📄 puma3d.m
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pumaANI(theta1,theta2,theta3-180,0,0,0,n,'y')
set(t1_edit,'string',round(theta1)); % Update slider and text.
set(t1_slider,'Value',round(theta1));
set(t2_edit,'string',round(theta2));
set(t2_slider,'Value',round(theta2));
set(t3_edit,'string',round(theta3-180));
set(t3_slider,'Value',round(theta3-180));
end
gohome
% pumaANI(90,-90,-90,0,0,0,num,'n')
end
%
%
%%
function home_button_press(h,dummy)
%disp('pushed home bottom');
gohome
end
%
%%
function clr_trail_button_press(h,dummy)
%disp('pushed clear trail bottom');
handles = getappdata(0,'patch_h'); %
Tr = handles(9);
%
setappdata(0,'xtrail',0); % used for trail tracking.
setappdata(0,'ytrail',0); % used for trail tracking.
setappdata(0,'ztrail',0); % used for trail tracking.
%
set(Tr,'xdata',0,'ydata',0,'zdata',0);
end
%
%
function rnd_demo_button_press(h, dummy)
%disp('pushed random demo bottom');
% a = 10; b = 50; x = a + (b-a) * rand(5)
% Angle Range Default Name
% Theta 1: 320 (-160 to 160) 90 Waist Joint
% Theta 2: 220 (-110 to 110) -90 Shoulder Joint
% Theta 3: 270 (-135 to 135) -90 Elbow Joint
% Theta 4: 532 (-266 to 266) 0 Wrist Roll
% Theta 5: 200 (-100 to 100) 0 Wrist Bend
% Theta 6: 532 (-266 to 266) 0 Wrist Swival
t1_home = 90; % offsets to define the "home" postition as UP.
t2_home = -90;
t3_home = -90;
theta1 = -160 + 320*rand(1); % offset for home
theta2 = -110 + 220*rand(1); % in the UP pos.
theta3 = -135 + 270*rand(1);
theta4 = -266 + 532*rand(1);
theta5 = -100 + 200*rand(1);
theta6 = -266 + 532*rand(1);
n = 50;
pumaANI(theta1+t1_home,theta2+t2_home,theta3+t3_home,theta4,theta5,theta6,n,'y')
set(t1_edit,'string',round(theta1)); % Update slider and text.
set(t1_slider,'Value',round(theta1));
set(t2_edit,'string',round(theta2));
set(t2_slider,'Value',round(theta2));
set(t3_edit,'string',round(theta3));
set(t3_slider,'Value',round(theta3));
set(t4_edit,'string',round(theta4));
set(t4_slider,'Value',round(theta4));
set(t5_edit,'string',round(theta5));
set(t5_slider,'Value',round(theta5));
set(t6_edit,'string',round(theta6));
set(t6_slider,'Value',round(theta6));
end
%%
%Here are the functions used for this robot example:
%
%%
% When called this function will simply initialize a plot of the Puma 762
% robot by plotting it in it's home orientation and setting the current
% angles accordingly.
function gohome()
pumaANI(90,-90,-90,0,0,0,20,'n') % show it animate home
%PumaPOS(90,-90,-90,0,0,0) %drive it home, no animate.
set(t1_edit,'string',0);
set(t1_slider,'Value',0); %At the home position, so all
set(t2_edit,'string',0); %sliders and input boxes = 0.
set(t2_slider,'Value',0);
set(t3_edit,'string',0);
set(t3_slider,'Value',0);
set(t4_edit,'string',0);
set(t4_slider,'Value',0);
set(t5_edit,'string',0);
set(t5_slider,'Value',0);
set(t6_edit,'string',0);
set(t6_slider,'Value',0);
setappdata(0,'ThetaOld',[90,-90,-90,0,0,0]);
end
%%
% This function will load the 3D CAD data.
%
function loaddata
% Loads all the link data from file linksdata.mat.
