
t3_max = uicontrol(K_p,'style','text',...
'String','+135',...
'Position',[LD+125 BT+1 25 HT-4]); % L, B, W, H
t3_text = uibutton(K_p,'style','text',...
'String','\theta_3',...
'Position',[LD-100 BT 20 HT]); % L, B, W, H
t3_edit = uicontrol(K_p,'style','edit',...
'String',0,...
'callback',@t3_edit_button_press,...
'Position',[LD-75 BT 30 HT]); % L, B, W, H
%
%% GUI buttons for Theta 4.
BT = 66; % Bottom
t4_slider = uicontrol(K_p,'style','slider',...
'Max',266,'Min',-266,'Value',0,...
'SliderStep',[0.05 0.2],...
'callback',@t4_slider_button_press,...
'Position',[LD BT 120 HT]);
t4_min = uicontrol(K_p,'style','text',...
'String','-266',...
'Position',[LD-30 BT+1 25 HT-4]); % L, from bottom, W, H
t4_max = uicontrol(K_p,'style','text',...
'String','+266',...
'Position',[LD+125 BT+1 25 HT-4]); % L, B, W, H
t4_text = uibutton(K_p,'style','text',...
'String','\theta_4',...
'Position',[LD-100 BT 20 HT]); % L, B, W, H
t4_edit = uicontrol(K_p,'style','edit',...
'String',0,...
'callback',@t4_edit_button_press,...
'Position',[LD-75 BT 30 HT]); % L, B, W, H
%
%% GUI buttons for Theta 5.
BT = 36; % Bottom
t5_slider = uicontrol(K_p,'style','slider',...
'Max',100,'Min',-100,'Value',0,...
'SliderStep',[0.05 0.2],...
'callback',@t5_slider_button_press,...
'Position',[LD BT 120 HT]);
t5_min = uicontrol(K_p,'style','text',...
'String','-100',...
'Position',[LD-30 BT+1 25 HT-4]); % L, from bottom, W, H
t5_max = uicontrol(K_p,'style','text',...
'String','+100',...
'Position',[LD+125 BT+1 25 HT-4]); % L, B, W, H
t5_text = uibutton(K_p,'style','text',...
'String','\theta_5',...
'Position',[LD-100 BT 20 HT]); % L, B, W, H
t5_edit = uicontrol(K_p,'style','edit',...
'String',0,...
'callback',@t5_edit_button_press,...
'Position',[LD-75 BT 30 HT]); % L, B, W, H
%
%% GUI buttons for Theta 6.
BT = 6; % Bottom
t6_slider = uicontrol(K_p,'style','slider',...
'Max',266,'Min',-266,'Value',0,...
'SliderStep',[0.05 0.2],...
'callback',@t6_slider_button_press,...
'Position',[LD BT 120 HT]);
t6_min = uicontrol(K_p,'style','text',...
'String','-266',...
'Position',[LD-30 BT+1 25 HT-4]); % L, from bottom, W, H
t6_max = uicontrol(K_p,'style','text',...
'String','+266',...
'Position',[LD+125 BT+1 25 HT-4]); % L, B, W, H
t6_text = uibutton(K_p,'style','text',...
'String','\theta_6',...
'Position',[LD-100 BT 20 HT]); % L, B, W, H
t6_edit = uicontrol(K_p,'style','edit',...
'String',0,...
'callback',@t6_edit_button_press,...
'Position',[LD-75 BT 30 HT]); % L, B, W, H
%
%% Slider for Theta 1 motion.
%
function t1_slider_button_press(h,dummy)
slider_value = round(get(h,'Value'));
set(t1_edit,'string',slider_value);
T_Old = getappdata(0,'ThetaOld');
t2old = T_Old(2); t3old = T_Old(3); t4old = T_Old(4);
t5old = T_Old(5); t6old = T_Old(6);
pumaANI(slider_value+t1_home,t2old,t3old,t4old,t5old,t6old,10,'n')
end
%
%% Slider for Theta 2 motion.
%
function t2_slider_button_press(h,dummy)
slider_value = round(get(h,'Value'));
set(t2_edit,'string',slider_value);
T_Old = getappdata(0,'ThetaOld');
t1old = T_Old(1); t3old = T_Old(3); t4old = T_Old(4);
t5old = T_Old(5); t6old = T_Old(6);
pumaANI(t1old,slider_value+t2_home,t3old,t4old,t5old,t6old,10,'n')
end
%
%% Slider for Theta 3 motion.
function t3_slider_button_press(h,dummy)
slider_value = round(get(h,'Value'));
set(t3_edit,'string',slider_value);
T_Old = getappdata(0,'ThetaOld');
t1old = T_Old(1); t2old = T_Old(2); t4old = T_Old(4);
t5old = T_Old(5); t6old = T_Old(6);
pumaANI(t1old,t2old,slider_value+t3_home,t4old,t5old,t6old,10,'n')
end
%
%% Slider for Theta 4 motion.
