A GUI Based Kinematic Model Development OF 6
DOF Manipulator Using Matlab
Abstract: This Design of a graphical user interface (GUI) is a fine task requiring knowledge of human cognitive behavior, design strategies, and programming skills. In this paper, a GUI has been developed for position analysis of 6 DOF using MATLAB software. The kinematic problem is defined as a transformation from the Cartesian space to the joint space. In this paper, the Denavit Hardenberg (D-H) model representation was used to model links and joints. Both forward & Inverse kinematic were discussed
Keywords: GUI, Denavit Hardenberg Representation, Forward & Inverse Kinematics.
Video File :
Keywords: GUI, Denavit Hardenberg Representation, Forward & Inverse Kinematics.
Video File :
https://youtu.be/TdCJKIm0MP4?list=PLpqFpcNEVirH1VJd7PDXgmwi8jYA_2tmb
Matlab six DOF robot user interface Image:
Matlab Code:
function varargout = Six_R_Robot(varargin)
% SIX_R_ROBOT MATLAB code for Six_R_Robot.fig
% SIX_R_ROBOT, by itself, creates a new SIX_R_ROBOT or raises the existing
% singleton*.
%
% H = SIX_R_ROBOT returns the handle to a new SIX_R_ROBOT or the handle to
% the existing singleton*.
%
% SIX_R_ROBOT('CALLBACK',hObject,eventData,handles,...) calls the local
% function named CALLBACK in SIX_R_ROBOT.M with the given input arguments.
%
% SIX_R_ROBOT('Property','Value',...) creates a new SIX_R_ROBOT or raises the
% existing singleton*. Starting from the left, property value pairs are
% applied to the GUI before Six_R_Robot_OpeningFcn gets called. An
% unrecognized property name or invalid value makes property application
% stop. All inputs are passed to Six_R_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 Six_R_Robot
% Last Modified by GUIDE v2.5 20-Dec-2019 02:22:11
% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
gui_State = struct('gui_Name', mfilename, ...
'gui_Singleton', gui_Singleton, ...
'gui_OpeningFcn', @Six_R_Robot_OpeningFcn, ...
'gui_OutputFcn', @Six_R_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 Six_R_Robot is made visible.
function Six_R_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 Six_R_Robot (see VARARGIN)
% Choose default command line output for Six_R_Robot
handles.output = hObject;
% Update handles structure
guidata(hObject, handles);
% UIWAIT makes Six_R_Robot wait for user response (see UIRESUME)
% uiwait(handles.figure1);
% --- Outputs from this function are returned to the command line.
function varargout = Six_R_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
function Theta_4_Callback(hObject, eventdata, handles)
% hObject handle to Theta_4 (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_4 as text
% str2double(get(hObject,'String')) returns contents of Theta_4 as a double
% --- Executes during object creation, after setting all properties.
function Theta_4_CreateFcn(hObject, eventdata, handles)
% hObject handle to Theta_4 (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_5_Callback(hObject, eventdata, handles)
% hObject handle to Theta_5 (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_5 as text
% str2double(get(hObject,'String')) returns contents of Theta_5 as a double
% --- Executes during object creation, after setting all properties.
function Theta_5_CreateFcn(hObject, eventdata, handles)
% hObject handle to Theta_5 (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_6_Callback(hObject, eventdata, handles)
% hObject handle to Theta_6 (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_6 as text
% str2double(get(hObject,'String')) returns contents of Theta_6 as a double
% --- Executes during object creation, after setting all properties.
function Theta_6_CreateFcn(hObject, eventdata, handles)
% hObject handle to Theta_6 (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_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_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_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;
Th_4 = str2double(handles.Theta_4.String)*pi/180;
Th_5 = str2double(handles.Theta_5.String)*pi/180;
Th_6 = str2double(handles.Theta_6.String)*pi/180;
L_1 = 0;
L_2 = 80;
L_3 = 70;
L_4 = 50;
L_5 = 0;
L_6 = 0;
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]);
L(4) = Link([0 0 L_4 -pi/2]);
L(5) = Link([0 0 L_5 pi/2]);
L(6) = Link([0 L_6 0 0]);
Robot = SerialLink(L);
Robot.name = 'Six_R_Robot';
Robot.plot([Th_1 Th_2 Th_3 Th_4 Th_5 Th_6]);
T = Robot.fkine([Th_1 Th_2 Th_3 Th_4 Th_5 Th_6]);
handles.Pos_X.String = num2str(floor(T.t(1)));
handles.Pos_Y.String = num2str(floor(T.t(2)));
handles.Pos_Z.String = num2str(floor(T.t(3)));
% --- 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 = 0;
L_2 = 80;
L_3 = 70;
L_4 = 50;
L_5 = 0;
L_6 = 0;
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]);
L(4) = Link([0 0 L_4 -pi/2]);
L(5) = Link([0 0 L_5 pi/2]);
L(6) = Link([0 L_6 0 0]);
Robot = SerialLink(L);
Robot.name = 'Six_R_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],'mask',[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)));
handles.Theta_4.String = num2str(floor(J(3)));
handles.Theta_5.String = num2str(floor(J(3)));
handles.Theta_6.String = num2str(floor(J(3)));
Robot.plot(J*pi/180);
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
Matlab six DOF robot user interface Image:
Matlab Code:
function varargout = Six_R_Robot(varargin)
% SIX_R_ROBOT MATLAB code for Six_R_Robot.fig
% SIX_R_ROBOT, by itself, creates a new SIX_R_ROBOT or raises the existing
% singleton*.
