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facing the error as follows : Error in matlab.gra​phics.inte​rnal.figfi​le.FigFile​/read>@(hO​bject,even​tdata)RRR_​Robot('btn​_Forward_C​allback',h​Object,eve​ntdata,gui​data(hObje​ct)) Error while evaluating UIControl Callback

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BHOSALE MOHAN VILASRAO
编辑： BHOSALE MOHAN VILASRAO 2020-9-3
the error I am facing :
Index exceeds matrix dimensions.
Error in RRR_Robot>btn_Forward_Callback (line 167)
handles.Pos_X.String = num2str(floor(T(1,4)));
Error in gui_mainfcn (line 95)
feval(varargin{:});
Error in RRR_Robot (line 42)
gui_mainfcn(gui_State, varargin{:});
Error in
matlab.graphics.internal.figfile.FigFile/read>@(hObject,eventdata)RRR_Robot('btn_Forward_Callback',hObject,eventdata,guidata(hObject))
167 handles.Pos_X.String = num2str(floor(T(1,4)));
java.lang.ClassCastException: [D cannot be cast to [Ljava.lang.Object;
at com.mathworks.toolbox.matlab.guide.LayoutArea.duplicateComplete(LayoutArea.java:960)
at com.mathworks.toolbox.matlab.guide.LayoutArea$DuplicateObserver.completed(LayoutArea.java:944)
at com.mathworks.toolbox.matlab.guide.utils.LayoutWorker.runOnMatlabThread(LayoutWorker.java:55)
at com.mathworks.jmi.MatlabWorker$2.run(MatlabWorker.java:79)
at com.mathworks.jmi.NativeMatlab.dispatchMTRequests(NativeMatlab.java:475)
K>> dbstop if error
end
and my code :
function varargout = RRR_Robot(varargin)
% RRR_ROBOT MATLAB code for RRR_Robot.fig
% RRR_ROBOT, by itself, creates a new RRR_ROBOT or raises the existing
% singleton*.
%
% H = RRR_ROBOT returns the handle to a new RRR_ROBOT or the handle to
% the existing singleton*.
%
% RRR_ROBOT('CALLBACK',hObject,eventData,handles,...) calls the local
% function named CALLBACK in RRR_ROBOT.M with the given input arguments.
%
% RRR_ROBOT('Property','Value',...) creates a new RRR_ROBOT or raises the
% existing singleton*. Starting from the left, property value pairs are
% applied to the GUI before RRR_Robot_OpeningFcn gets called. An
% unrecognized property name or invalid value makes property application
% stop. All inputs are passed to RRR_Robot_OpeningFcn via varargin.
%
% *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one
% instance to run (singleton)".
%
% See also: GUIDE, GUIDATA, GUIHANDLES
% Edit the above text to modify the response to help RRR_Robot
% Last Modified by GUIDE v2.5 03-Sep-2020 17:09:35
% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
gui_State = struct('gui_Name', mfilename, ...
'gui_Singleton', gui_Singleton, ...
'gui_OpeningFcn', @RRR_Robot_OpeningFcn, ...
'gui_OutputFcn', @RRR_Robot_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
% End initialization code - DO NOT EDIT
% --- Executes just before RRR_Robot is made visible.
function RRR_Robot_OpeningFcn(hObject, eventdata, handles, varargin)
% This function has no output args, see OutputFcn.
% hObject handle to figure
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% varargin command line arguments to RRR_Robot (see VARARGIN)
% Choose default command line output for RRR_Robot
handles.output = hObject;
% Update handles structure
guidata(hObject, handles);
% UIWAIT makes RRR_Robot wait for user response (see UIRESUME)
% uiwait(handles.figure1);
% --- Outputs from this function are returned to the command line.
function varargout = RRR_Robot_OutputFcn(hObject, eventdata, handles)
% varargout cell array for returning output args (see VARARGOUT);
% hObject handle to figure
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Get default command line output from handles structure
varargout{1} = handles.output;
function Theta_1_Callback(hObject, eventdata, handles)
% hObject handle to Theta_1 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of Theta_1 as text
% str2double(get(hObject,'String')) returns contents of Theta_1 as a double
% --- Executes during object creation, after setting all properties.