function t4_slider_button_press(h,dummy)
slider_value = round(get(h,'Value'));
set(t4_edit,'string',slider_value);
T_Old = getappdata(0,'ThetaOld');
t1old = T_Old(1); t2old = T_Old(2); t3old = T_Old(3);
t5old = T_Old(5); t6old = T_Old(6);
pumaANI(t1old,t2old,t3old,slider_value,t5old,t6old,10,'n')
end
%
%% Slider for Theta 5 motion.
function t5_slider_button_press(h,dummy)
slider_value = round(get(h,'Value'));
set(t5_edit,'string',slider_value);
T_Old = getappdata(0,'ThetaOld');
t1old = T_Old(1); t2old = T_Old(2); t3old = T_Old(3);
t4old = T_Old(4); t6old = T_Old(6);
pumaANI(t1old,t2old,t3old,t4old,slider_value,t6old,10,'n')
end
%
%% Slider for Theta 6 motion.
function t6_slider_button_press(h,dummy)
slider_value = round(get(h,'Value'));
set(t6_edit,'string',slider_value);
T_Old = getappdata(0,'ThetaOld');
t1old = T_Old(1); t2old = T_Old(2); t3old = T_Old(3);
t4old = T_Old(4); t5old = T_Old(5);
pumaANI(t1old,t2old,t3old,t4old,t5old,slider_value,10,'n')
end
%
%% Edit box for Theta 1 motion.
%
function t1_edit_button_press(h,dummy)
user_entry = check_edit(h,-160,160,0,t1_edit);
set(t1_slider,'Value',user_entry); % slider = text box.
T_Old = getappdata(0,'ThetaOld'); % Current pose
%
t2old = T_Old(2); t3old = T_Old(3); t4old = T_Old(4);
t5old = T_Old(5); t6old = T_Old(6);
%
pumaANI(user_entry+t1_home,t2old,t3old,t4old,t5old,t6old,10,'n')
end
%
%% Edit box for Theta 2 motion.
%
function t2_edit_button_press(h,dummy)
user_entry = check_edit(h,-110,110,0,t2_edit);
set(t2_slider,'Value',user_entry); % slider = text box.
T_Old = getappdata(0,'ThetaOld'); % Current pose
%
t1old = T_Old(1); t3old = T_Old(3); t4old = T_Old(4);
t5old = T_Old(5); t6old = T_Old(6);
%
pumaANI(t1old,user_entry+t2_home,t3old,t4old,t5old,t6old,10,'n')
end
%% Edit box for Theta 3 motion.
%
function t3_edit_button_press(h,dummy)
user_entry = check_edit(h,-135,135,0,t3_edit);
set(t3_slider,'Value',user_entry); % slider = text box.
T_Old = getappdata(0,'ThetaOld'); % Current pose
%
t1old = T_Old(1); t2old = T_Old(2); t4old = T_Old(4);
t5old = T_Old(5); t6old = T_Old(6);
%
pumaANI(t1old,t2old,user_entry+t3_home,t4old,t5old,t6old,10,'n')
end
%%
%% Edit box for Theta 4 motion.
%
function t4_edit_button_press(h,dummy)
user_entry = check_edit(h,-266,266,0,t4_edit);
set(t4_slider,'Value',user_entry); % slider = text box.
T_Old = getappdata(0,'ThetaOld'); % Current pose
%
t1old = T_Old(1); t2old = T_Old(2); t3old = T_Old(3);
t5old = T_Old(5); t6old = T_Old(6);
%
pumaANI(t1old,t2old,t3old,user_entry,t5old,t6old,10,'n')
end
%% Edit box for Theta 5 motion.
%
function t5_edit_button_press(h,dummy)
user_entry = check_edit(h,-100,100,0,t5_edit);
set(t5_slider,'Value',user_entry); % slider = text box.
T_Old = getappdata(0,'ThetaOld'); % Current pose
%
t1old = T_Old(1); t2old = T_Old(2); t3old = T_Old(3);
t4old = T_Old(4); t6old = T_Old(6);
%
pumaANI(t1old,t2old,t3old,t4old,user_entry,t6old,10,'n')
end
%%
%% Edit box for Theta 6 motion.
%
function t6_edit_button_press(h,dummy)
user_entry = check_edit(h,-266,266,0,t6_edit);
set(t6_slider,'Value',user_entry); % slider = text box.
T_Old = getappdata(0,'ThetaOld'); % Current pose
%
t1old = T_Old(1); t2old = T_Old(2); t3old = T_Old(3);
t4old = T_Old(4); t5old = T_Old(5);
%
pumaANI(t1old,t2old,t3old,t4old,t5old,user_entry,10,'n')
end
%%
function user_entry = check_edit(h,min_v,max_v,default,h_edit)
% This function will check the value typed in the text input box
% against min and max values, and correct errors.
%
% h: handle of gui
% min_v min value to check
% max_v max value to check
% default is the default value if user enters non number
% h_edit is the edit value to update.