% This data comes from a Pro/E 3D CAD model and was made with cad2matdemo.m
% from the file exchange. All link data manually stored in linksdata.mat
[linkdata]=load('linksdata.mat','s1','s2', 's3','s4','s5','s6','s7','A1');
%Place the robot link 'data' in a storage area
setappdata(0,'Link1_data',linkdata.s1);
setappdata(0,'Link2_data',linkdata.s2);
setappdata(0,'Link3_data',linkdata.s3);
setappdata(0,'Link4_data',linkdata.s4);
setappdata(0,'Link5_data',linkdata.s5);
setappdata(0,'Link6_data',linkdata.s6);
setappdata(0,'Link7_data',linkdata.s7);
setappdata(0,'Area_data',linkdata.A1);
end
%
%%
% Use forward kinematics to place the robot in a specified configuration.
%
function PumaPOS(theta1,theta2,theta3,theta4,theta5,theta6)
s1 = getappdata(0,'Link1_data');
s2 = getappdata(0,'Link2_data');
s3 = getappdata(0,'Link3_data');
s4 = getappdata(0,'Link4_data');
s5 = getappdata(0,'Link5_data');
s6 = getappdata(0,'Link6_data');
s7 = getappdata(0,'Link7_data');
A1 = getappdata(0,'Area_data');
%
a2 = 650;
a3 = 0;
d3 = 190;
d4 = 600;
Px = 5000;
Py = 5000;
Pz = 5000;
t1 = theta1;
t2 = theta2;
t3 = theta3 %-180;
t4 = theta4;
t5 = theta5;
t6 = theta6;
%
% Forward Kinematics
T_01 = tmat(0, 0, 0, t1);
T_12 = tmat(-90, 0, 0, t2);
T_23 = tmat(0, a2, d3, t3);
T_34 = tmat(-90, a3, d4, t4);
T_45 = tmat(90, 0, 0, t5);
T_56 = tmat(-90, 0, 0, t6);
%T_01 = T_01;
T_02 = T_01*T_12;
T_03 = T_02*T_23;
T_04 = T_03*T_34;
T_05 = T_04*T_45;
T_06 = T_05*T_56;
%
Link1 = s1.V1;
Link2 = (T_01*s2.V2')';
Link3 = (T_02*s3.V3')';
Link4 = (T_03*s4.V4')';
Link5 = (T_04*s5.V5')';
Link6 = (T_05*s6.V6')';
Link7 = (T_06*s7.V7')';
handles = getappdata(0,'patch_h'); %
L1 = handles(1);
L2 = handles(2);
L3 = handles(3);
L4 = handles(4);
L5 = handles(5);
L6 = handles(6);
L7 = handles(7);
%
set(L1,'vertices',Link1(:,1:3),'facec', [0.717,0.116,0.123]);
set(L1, 'EdgeColor','none');
set(L2,'vertices',Link2(:,1:3),'facec', [0.216,1,.583]);
set(L2, 'EdgeColor','none');
set(L3,'vertices',Link3(:,1:3),'facec', [0.306,0.733,1]);
set(L3, 'EdgeColor','none');
set(L4,'vertices',Link4(:,1:3),'facec', [1,0.542,0.493]);
set(L4, 'EdgeColor','none');
set(L5,'vertices',Link5(:,1:3),'facec', [0.216,1,.583]);
set(L5, 'EdgeColor','none');
set(L6,'vertices',Link6(:,1:3),'facec', [1,1,0.255]);
set(L6, 'EdgeColor','none');
set(L7,'vertices',Link7(:,1:3),'facec', [0.306,0.733,1]);
set(L7, 'EdgeColor','none');
end
%%
% This function computes the Inverse Kinematics for the Puma 762 robot
% given X,Y,Z coordinates for a point in the workspace. Note: The IK are
% computed for the origin of Coordinate systems 4,5 & 6.
function [theta1,theta2,theta3,theta4,theta5,theta6] = PumaIK(Px,Py,Pz)
theta4 = 0;
theta5 = 0;
theta6 = 0;
sign1 = 1;
sign3 = 1;
nogo = 0;
noplot = 0;
% Because the sqrt term in theta1 & theta3 can be + or - we run through
% all possible combinations (i = 4) and take the first combination that
% satisfies the joint angle constraints.