function Theta_1_CreateFcn(hObject, eventdata, handles)
% hObject handle to Theta_1 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor','white');
end
function Theta_2_Callback(hObject, eventdata, handles)
% hObject handle to Theta_2 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of Theta_2 as text
% str2double(get(hObject,'String')) returns contents of Theta_2 as a double
% --- Executes during object creation, after setting all properties.
function Theta_2_CreateFcn(hObject, eventdata, handles)
% hObject handle to Theta_2 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor','white');
end
function Theta_3_Callback(hObject, eventdata, handles)
% hObject handle to Theta_3 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of Theta_3 as text
% str2double(get(hObject,'String')) returns contents of Theta_3 as a double
% --- Executes during object creation, after setting all properties.
function Theta_3_CreateFcn(hObject, eventdata, handles)
% hObject handle to Theta_3 (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor','white');
end
% --- Executes on button press in btn_Forward.
function btn_Forward_Callback(hObject, eventdata, handles)
% hObject handle to btn_Forward (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
Th_1 = str2double(handles.Theta_1.String)*pi/180;
Th_2 = str2double(handles.Theta_2.String)*pi/180;
Th_3 = str2double(handles.Theta_3.String)*pi/180;
L_1 = 20;
L_2 = 50;
L_3 = 40;
L(1) = Link([0 L_1 0 pi/2]);
L(2) = Link([0 0 L_2 0]);
L(3) = Link([0 0 L_3 0]);
Robot = SerialLink(L);
Robot.name = 'RRR_Robot';
Robot.plot([Th_1 Th_2 Th_3]);
T = Robot.fkine([Th_1 Th_2 Th_3]);
handles.Pos_X.String = num2str(floor(T(1,4)));
handles.Pos_Y.String = num2str(floor(T(2,4)));
handles.Pos_Z.String = num2str(floor(T(3,4)));
function Pos_X_Callback(hObject, eventdata, handles)
% hObject handle to Pos_X (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of Pos_X as text
% str2double(get(hObject,'String')) returns contents of Pos_X as a double
% --- Executes during object creation, after setting all properties.
function Pos_X_CreateFcn(hObject, eventdata, handles)
% hObject handle to Pos_X (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor','white');
end
function Pos_Y_Callback(hObject, eventdata, handles)
% hObject handle to Pos_Y (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of Pos_Y as text
% str2double(get(hObject,'String')) returns contents of Pos_Y as a double
% --- Executes during object creation, after setting all properties.
function Pos_Y_CreateFcn(hObject, eventdata, handles)
% hObject handle to Pos_Y (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor','white');
end
function Pos_Z_Callback(hObject, eventdata, handles)
% hObject handle to Pos_Z (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of Pos_Z as text
% str2double(get(hObject,'String')) returns contents of Pos_Z as a double
% --- Executes during object creation, after setting all properties.
function Pos_Z_CreateFcn(hObject, eventdata, handles)
% hObject handle to Pos_Z (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor','white');
end
% --- Executes on button press in btn_Inverse.
function btn_Inverse_Callback(hObject, eventdata, handles)
% hObject handle to btn_Inverse (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
PX = str2double(handles.Pos_X.String);
PY = str2double(handles.Pos_Y.String);
PZ = str2double(handles.Pos_Z.String);
L_1 = 20;
L_2 = 50;
L_3 = 40;
L(1) = Link([0 L_1 0 pi/2]);
L(2) = Link([0 0 L_2 0]);
L(3) = Link([0 0 L_3 0]);
Robot = SerialLink(L);
Robot.name = 'RRR_Robot';
T = [ 1 0 0 PX;
0 1 0 PY;
0 0 1 PZ;
0 0 0 1];
J = Robot.ikine(T, [0 0 0], [1 1 1 0 0 0]) * 180/pi;
handles.Theta_1.String = num2str(floor(J(1)));
handles.Theta_2.String = num2str(floor(J(2)));
handles.Theta_3.String = num2str(floor(J(3)));
Robot.plot(J*pi/180);

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