%
user_entry = str2double(get(h,'string'));
if isnan(user_entry)
errordlg(['You must enter a numeric value, defaulting to ',num2str(default),'.'],'Bad Input','modal')
set(h_edit,'string',default);
user_entry = default;
end
%
if user_entry < min_v
errordlg(['Minimum limit is ',num2str(min_v),' degrees, using ',num2str(min_v),'.'],'Bad Input','modal')
user_entry = min_v;
set(h_edit,'string',user_entry);
end
if user_entry > max_v
errordlg(['Maximum limit is ',num2str(max_v),' degrees, using ',num2str(max_v),'.'],'Bad Input','modal')
user_entry = max_v;
set(h_edit,'string',user_entry);
end
end
%
%% Demo button's callback
function demo_button_press(h,dummy)
%
% disp('pushed demo bottom');
% R = 500;
% x = 1000;
n = 2; % demo ani steps
num = 30; % home to start, and end to home ani steps
% j = 1;
% M = 1000;
for t = 0:.1:7*pi
Px = 30*t*cos(t);
Py = 1200-300*t*(t)/(50*pi);
Pz = 30*t*sin(t);
[theta1,theta2,theta3,theta4,theta5,theta6] = PumaIK(Px,Py,Pz);
if t==0 %move to start of demo
pumaANI(theta1,theta2,theta3-180,0,0,0,num,'n')
end
% Theta 4, 5 & 6 are zero due to plotting at wrist origen.
pumaANI(theta1,theta2,theta3-180,0,0,0,n,'y')
set(t1_edit,'string',round(theta1)); % Update slider and text.
set(t1_slider,'Value',round(theta1));
set(t2_edit,'string',round(theta2));
set(t2_slider,'Value',round(theta2));
set(t3_edit,'string',round(theta3-180));
set(t3_slider,'Value',round(theta3-180));
end
gohome
% pumaANI(90,-90,-90,0,0,0,num,'n')
end
%
%
%%
function home_button_press(h,dummy)
%disp('pushed home bottom');
gohome
end
%
%%
function clr_trail_button_press(h,dummy)
%disp('pushed clear trail bottom');
handles = getappdata(0,'patch_h'); %
Tr = handles(9);
%
setappdata(0,'xtrail',0); % used for trail tracking.
setappdata(0,'ytrail',0); % used for trail tracking.
setappdata(0,'ztrail',0); % used for trail tracking.
%
set(Tr,'xdata',0,'ydata',0,'zdata',0);
end
%
%
function rnd_demo_button_press(h, dummy)
%disp('pushed random demo bottom');
% a = 10; b = 50; x = a + (b-a) * rand(5)
% Angle Range Default Name
% Theta 1: 320 (-160 to 160) 90 Waist Joint
% Theta 2: 220 (-110 to 110) -90 Shoulder Joint
% Theta 3: 270 (-135 to 135) -90 Elbow Joint
% Theta 4: 532 (-266 to 266) 0 Wrist Roll
% Theta 5: 200 (-100 to 100) 0 Wrist Bend
% Theta 6: 532 (-266 to 266) 0 Wrist Swival
t1_home = 90; % offsets to define the "home" postition as UP.
t2_home = -90;
t3_home = -90;
theta1 = -160 + 320*rand(1); % offset for home
theta2 = -110 + 220*rand(1); % in the UP pos.
theta3 = -135 + 270*rand(1);
theta4 = -266 + 532*rand(1);
theta5 = -100 + 200*rand(1);
theta6 = -266 + 532*rand(1);
n = 50;
pumaANI(theta1+t1_home,theta2+t2_home,theta3+t3_home,theta4,theta5,theta6,n,'y')
set(t1_edit,'string',round(theta1)); % Update slider and text.
set(t1_slider,'Value',round(theta1));
set(t2_edit,'string',round(theta2));
set(t2_slider,'Value',round(theta2));
set(t3_edit,'string',round(theta3));
set(t3_slider,'Value',round(theta3));
set(t4_edit,'string',round(theta4));
set(t4_slider,'Value',round(theta4));
set(t5_edit,'string',round(theta5));
set(t5_slider,'Value',round(theta5));
set(t6_edit,'string',round(theta6));
set(t6_slider,'Value',round(theta6));
end
%%
%Here are the functions used for this robot example:
%
%%
% When called this function will simply initialize a plot of the Puma 762
% robot by plotting it in it's home orientation and setting the current
% angles accordingly.
function gohome()
pumaANI(90,-90,-90,0,0,0,20,'n') % show it animate home
%PumaPOS(90,-90,-90,0,0,0) %drive it home, no animate.
set(t1_edit,'string',0);
set(t1_slider,'Value',0); %At the home position, so all
set(t2_edit,'string',0); %sliders and input boxes = 0.
set(t2_slider,'Value',0);
set(t3_edit,'string',0);
set(t3_slider,'Value',0);
set(t4_edit,'string',0);
set(t4_slider,'Value',0);
set(t5_edit,'string',0);
set(t5_slider,'Value',0);
set(t6_edit,'string',0);
set(t6_slider,'Value',0);
setappdata(0,'ThetaOld',[90,-90,-90,0,0,0]);
end
%%
% This function will load the 3D CAD data.
%
function loaddata
% Loads all the link data from file linksdata.mat.
