Programmation d'un robot sous matlab

Bonjour à tous

Je suis débutante en programmation matlab,et je demande s'il y a quelqu'un qui peux m'aider ?:cry:

Merci d'avance

Bonjour,

Dans un premier temps, je te conseille d'aller les tutoriaux disponibles sur le site.

Tu trouveras ensuite des réponses dans la FAQ.

Enfin si tu as des questions, tu peux venir les poser sur le forum. Sachant que plus tes questions seront claires et précises, plus tu auras de chances d'obtenir des réponses satisfaisantes.

Duf

Salut!
Dans un premier temps, tu dois écrire les équations qui régissent le comportement de ton robot, ce qui n'a rien à voir avec Matlab. En conséquence, je transfère cette discussion dans le forum algo/maths.
Jean-Marc Blanc

Salut à tous.:ccool:

Merci pour vos réponse.

Cordialement.

Me revoilà

Alors je dois faire la modélisation du robot puma 560,j'ai rien compris concernant ce programme,si quelqu'un peux m'aider je sera vraiment reconnaissante.:oops:

Code:

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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.

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Bonne soirée.