robotics.m

这是一个能解决一系列机器人手运动学和动力学 方程的matlab符号工具箱。

if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end



function edit36_Callback(hObject, eventdata, handles)
% hObject    handle to edit27 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
global Ixy2
Ixy2 = str2double(get(hObject,'string'))

% Hints: get(hObject,'String') returns contents of edit27 as text
%        str2double(get(hObject,'String')) returns contents of edit27 as a double


% --- Executes during object creation, after setting all properties.
function edit37_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit28 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called
global Iyy2
Iyy2 = str2double(get(hObject,'string'))

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end



function edit37_Callback(hObject, eventdata, handles)
% hObject    handle to edit28 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
global Iyy2
Iyy2 = str2double(get(hObject,'string'))

% Hints: get(hObject,'String') returns contents of edit28 as text
%        str2double(get(hObject,'String')) returns contents of edit28 as a double


% --- Executes during object creation, after setting all properties.
function edit38_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit29 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called
global Iyz2
Iyz2 = str2double(get(hObject,'string'))

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end



function edit38_Callback(hObject, eventdata, handles)
% hObject    handle to edit29 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
global Iyz2
Iyz2 = str2double(get(hObject,'string'))

% Hints: get(hObject,'String') returns contents of edit29 as text
%        str2double(get(hObject,'String')) returns contents of edit29 as a double


% --- Executes during object creation, after setting all properties.
function edit39_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit30 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called
global Ixz2
Ixz2 = str2double(get(hObject,'string'))

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end



function edit39_Callback(hObject, eventdata, handles)
% hObject    handle to edit30 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
global Ixz2
Ixz2 = str2double(get(hObject,'string'))

% Hints: get(hObject,'String') returns contents of edit30 as text
%        str2double(get(hObject,'String')) returns contents of edit30 as a double


% --- Executes during object creation, after setting all properties.
function edit40_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit31 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called
global Iyz2
Iyz2 = str2double(get(hObject,'string'))

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end



function edit40_Callback(hObject, eventdata, handles)
% hObject    handle to edit31 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
global Iyz2
Iyz2 = str2double(get(hObject,'string'))

% Hints: get(hObject,'String') returns contents of edit31 as text
%        str2double(get(hObject,'String')) returns contents of edit31 as a double


% --- Executes during object creation, after setting all properties.
function edit41_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit32 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called
global Izz2
Izz2 = str2double(get(hObject,'string'))

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end



function edit41_Callback(hObject, eventdata, handles)
% hObject    handle to edit32 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
global Izz2
Izz2 = str2double(get(hObject,'string'))

% Hints: get(hObject,'String') returns contents of edit32 as text
%        str2double(get(hObject,'String')) returns contents of edit32 as a double


% --- Executes during object creation, after setting all properties.
function edit42_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit24 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called
global Ixx3
Ixx3 = str2double(get(hObject,'string'))

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end



function edit42_Callback(hObject, eventdata, handles)
% hObject    handle to edit24 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
global Ixx3
Ixx3 = str2double(get(hObject,'string'))

% Hints: get(hObject,'String') returns contents of edit24 as text
%        str2double(get(hObject,'String')) returns contents of edit24 as a double


% --- Executes during object creation, after setting all properties.
function edit43_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit25 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called
global Ixy3
Ixy3 = str2double(get(hObject,'string'))

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end



function edit43_Callback(hObject, eventdata, handles)
% hObject    handle to edit25 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
global Ixy3
Ixy3 = str2double(get(hObject,'string'))

% Hints: get(hObject,'String') returns contents of edit25 as text
%        str2double(get(hObject,'String')) returns contents of edit25 as a double


% --- Executes during object creation, after setting all properties.
function edit44_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit26 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called
global Ixz3
Ixz3 = str2double(get(hObject,'string'))

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end



function edit44_Callback(hObject, eventdata, handles)
% hObject    handle to edit26 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
global Ixz3
Ixz3 = str2double(get(hObject,'string'))

% Hints: get(hObject,'String') returns contents of edit26 as text
%        str2double(get(hObject,'String')) returns contents of edit26 as a double


% --- Executes during object creation, after setting all properties.
function edit45_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit27 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called
global Ixy3
Ixy3 = str2double(get(hObject,'string'))

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end



function edit45_Callback(hObject, eventdata, handles)
% hObject    handle to edit27 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
global Ixy3
Ixy3 = str2double(get(hObject,'string'))

% Hints: get(hObject,'String') returns contents of edit27 as text
%        str2double(get(hObject,'String')) returns contents of edit27 as a double


% --- Executes during object creation, after setting all properties.
function edit46_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit28 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called
global Iyy3
Iyy3 = str2double(get(hObject,'string'))

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end



function edit46_Callback(hObject, eventdata, handles)
% hObject    handle to edit28 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
global Iyy3
Iyy3 = str2double(get(hObject,'string'))

% Hints: get(hObject,'String') returns contents of edit28 as text
%        str2double(get(hObject,'String')) returns contents of edit28 as a double


% --- Executes during object creation, after setting all properties.
function edit47_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit29 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called
global Iyz3
Iyz3 = str2double(get(hObject,'string'))

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end



function edit47_Callback(hObject, eventdata, handles)
% hObject    handle to edit29 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
global Iyz3
Iyz3 = str2double(get(hObject,'string'))

% Hints: get(hObject,'String') returns contents of edit29 as text
%        str2double(get(hObject,'String')) returns contents of edit29 as a double


% --- Executes during object creation, after setting all properties.
function edit48_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit30 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called
global Ixz3
Ixz3 = str2double(get(hObject,'string'))

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end



function edit48_Callback(hObject, eventdata, handles)
% hObject    handle to edit30 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
global Ixz3
Ixz3 = str2double(get(hObject,'string'))

% Hints: get(hObject,'String') returns contents of edit30 as text
%        str2double(get(hObject,'String')) returns contents of edit30 as a double


% --- Executes during object creation, after setting all properties.