% This data comes from a Pro/E 3D CAD model and was made with cad2matdemo.m
% from the file exchange. All link data manually stored in linksdata.mat
[linkdata]=load('linksdata.mat','s1','s2', 's3','s4','s5','s6','s7','A1');
%Place the robot link 'data' in a storage area
setappdata(0,'Link1_data',linkdata.s1);
setappdata(0,'Link2_data',linkdata.s2);
setappdata(0,'Link3_data',linkdata.s3);
setappdata(0,'Link4_data',linkdata.s4);
setappdata(0,'Link5_data',linkdata.s5);
setappdata(0,'Link6_data',linkdata.s6);
setappdata(0,'Link7_data',linkdata.s7);
setappdata(0,'Area_data',linkdata.A1);
end
%
%%
% Use forward kinematics to place the robot in a specified configuration.
%
function PumaPOS(theta1,theta2,theta3,theta4,theta5,theta6)
s1 = getappdata(0,'Link1_data');
s2 = getappdata(0,'Link2_data');
s3 = getappdata(0,'Link3_data');
s4 = getappdata(0,'Link4_data');
s5 = getappdata(0,'Link5_data');
s6 = getappdata(0,'Link6_data');
s7 = getappdata(0,'Link7_data');
A1 = getappdata(0,'Area_data');
%
a2 = 650;
a3 = 0;
d3 = 190;
d4 = 600;
Px = 5000;
Py = 5000;
Pz = 5000;
t1 = theta1;
t2 = theta2;
t3 = theta3 %-180;
t4 = theta4;
t5 = theta5;
t6 = theta6;
%
% Forward Kinematics
T_01 = tmat(0, 0, 0, t1);
T_12 = tmat(-90, 0, 0, t2);
T_23 = tmat(0, a2, d3, t3);
T_34 = tmat(-90, a3, d4, t4);
T_45 = tmat(90, 0, 0, t5);
T_56 = tmat(-90, 0, 0, t6);
%T_01 = T_01;
T_02 = T_01*T_12;
T_03 = T_02*T_23;
T_04 = T_03*T_34;
T_05 = T_04*T_45;
T_06 = T_05*T_56;
%
Link1 = s1.V1;
Link2 = (T_01*s2.V2')';
Link3 = (T_02*s3.V3')';
Link4 = (T_03*s4.V4')';
Link5 = (T_04*s5.V5')';
Link6 = (T_05*s6.V6')';
Link7 = (T_06*s7.V7')';
handles = getappdata(0,'patch_h'); %
L1 = handles(1);
L2 = handles(2);
L3 = handles(3);
L4 = handles(4);
L5 = handles(5);
L6 = handles(6);
L7 = handles(7);
%
set(L1,'vertices',Link1(:,1:3),'facec', [0.717,0.116,0.123]);
set(L1, 'EdgeColor','none');
set(L2,'vertices',Link2(:,1:3),'facec', [0.216,1,.583]);
set(L2, 'EdgeColor','none');
set(L3,'vertices',Link3(:,1:3),'facec', [0.306,0.733,1]);
set(L3, 'EdgeColor','none');
set(L4,'vertices',Link4(:,1:3),'facec', [1,0.542,0.493]);
set(L4, 'EdgeColor','none');
set(L5,'vertices',Link5(:,1:3),'facec', [0.216,1,.583]);
set(L5, 'EdgeColor','none');
set(L6,'vertices',Link6(:,1:3),'facec', [1,1,0.255]);
set(L6, 'EdgeColor','none');
set(L7,'vertices',Link7(:,1:3),'facec', [0.306,0.733,1]);
set(L7, 'EdgeColor','none');
end
%%
% This function computes the Inverse Kinematics for the Puma 762 robot
% given X,Y,Z coordinates for a point in the workspace. Note: The IK are
% computed for the origin of Coordinate systems 4,5 & 6.
function [theta1,theta2,theta3,theta4,theta5,theta6] = PumaIK(Px,Py,Pz)
theta4 = 0;
theta5 = 0;
theta6 = 0;
sign1 = 1;
sign3 = 1;
nogo = 0;
noplot = 0;
% Because the sqrt term in theta1 & theta3 can be + or - we run through
% all possible combinations (i = 4) and take the first combination that
% satisfies the joint angle constraints.
