scm_menu1.m

针对移动机械臂运动学

%SCM_MENU1 Auxiliary: Demonstration of the SCM Method 

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

clc
clear S0 SC0 S1 SC1 S2 SC2 S3 SC3 MDH SDH MH SH
k=[0,0];
scm_zip='';
scm_simp='';
disp(scm_script);
run (scm_script);
while selec1
    selec2 = menu(manipulator.description,...
        'Forward Kinematics',...
        'Jacobian ''0''',...
        'Jacobian ''N''',...
        '(Forward Kinematics) ^ -1',...
        'Inverse Kinematics',...
         scm_zip,...
         scm_simp,...
        'Figure',...
        'Script',...
        'D&H Parameters',...
        'SCM Parameters',...
        'Exit');
    
    switch selec2
        case 1
            clc
            k=[1,1];
            disp('                                         S0=scm(manipulator,0)')
            S0=scm(manipulator,0)
            scm_zip='<Sczip S0>';
            scm_simp='<Simplify S0>';
        case 2
            clc
            k=[2,2];
            disp('                                         S1=scm(manipulator,1)')
            S1=scm(manipulator,1)
            scm_zip='<Sczip S1>';
            scm_simp='<Simplify S1>';
        case 3
            clc
            k=[3,3];
            disp('                                         S2=scm(manipulator,2)')
            S2=scm(manipulator,2)
            scm_zip='<Sczip S2>';
            scm_simp='<Simplify S2>';
        case 4
            clc
            k=[4,4];
            disp('                                         S3=scm(manipulator,-1)')
            S3=scm(manipulator,-1)
            scm_zip='<Sczip S3>';
            scm_simp='<Simplify S3>';
        case 5
            %clc
            k=[5,5];
            scm_zip='';
            scm_simp='';
            scm_menu2
        case 6
            scm_zip='';
            switch k(1)
                case 1
                    disp('                                         SC0=sczip(S0)')
                    SC0=sczip(S0)
                    k(1)=0;
                case 2
                    disp('                                         SC1=sczip(S1)')
                    SC1=sczip(S1)
                    k(1)=0;
                case 3
                    disp('                                         SC2=sczip(S2)')
                    SC2=sczip(S2)
                    k(1)=0;
                case 4
                    disp('                                         SC3=sczip(S3)')
                    SC3=sczip(S3)
                    k(1)=0;
                otherwise
                    scm_zip='#Unavailable#';
            end
        case 7
            scm_simp='';
            switch k(2)
                case 1
                    disp('                                         S0=simplify(S0)')
                    S0=simplify(S0)
                    scm_zip='<Sczip S0>';
                    k=[1,0];
                case 2
                    disp('                                         S1=simplify(S1)')
                    S1=simplify(S1)
                    scm_zip='<Sczip S1>';
                    k=[2,0];
                case 3
                    disp('                                         S2=simplify(S2)')
                    S2=simplify(S2)
                    scm_zip='<Sczip S2>';
                    k=[3,0];
                case 4
                    disp('                                         S3=simplify(S3)')
                    S3=simplify(S3)
                    scm_zip='<Sczip S3>';
                    k=[4,0];
                otherwise
                    scm_simp='#Unavailable#';
            end
        case 8
                    scm_fig=open (scm_figure);
        case 9
                    open (scm_script)
        case 10
            k=[10,10];
            scm_zip='';
            scm_simp='';
            scm_menu3
        case 11
            %clc
            k=[11,11];
            scm_zip='';
            scm_simp='';
            disp(manipulator.description)
            disp('SCM Joint Parameters ==> [X Y Z A B C]')
            SCM_JP=[manipulator.jointParameters;manipulator.finalTransformation(1,:)]
        case 12
            break
    end
end
clear selec2 k scm*