%
% H = SIX_R_ROBOT returns the handle to a new SIX_R_ROBOT or the handle to
% the existing singleton*.
%
% SIX_R_ROBOT('CALLBACK',hObject,eventData,handles,...) calls the local
% function named CALLBACK in SIX_R_ROBOT.M with the given input arguments.
%
% SIX_R_ROBOT('Property','Value',...) creates a new SIX_R_ROBOT or raises the
% existing singleton*. Starting from the left, property value pairs are
% applied to the GUI before Six_R_Robot_OpeningFcn gets called. An
% unrecognized property name or invalid value makes property application
% stop. All inputs are passed to Six_R_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 Six_R_Robot
% Last Modified by GUIDE v2.5 20-Dec-2019 02:22:11
% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
gui_State = struct('gui_Name', mfilename, ...
'gui_Singleton', gui_Singleton, ...
'gui_OpeningFcn', @Six_R_Robot_OpeningFcn, ...
'gui_OutputFcn', @Six_R_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 Six_R_Robot is made visible.
function Six_R_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 Six_R_Robot (see VARARGIN)
% Choose default command line output for Six_R_Robot
handles.output = hObject;
% Update handles structure
guidata(hObject, handles);
% UIWAIT makes Six_R_Robot wait for user response (see UIRESUME)
% uiwait(handles.figure1);
% --- Outputs from this function are returned to the command line.
function varargout = Six_R_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
function Theta_4_Callback(hObject, eventdata, handles)
% hObject handle to Theta_4 (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_4 as text
% str2double(get(hObject,'String')) returns contents of Theta_4 as a double
% --- Executes during object creation, after setting all properties.
function Theta_4_CreateFcn(hObject, eventdata, handles)
% hObject handle to Theta_4 (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_5_Callback(hObject, eventdata, handles)
% hObject handle to Theta_5 (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_5 as text
% str2double(get(hObject,'String')) returns contents of Theta_5 as a double
% --- Executes during object creation, after setting all properties.
function Theta_5_CreateFcn(hObject, eventdata, handles)
% hObject handle to Theta_5 (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_6_Callback(hObject, eventdata, handles)
% hObject handle to Theta_6 (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_6 as text
% str2double(get(hObject,'String')) returns contents of Theta_6 as a double
% --- Executes during object creation, after setting all properties.
function Theta_6_CreateFcn(hObject, eventdata, handles)
% hObject handle to Theta_6 (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_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_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_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;
Th_4 = str2double(handles.Theta_4.String)*pi/180;
Th_5 = str2double(handles.Theta_5.String)*pi/180;
Th_6 = str2double(handles.Theta_6.String)*pi/180;
L_1 = 0;
L_2 = 80;
L_3 = 70;
L_4 = 50;
L_5 = 0;
L_6 = 0;
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]);
L(4) = Link([0 0 L_4 -pi/2]);
L(5) = Link([0 0 L_5 pi/2]);
L(6) = Link([0 L_6 0 0]);
Robot = SerialLink(L);
Robot.name = 'Six_R_Robot';
Robot.plot([Th_1 Th_2 Th_3 Th_4 Th_5 Th_6]);
T = Robot.fkine([Th_1 Th_2 Th_3 Th_4 Th_5 Th_6]);
handles.Pos_X.String = num2str(floor(T.t(1)));
handles.Pos_Y.String = num2str(floor(T.t(2)));
handles.Pos_Z.String = num2str(floor(T.t(3)));
% --- 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 = 0;
L_2 = 80;
L_3 = 70;
L_4 = 50;
L_5 = 0;
L_6 = 0;
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]);
L(4) = Link([0 0 L_4 -pi/2]);
L(5) = Link([0 0 L_5 pi/2]);
L(6) = Link([0 L_6 0 0]);
Robot = SerialLink(L);
Robot.name = 'Six_R_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],'mask',[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)));
handles.Theta_4.String = num2str(floor(J(3)));
handles.Theta_5.String = num2str(floor(J(3)));
handles.Theta_6.String = num2str(floor(J(3)));
Robot.plot(J*pi/180);
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
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