资源简介
matlab仿真6自由度puma机器人,包括源码,动画实现等内容。
代码片段和文件信息
% 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]); %
属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
文件 44774 2007-05-07 00:47 6自由度puma机器人【重要】\li
文件 42908 2007-05-08 23:37 6自由度puma机器人【重要】\puma3d.m
目录 0 2015-01-26 10:38 6自由度puma机器人【重要】
----------- --------- ---------- ----- ----
87900 4
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