while nogo == 0;
for i = 1:1:4
if i == 1
sign1 = 1;
sign3 = 1;
elseif i == 2
sign1 = 1;
sign3 = -1;
elseif i == 3
sign1 = -1;
sign3 = 1;
else
sign1 = -1;
sign3 = -1;
end
a2 = 650;
a3 = 0;
d3 = 190;
d4 = 600;
rho = sqrt(Px^2+Py^2);
phi = atan2(Py,Px);
K = (Px^2+Py^2+Pz^2-a2^2-a3^2-d3^2-d4^2)/(2*a2);
c4 = cos(theta4);
s4 = sin(theta4);
c5 = cos(theta5);
s5 = sin(theta5);
c6 = cos(theta6);
s6 = sin(theta6);
theta1 = (atan2(Py,Px)-atan2(d3,sign1*sqrt(Px^2+Py^2-d3^2)));
c1 = cos(theta1);
s1 = sin(theta1);
theta3 = (atan2(a3,d4)-atan2(K,sign3*sqrt(a3^2+d4^2-K^2)));
c3 = cos(theta3);
s3 = sin(theta3);
t23 = atan2((-a3-a2*c3)*Pz-(c1*Px+s1*Py)*(d4-a2*s3),(a2*s3-d4)*Pz+(a3+a2*c3)*(c1*Px+s1*Py));
theta2 = (t23 - theta3);
c2 = cos(theta2);
s2 = sin(theta2);
s23 = ((-a3-a2*c3)*Pz+(c1*Px+s1*Py)*(a2*s3-d4))/(Pz^2+(c1*Px+s1*Py)^2);
c23 = ((a2*s3-d4)*Pz+(a3+a2*c3)*(c1*Px+s1*Py))/(Pz^2+(c1*Px+s1*Py)^2);
r13 = -c1*(c23*c4*s5+s23*c5)-s1*s4*s5;
r23 = -s1*(c23*c4*s5+s23*c5)+c1*s4*s5;
r33 = s23*c4*s5 - c23*c5;
theta4 = atan2(-r13*s1+r23*c1,-r13*c1*c23-r23*s1*c23+r33*s23);
r11 = c1*(c23*(c4*c5*c6-s4*s6)-s23*s5*c6)+s1*(s4*c5*c6+c4*s6);
r21 = s1*(c23*(c4*c5*c6-s4*s6)-s23*s5*c6)-c1*(s4*c5*c6+c4*s6);
r31 = -s23*(c4*c5*c6-s4*s6)-c23*s5*c6;
s5 = -(r13*(c1*c23*c4+s1*s4)+r23*(s1*c23*c4-c1*s4)-r33*(s23*c4));
c5 = r13*(-c1*s23)+r23*(-s1*s23)+r33*(-c23);
theta5 = atan2(s5,c5);
s6 = -r11*(c1*c23*s4-s1*c4)-r21*(s1*c23*s4+c1*c4)+r31*(s23*s4);
c6 = r11*((c1*c23*c4+s1*s4)*c5-c1*s23*s5)+r21*((s1*c23*c4-c1*s4)*c5-s1*s23*s5)-r31*(s23*c4*c5+c23*s5);
theta6 = atan2(s6,c6);
theta1 = theta1*180/pi;
theta2 = theta2*180/pi;
theta3 = theta3*180/pi;
theta4 = theta4*180/pi;
theta5 = theta5*180/pi;
theta6 = theta6*180/pi;
if theta2>=160 && theta2<=180
theta2 = -theta2;
end
if theta1<=160 && theta1>=-160 && (theta2<=20 && theta2>=-200) && theta3<=45 && theta3>=-225 && theta4<=266 && theta4>=-266 && theta5<=100 && theta5>=-100 && theta6<=266 && theta6>=-266
nogo = 1;
theta3 = theta3+180;
break
end
if i == 4 && nogo == 0
h = errordlg('Point unreachable due to joint angle constraints.','JOINT ERROR');
waitfor(h);
nogo = 1;
noplot = 1;
break
end
end
end
end
%
%%
function pumaANI(theta1,theta2,theta3,theta4,theta5,theta6,n,trail)
% This function will animate the Puma 762 robot given joint angles.
% n is number of steps for the animation
% trail is 'y' or 'n' (n = anything else) for leaving a trail.
%
%disp('in animate');
a2 = 650; %D-H paramaters
a3 = 0;
d3 = 190;
d4 = 600;
% Err2 = 0;
%
ThetaOld = getappdata(0,'ThetaOld');
%
theta1old = ThetaOld(1);
theta2old = ThetaOld(2);
theta3old = ThetaOld(3);
theta4old = ThetaOld(4);
theta5old = ThetaOld(5);
theta6old = ThetaOld(6);
%
t1 = linspace(theta1old,theta1,n);
t2 = linspace(theta2old,theta2,n);
t3 = linspace(theta3old,theta3,n);% -180;
t4 = linspace(theta4old,theta4,n);
t5 = linspace(theta5old,theta5,n);
t6 = linspace(theta6old,theta6,n);
n = length(t1);
for i = 2:1:n
% Forward Kinematics
%
T_01 = tmat(0, 0, 0, t1(i));
T_12 = tmat(-90, 0, 0, t2(i));
T_23 = tmat(0, a2, d3, t3(i));
T_34 = tmat(-90, a3, d4, t4(i));
T_45 = tmat(90, 0, 0, t5(i));
T_56 = tmat(-90, 0, 0, t6(i));
%
% % T_67 = [ 1 0 0 0
% % 0 1 0 0
% % 0 0 1 188
% % 0 0 0 1];
%T_01 = T_01; % it is, but don't need to say so.
