scm_menu3.m

针对移动机械臂运动学

%SCM_MENU3 Auxiliary: Demonstration of the SCM Method (D&H Parameters)

%July ~ December 2005, by Reinaldo M. do Nascimento

%clc
xTitle='D&H Parameters ==> MDH=scm2dh(manipulator)';
xCommand='Modified';
while 1
     selec5 = menu(xTitle,...
                   xCommand,...
                   'Exit');
     switch selec5
           case 1
               switch xCommand
                     case 'Modified'
                           switch exist('MDH')
                                 case 0
                                     MDH=scm2dh(manipulator)
                                 case 1
                                     MDH
                           end
                           if exist('SDH')
                                     xTitle='D&H Parameters ==> verify again';
                           else
                               xTitle='D&H Parameters ==> SDH=dhconv(MDH) or SDH=dhconv(MDH,''m2s'')';
                           end   
                           xCommand='Standard';
                     case 'Standard'
                           switch exist('SDH')
                                 case 0
                                     SDH=dhconv(MDH,'m2s')
                                 case 1
                                     SDH
                           end
                           xTitle='D&H Parameters';
                           xCommand='Miscellaneous';
                     case 'Miscellaneous'
                           xTitle='Miscellaneous';
                           xCommand='Homogeneous Transformation';
                     case 'Homogeneous Transformation'
                         while 1
                              selec6 = menu('Homogeneous Transformation',...
                                            'MH=dhconv(MDH,''m2h'')',...
                                            'SH=dhconv(SDH,''s2h'')',...
                                            'Exit');
                              switch selec6
                                    case 1
                                        switch exist('MH')
                                              case 0
                                                  MH=dhconv(MDH,'m2h')
                                              case 1
                                                  MH
                                        end
                                    case 2
                                        switch exist('SH')
                                              case 0
                                                  SH=dhconv(SDH,'s2h')
                                              case 1
                                                  SH
                                        end
                                    case 3
                                        xTitle='Miscellaneous';
                                        xCommand='Jacobian Matrix';
                                        break
                              end
                         end
                     case 'Jacobian Matrix'
                         while 1
                              selec6 = menu('Jacobian Matrix',...
                                            'J0=h2j(MH,manipulator)',...
                                            'Jn=h2j(MH,manipulator,''n'')',...
                                            'Exit');
                              switch selec6
                                    case 1
                                        switch exist('MH')
                                              case 0
                                                  MH=dhconv(MDH,'m2h')
                                                  disp('J0=simplify(h2j(MH,manipulator))')
                                                  J0=simplify(h2j(MH,manipulator))
                                              case 1
                                                  disp('J0=simplify(h2j(MH,manipulator))')
                                                  J0=simplify(h2j(MH,manipulator))
                                        end
                                    case 2
                                        switch exist('MH')
                                              case 0
                                                  MH=dhconv(MDH,'m2h')
                                                  disp('Jn=simplify(h2j(MH,manipulator,''n''))')
                                                  Jn=simplify(h2j(MH,manipulator,'n'))
                                              case 1
                                                  disp('Jn=simplify(h2j(MH,manipulator,''n''))')
                                                  Jn=simplify(h2j(MH,manipulator,'n'))
                                        end
                                    case 3
                                        xTitle='D&H Parameters ==> verify again';
                                        xCommand='Modified';
                                        break
                              end
                         end
               end
           case 2
               break
     end
end
clear selec5 selec6 x*