matlab实现puma机器人工作空间

matlab实现PUMA机器人的工作空间

PUMA机器人的工作空间主要有前3个关节决定，后3个关节决定姿态。程序编写好了，请看运行结果！

步长为20度

步长为10度

步长为5度

步长为3度

步长为2度

步长为5度时的XY平面

步长为5度时的XZ，YZ平面

编写时的界面，为运行

源代码如下：

function varargout = mypuma(varargin)

gui_Singleton = 1;

gui_State = struct('gui_Name', mfilename, ... 'gui_Singleton', gui_Singleton, ...

'gui_OpeningFcn', @mypuma_OpeningFcn, ...

'gui_OutputFcn', @mypuma_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

handles.output = hObject;

guidata(hObject, handles);

function varargout = mypuma_OutputFcn(hObject, eventdata, handles) varargout{1} = handles.output;

%步长为20度时的工作空间，2个for循环就搞定

function pushbutton1_Callback(hObject, eventdata, handles)

hold off;

for a=(-160:20:160)*pi/180

for b=(-225:20:45)*pi/180

x=431.8*cos(b)*cos(a)-149.09*sin(a);

y=431.8*cos(b)*sin(a)+cos(a)*149.09;

z=-431.8*sin(b);

plot3(x,y,z,'b.');

hold on;

grid on;

end

end

title('PUMA560 20deg 08S008103 ');

%步长10度时的工作空间，2个for循环就搞定

function pushbutton2_Callback(hObject, eventdata, handles) hold off;

a2=431.8;

d2=149.09;

for a=(-160:10:160)*pi/180

for b=(-225:10:45)*pi/180

x=431.8*cos(b)*cos(a)-149.09*sin(a);

y=431.8*cos(b)*sin(a)+cos(a)*149.09;

z=-431.8*sin(b);

plot3(x,y,z,'r.');

hold on;

grid on;

end

end

title('PUMA560 10deg 08S008103 ');

%步长为5度时的工作空间，2个for循环就搞定

function pushbutton3_Callback(hObject, eventdata, handles) hold off;

a2=431.8;

d2=149.09;

for a=(-160:5:160)*pi/180

for b=(-225:5:45)*pi/180

x=431.8*cos(b)*cos(a)-149.09*sin(a);

y=431.8*cos(b)*sin(a)+cos(a)*149.09;

z=-431.8*sin(b);

plot3(x,y,z,'g.');

hold on;

grid on;

end

end

title('PUMA560 5deg 08S008103 ');

%步长为3度时的工作空间，2个for循环就搞定

function pushbutton7_Callback(hObject, eventdata, handles) hold off;

for a=(-160:3:160)*pi/180

for b=(-225:3:45)*pi/180

x=431.8*cos(b)*cos(a)-149.09*sin(a);

y=431.8*cos(b)*sin(a)+cos(a)*149.09;

z=-431.8*sin(b);

plot3(x,y,z,'b.');

hold on;

grid on;

end

end

title('PUMA560 3deg 08S008103 ');

%步长为2度时的工作空间，2个for循环就搞定

function pushbutton8_Callback(hObject, eventdata, handles) hold off;

for a=(-160:2:160)*pi/180

for b=(-225:2:45)*pi/180

x=431.8*cos(b)*cos(a)-149.09*sin(a);

y=431.8*cos(b)*sin(a)+cos(a)*149.09;

z=-431.8*sin(b);

plot3(x,y,z,'b.');

hold on;

grid on;

end

end

title('PUMA560 2deg 08S008103 ');

%步长为5度时的xy平面

function pushbutton4_Callback(hObject, eventdata, handles) hold off;

a2=431.8;

d2=149.09;

for a=(-160:5:160)*pi/180

for b=(-225:5:45)*pi/180

x=431.8*cos(b)*cos(a)-149.09*sin(a);

y=431.8*cos(b)*sin(a)+cos(a)*149.09;

z=-431.8*sin(b);

plot(x,y,'g.');

hold on;

grid on;

end

end

title('PUMA560 5degXY 08S008103 ');

%步长为5度时的xz平面

function pushbutton5_Callback(hObject, eventdata, handles) hold off;

d2=149.09;

for a=(-160:5:160)*pi/180

for b=(-225:5:45)*pi/180

x=431.8*cos(b)*cos(a)-149.09*sin(a);

y=431.8*cos(b)*sin(a)+cos(a)*149.09;

z=-431.8*sin(b);

plot(x,z,'g.');

hold on;

grid on;

end

end

title('PUMA560 5degXZ 08S008103');

%步长为5度时的yz平面

function pushbutton6_Callback(hObject, eventdata, handles) hold off;

a2=431.8;

d2=149.09;

for a=(-160:5:160)*pi/180

for b=(-225:5:45)*pi/180

x=431.8*cos(b)*cos(a)-149.09*sin(a);

y=431.8*cos(b)*sin(a)+cos(a)*149.09;

z=-431.8*sin(b);

hold on;

grid on;

end

end

title('PUMA560 5degY-Z 08S008103 ');