T_02 = T_01*T_12;
T_03 = T_02*T_23;
T_04 = T_03*T_34;
T_05 = T_04*T_45;
T_06 = T_05*T_56;
% T_07 = T_06*T_67;
%
s1 = getappdata(0,'Link1_data');
s2 = getappdata(0,'Link2_data');
s3 = getappdata(0,'Link3_data');
s4 = getappdata(0,'Link4_data');
s5 = getappdata(0,'Link5_data');
s6 = getappdata(0,'Link6_data');
s7 = getappdata(0,'Link7_data');
%A1 = getappdata(0,'Area_data');
Link1 = s1.V1;
Link2 = (T_01*s2.V2')';
Link3 = (T_02*s3.V3')';
Link4 = (T_03*s4.V4')';
Link5 = (T_04*s5.V5')';
Link6 = (T_05*s6.V6')';
Link7 = (T_06*s7.V7')';
% Tool = T_07;
% if sqrt(Tool(1,4)^2+Tool(2,4)^2)<514
% Err2 = 1;
% break
% end
%
handles = getappdata(0,'patch_h'); %
L1 = handles(1);
L2 = handles(2);
L3 = handles(3);
L4 = handles(4);
L5 = handles(5);
L6 = handles(6);
L7 = handles(7);
Tr = handles(9);
%
set(L1,'vertices',Link1(:,1:3),'facec', [0.717,0.116,0.123]);
set(L1, 'EdgeColor','none');
set(L2,'vertices',Link2(:,1:3),'facec', [0.216,1,.583]);
set(L2, 'EdgeColor','none');
set(L3,'vertices',Link3(:,1:3),'facec', [0.306,0.733,1]);
set(L3, 'EdgeColor','none');
set(L4,'vertices',Link4(:,1:3),'facec', [1,0.542,0.493]);
set(L4, 'EdgeColor','none');
set(L5,'vertices',Link5(:,1:3),'facec', [0.216,1,.583]);
set(L5, 'EdgeColor','none');
set(L6,'vertices',Link6(:,1:3),'facec', [1,1,0.255]);
set(L6, 'EdgeColor','none');
set(L7,'vertices',Link7(:,1:3),'facec', [0.306,0.733,1]);
set(L7, 'EdgeColor','none');
% store trail in appdata
if trail == 'y'
x_trail = getappdata(0,'xtrail');
y_trail = getappdata(0,'ytrail');
z_trail = getappdata(0,'ztrail');
%
xdata = [x_trail T_04(1,4)];
ydata = [y_trail T_04(2,4)];
zdata = [z_trail T_04(3,4)];
%
setappdata(0,'xtrail',xdata); % used for trail tracking.
setappdata(0,'ytrail',ydata); % used for trail tracking.
setappdata(0,'ztrail',zdata); % used for trail tracking.
%
set(Tr,'xdata',xdata,'ydata',ydata,'zdata',zdata);
end
drawnow
end
setappdata(0,'ThetaOld',[theta1,theta2,theta3,theta4,theta5,theta6]);
end
%%
%
%
%%
function InitHome
% Use forward kinematics to place the robot in a specified
% configuration.
% Figure setup data, create a new figure for the GUI
set(0,'Units','pixels')
dim = get(0,'ScreenSize');
fig_1 = figure('doublebuffer','on','Position',[0,35,dim(3)-200,dim(4)-110],...
'MenuBar','none','Name',' 3D Puma Robot Graphical Demo',...
'NumberTitle','off','CloseRequestFcn',@del_app);
hold on;
%light('Position',[-1 0 0]);
light % add a default light
daspect([1 1 1]) % Setting the aspect ratio
view(135,25)
xlabel('X'),ylabel('Y'),zlabel('Z');
title('WWU Robotics Lab PUMA 762');
axis([-1500 1500 -1500 1500 -1120 1500]);
plot3([-1500,1500],[-1500,-1500],[-1120,-1120],'k')
plot3([-1500,-1500],[-1500,1500],[-1120,-1120],'k')
plot3([-1500,-1500],[-1500,-1500],[-1120,1500],'k')
plot3([-1500,-1500],[1500,1500],[-1120,1500],'k')
plot3([-1500,1500],[-1500,-1500],[1500,1500],'k')
plot3([-1500,-1500],[-1500,1500],[1500,1500],'k')
s1 = getappdata(0,'Link1_data');
s2 = getappdata(0,'Link2_data');
s3 = getappdata(0,'Link3_data');
s4 = getappdata(0,'Link4_data');
s5 = getappdata(0,'Link5_data');
s6 = getappdata(0,'Link6_data');
s7 = getappdata(0,'Link7_data');
A1 = getappdata(0,'Area_data');
%
a2 = 650;
a3 = 0;
d3 = 190;
d4 = 600;
Px = 5000;
Py = 5000;
Pz = 5000;
%The 'home' position, for init.
t1 = 90;
t2 = -90;
t3 = -90;
t4 = 0;
t5 = 0;
t6 = 0;
% Forward Kinematics
T_01 = tmat(0, 0, 0, t1);
T_12 = tmat(-90, 0, 0, t2);
T_23 = tmat(0, a2, d3, t3);
T_34 = tmat(-90, a3, d4, t4);
T_45 = tmat(90, 0, 0, t5);
T_56 = tmat(-90, 0, 0, t6);
% Each link fram to base frame transformation
T_02 = T_01*T_12;
T_03 = T_02*T_23;
T_04 = T_03*T_34;
T_05 = T_04*T_45;
T_06 = T_05*T_56;
% Actual vertex data of robot links
Link1 = s1.V1;
Link2 = (T_01*s2.V2')';
Link3 = (T_02*s3.V3')';
Link4 = (T_03*s4.V4')';
Link5 = (T_04*s5.V5')';
Link6 = (T_05*s6.V6')';
Link7 = (T_06*s7.V7')';
% points are no fun to watch, make it look 3d.
