Robotics Toolbox & GUI

Question

Ahmed Nabil 2016-7-14

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/295623-robotics-toolbox-gui

Hi, im using peter corke toolbox to create simple example of forward kinematics

here is the code which is work fine

function test
global X Y Z Ss J1 J2 J3 J4
J1=80;
J2=20;
J3=60;
J4=90;
Ss = ( [ J1  J2  J3  J4 ] * pi / 180 );
X = F_x(Ss);
disp(X)
Y = F_y(Ss);
disp(Y)
Z = F_z(Ss);
disp(Z)
end
function X = F_x(Ss)
L1 = Link([ 0          19.49            13.9         -pi/2      0 ]);
L2 = Link([ 0             0             84             0        0 ]);
L3 = Link([ 0             0            93.54           0        0 ]);
L4 = Link([ 0             0            75.27           0        0 ]);
R = SerialLink([L1 L2 L3 L4], 'name', 'Lab Robot');
T = R.fkine(Ss);
X= T(1,4);
end
function Y = F_y(Ss)
L1 = Link([ 0          19.49         13.9         -pi/2       0 ]);
L2 = Link([ 0             0              84              0         0 ]);
L3 = Link([ 0             0            93.54            0        0 ]);
L4 = Link([ 0             0            75.27            0        0 ]);
R = SerialLink([L1 L2 L3 L4], 'name', 'Lab Robot');
T = R.fkine(Ss);
Y= T(2,4);
end
function Z = F_z(Ss)
L1 = Link([ 0          19.49         13.9         -pi/2       0 ]);
L2 = Link([ 0             0              84              0         0 ]);
L3 = Link([ 0             0            93.54            0        0 ]);
L4 = Link([ 0             0            75.27            0        0 ]);
R = SerialLink([L1 L2 L3 L4], 'name', 'Lab Robot');
T = R.fkine(Ss);
Z= T(3,4);
end

but when i try to get input from GUI for the same example i got error say

Error using SerialLink/fkine (line 85) q must have 4 columns

here is the code..

function start_butt_Callback(hObject, eventdata, handles)
global X Y Z D J1 J2 J3 J4
% hObject    handle to start_butt (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
J1=get(handles.theta1,'string');
J2=get(handles.theta2,'string');
J3=get(handles.theta3,'string');
J4=get(handles.theta4,'string');
D = ( [ J1  J2  J3  J4 ] * pi / 180 );
X = F_x(D);
set(handles.co_x,'string',num2str(X))
Y = F_y(D);
set(handles.co_y,'string',num2str(Y))
Z = F_z(D);
set(handles.co_z,'string',num2str(Z))
%open_system('LabRobot3')
%set_param('LabRobot3/J1','value', get(handles.theta1,'string'))
%set_param('LabRobot3/J2','value', get(handles.theta2,'string'))
%set_param('LabRobot3/J3','value', get(handles.theta3,'string'))
%set_param('LabRobot3/J4','value', get(handles.theta4,'string'))
%set_param('LabRobot3/J5','value', get(handles.theta5,'string'))
%set_param('LabRobot3','SimulationCommand','start')
function X = F_x(D)
L1 = Link([ 0          19.49            13.9         -pi/2      0 ]);
L2 = Link([ 0             0             84             0        0 ]);
L3 = Link([ 0             0            93.54           0        0 ]);
L4 = Link([ 0             0            75.27           0        0 ]);
R = SerialLink([L1 L2 L3 L4], 'name', 'Lab Robot');
T = R.fkine(D);
X= T(1,4);
function Y = F_y(D)
L1 = Link([ 0          19.49         13.9         -pi/2       0 ]);
L2 = Link([ 0             0              84              0         0 ]);
L3 = Link([ 0             0            93.54            0        0 ]);
L4 = Link([ 0             0            75.27            0        0 ]);
R = SerialLink([L1 L2 L3 L4], 'name', 'Lab Robot');
T = R.fkine(D);
Y= T(2,4);
function Z = F_z(D)
L1 = Link([ 0          19.49         13.9         -pi/2       0 ]);
L2 = Link([ 0             0              84              0         0 ]);
L3 = Link([ 0             0            93.54            0        0 ]);
L4 = Link([ 0             0            75.27            0        0 ]);
R = SerialLink([L1 L2 L3 L4], 'name', 'Lab Robot');
T = R.fkine(D);
Z= T(3,4);