L1 = patch('faces', s1.F1, 'vertices' ,Link1(:,1:3));
L2 = patch('faces', s2.F2, 'vertices' ,Link2(:,1:3));
L3 = patch('faces', s3.F3, 'vertices' ,Link3(:,1:3));
L4 = patch('faces', s4.F4, 'vertices' ,Link4(:,1:3));
L5 = patch('faces', s5.F5, 'vertices' ,Link5(:,1:3));
L6 = patch('faces', s6.F6, 'vertices' ,Link6(:,1:3));
L7 = patch('faces', s7.F7, 'vertices' ,Link7(:,1:3));
A1 = patch('faces', A1.Fa, 'vertices' ,A1.Va(:,1:3));
Tr = plot3(0,0,0,'b.'); % holder for trail paths
%
setappdata(0,'patch_h',[L1,L2,L3,L4,L5,L6,L7,A1,Tr])
%
setappdata(0,'xtrail',0); % used for trail tracking.
setappdata(0,'ytrail',0); % used for trail tracking.
setappdata(0,'ztrail',0); % used for trail tracking.
%
set(L1, 'facec', [0.717,0.116,0.123]);
set(L1, 'EdgeColor','none');
set(L2, 'facec', [0.216,1,.583]);
set(L2, 'EdgeColor','none');
set(L3, 'facec', [0.306,0.733,1]);
set(L3, 'EdgeColor','none');
set(L4, 'facec', [1,0.542,0.493]);
set(L4, 'EdgeColor','none');
set(L5, 'facec', [0.216,1,.583]);
set(L5, 'EdgeColor','none');
set(L6, 'facec', [1,1,0.255]);
set(L6, 'EdgeColor','none');
set(L7, 'facec', [0.306,0.733,1]);
set(L7, 'EdgeColor','none');
set(A1, 'facec', [.8,.8,.8],'FaceAlpha',.25);
set(A1, 'EdgeColor','none');
%
setappdata(0,'ThetaOld',[90,-90,-90,0,0,0]);
%
end
%%
function T = tmat(alpha, a, d, theta)
% tmat(alpha, a, d, theta) (T-Matrix used in Robotics)
% The homogeneous transformation called the "T-MATRIX"
% as used in the Kinematic Equations for robotic type
% systems (or equivalent).
%
% This is equation 3.6 in Craig's "Introduction to Robotics."
% alpha, a, d, theta are the Denavit-Hartenberg parameters.
%
% (NOTE: ALL ANGLES MUST BE IN DEGREES.)
%
alpha = alpha*pi/180; %Note: alpha is in radians.
theta = theta*pi/180; %Note: theta is in radians.
c = cos(theta);
s = sin(theta);
ca = cos(alpha);
sa = sin(alpha);
T = [c -s 0 a; s*ca c*ca -sa -sa*d; s*sa c*sa ca ca*d; 0 0 0 1];
end
%%
function del_app(varargin)
%This is the main figure window close function, to remove any
% app data that may be left due to using it for geometry.
%CloseRequestFcn
% here is the data to remove:
% Link1_data: [1x1 struct]
% Link2_data: [1x1 struct]
% Link3_data: [1x1 struct]
% Link4_data: [1x1 struct]
% Link5_data: [1x1 struct]
% Link6_data: [1x1 struct]
% Link7_data: [1x1 struct]
% Area_data: [1x1 struct]
% patch_h: [1x9 double]
% ThetaOld: [90 -182 -90 -106 80 106]
% xtrail: 0
% ytrail: 0
% ztrail: 0
% Now remove them.
rmappdata(0,'Link1_data');
rmappdata(0,'Link2_data');
rmappdata(0,'Link3_data');
rmappdata(0,'Link4_data');
rmappdata(0,'Link5_data');
rmappdata(0,'Link6_data');
rmappdata(0,'Link7_data');
rmappdata(0,'ThetaOld');
rmappdata(0,'Area_data');
rmappdata(0,'patch_h');
rmappdata(0,'xtrail');
rmappdata(0,'ytrail');
rmappdata(0,'ztrail');
delete(fig_1);
end
%%
function [hout,ax_out] = uibutton(varargin)
%uibutton: Create pushbutton with more flexible labeling than uicontrol.
% Usage:
% uibutton accepts all the same arguments as uicontrol except for the
% following property changes:
%
% Property Values
% ----------- ------------------------------------------------------
% Style 'pushbutton', 'togglebutton' or 'text', default =
% 'pushbutton'.
% String Same as for text() including cell array of strings and
% TeX or LaTeX interpretation.
% Interpreter 'tex', 'latex' or 'none', default = default for text()
%
% Syntax:
% handle = uibutton('PropertyName',PropertyValue,...)
% handle = uibutton(parent,'PropertyName',PropertyValue,...)
% [text_obj,axes_handle] = uibutton('Style','text',...
% 'PropertyName',PropertyValue,...)
%
% uibutton creates a temporary axes and text object containing the text to
% be displayed, captures the axes as an image, deletes the axes and then
% displays the image on the uicontrol. The handle to the uicontrol is
% returned. If you pass in a handle to an existing uicontol as the first
% argument then uibutton will use that uicontrol and not create a new one.
%
% If the Style is set to 'text' then the axes object is not deleted and the
% text object handle is returned (as well as the handle to the axes in a
% second output argument).
%
% See also UICONTROL.
% Version: 1.6, 20 April 2006
% Author: Douglas M. Schwarz
% Email: dmschwarz=ieee*org, dmschwarz=urgrad*rochester*edu
% Real_email = regexprep(Email,{'=','*'},{'@','.'})
% Detect if first argument is a uicontrol handle.
keep_handle = false;
if nargin > 0
h = varargin{1};
if isscalar(h) && ishandle(h) && strcmp(get(h,'Type'),'uicontrol')
keep_handle = true;
varargin(1) = [];
end
end
% Parse arguments looking for 'Interpreter' property. If found, note its
% value and then remove it from where it was found.
interp_value = get(0,'DefaultTextInterpreter');
arg = 1;
remove = [];
while arg <= length(varargin)
v = varargin{arg};
if isstruct(v)
fn = fieldnames(v);
for i = 1:length(fn)
if strncmpi(fn{i},'interpreter',length(fn{i}))
interp_value = v.(fn{i});
v = rmfield(v,fn{i});
end
end
varargin{arg} = v;
arg = arg + 1;
elseif ischar(v)
if strncmpi(v,'interpreter',length(v))
interp_value = varargin{arg+1};
remove = [remove,arg,arg+1];
end
arg = arg + 2;
elseif arg == 1 && isscalar(v) && ishandle(v) && ...
any(strcmp(get(h,'Type'),{'figure','uipanel'}))
arg = arg + 1;
else
error('Invalid property or uicontrol parent.')
end
end
varargin(remove) = [];
% Create uicontrol, get its properties then hide it.
if keep_handle
set(h,varargin{:})
else
h = uicontrol(varargin{:});
end
s = get(h);
if ~any(strcmp(s.Style,{'pushbutton','togglebutton','text'}))
delete(h)
error('''Style'' must be pushbutton, togglebutton or text.')
end
set(h,'Visible','off')
% Create axes.
parent = get(h,'Parent');
ax = axes('Parent',parent,...
'Units',s.Units,...
'Position',s.Position,...
'XTick',[],'YTick',[],...
'XColor',s.BackgroundColor,...
'YColor',s.BackgroundColor,...
'Box','on',...
'Color',s.BackgroundColor);
% Adjust size of axes for best appearance.
set(ax,'Units','pixels')
pos = round(get(ax,'Position'));
if strcmp(s.Style,'text')
set(ax,'Position',pos + [0 1 -1 -1])
else
set(ax,'Position',pos + [4 4 -8 -8])
end
switch s.HorizontalAlignment
case 'left'
x = 0.0;
case 'center'
x = 0.5;
case 'right'
x = 1;
end
% Create text object.
text_obj = text('Parent',ax,...
'Position',[x,0.5],...
'String',s.String,...
'Interpreter',interp_value,...
'HorizontalAlignment',s.HorizontalAlignment,...
'VerticalAlignment','middle',...
'FontName',s.FontName,...
'FontSize',s.FontSize,...
'FontAngle',s.FontAngle,...
'FontWeight',s.FontWeight,...
'Color',s.ForegroundColor);
% If we are creating something that looks like a text uicontrol then we're
% all done and we return the text object and axes handles rather than a
% uicontrol handle.
if strcmp(s.Style,'text')
delete(h)
if nargout
hout = text_obj;
ax_out = ax;
end
return
end
% Capture image of axes and then delete the axes.
frame = getframe(ax);
delete(ax)
% Build RGB image, set background pixels to NaN and put it in 'CData' for
% the uicontrol.
if isempty(frame.colormap)
rgb = frame.cdata;
else
rgb = reshape(frame.colormap(frame.cdata,:),[pos([4,3]),3]);
end
size_rgb = size(rgb);
rgb = double(rgb)/255;
back = repmat(permute(s.BackgroundColor,[1 3 2]),size_rgb(1:2));
isback = all(rgb == back,3);
rgb(repmat(isback,[1 1 3])) = NaN;
set(h,'CData',rgb,'String','','Visible',s.Visible)
% Assign output argument if necessary.
if nargout
hout = h;
end
%%
end
end
% Finally. |
Programmation d'un robot sous matlab
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