while nogo == 0;
for i = 1:1:4
if i == 1
sign1 = 1;
sign3 = 1;
elseif i == 2
sign1 = 1;
sign3 = -1;
elseif i == 3
sign1 = -1;
sign3 = 1;
else
sign1 = -1;
sign3 = -1;
end
a2 = 650;
a3 = 0;
d3 = 190;
d4 = 600;
rho = sqrt(Px^2+Py^2);
phi = atan2(Py,Px);
K = (Px^2+Py^2+Pz^2-a2^2-a3^2-d3^2-d4^2)/(2*a2);
c4 = cos(theta4);
s4 = sin(theta4);
c5 = cos(theta5);
s5 = sin(theta5);
c6 = cos(theta6);
s6 = sin(theta6);
theta1 = (atan2(Py,Px)-atan2(d3,sign1*sqrt(Px^2+Py^2-d3^2)));
c1 = cos(theta1);
s1 = sin(theta1);
theta3 = (atan2(a3,d4)-atan2(K,sign3*sqrt(a3^2+d4^2-K^2)));
c3 = cos(theta3);
s3 = sin(theta3);
t23 = atan2((-a3-a2*c3)*Pz-(c1*Px+s1*Py)*(d4-a2*s3),(a2*s3-d4)*Pz+(a3+a2*c3)*(c1*Px+s1*Py));
theta2 = (t23 - theta3);
c2 = cos(theta2);
s2 = sin(theta2);
s23 = ((-a3-a2*c3)*Pz+(c1*Px+s1*Py)*(a2*s3-d4))/(Pz^2+(c1*Px+s1*Py)^2);
c23 = ((a2*s3-d4)*Pz+(a3+a2*c3)*(c1*Px+s1*Py))/(Pz^2+(c1*Px+s1*Py)^2);
r13 = -c1*(c23*c4*s5+s23*c5)-s1*s4*s5;
r23 = -s1*(c23*c4*s5+s23*c5)+c1*s4*s5;
r33 = s23*c4*s5 - c23*c5;
theta4 = atan2(-r13*s1+r23*c1,-r13*c1*c23-r23*s1*c23+r33*s23);
r11 = c1*(c23*(c4*c5*c6-s4*s6)-s23*s5*c6)+s1*(s4*c5*c6+c4*s6);
r21 = s1*(c23*(c4*c5*c6-s4*s6)-s23*s5*c6)-c1*(s4*c5*c6+c4*s6);
r31 = -s23*(c4*c5*c6-s4*s6)-c23*s5*c6;
s5 = -(r13*(c1*c23*c4+s1*s4)+r23*(s1*c23*c4-c1*s4)-r33*(s23*c4));
c5 = r13*(-c1*s23)+r23*(-s1*s23)+r33*(-c23);
theta5 = atan2(s5,c5);
s6 = -r11*(c1*c23*s4-s1*c4)-r21*(s1*c23*s4+c1*c4)+r31*(s23*s4);
c6 = r11*((c1*c23*c4+s1*s4)*c5-c1*s23*s5)+r21*((s1*c23*c4-c1*s4)*c5-s1*s23*s5)-r31*(s23*c4*c5+c23*s5);
theta6 = atan2(s6,c6);
theta1 = theta1*180/pi;
theta2 = theta2*180/pi;
theta3 = theta3*180/pi;
theta4 = theta4*180/pi;
theta5 = theta5*180/pi;
theta6 = theta6*180/pi;
if theta2>=160 && theta2<=180
theta2 = -theta2;
end
if theta1<=160 && theta1>=-160 && (theta2<=20 && theta2>=-200) && theta3<=45 && theta3>=-225 && theta4<=266 && theta4>=-266 && theta5<=100 && theta5>=-100 && theta6<=266 && theta6>=-266
nogo = 1;
theta3 = theta3+180;
break
end
if i == 4 && nogo == 0
h = errordlg('Point unreachable due to joint angle constraints.','JOINT ERROR');
waitfor(h);
nogo = 1;
noplot = 1;
break
end
end
end
end
%
%%
function pumaANI(theta1,theta2,theta3,theta4,theta5,theta6,n,trail)
% This function will animate the Puma 762 robot given joint angles.
% n is number of steps for the animation
% trail is 'y' or 'n' (n = anything else) for leaving a trail.
%
%disp('in animate');
a2 = 650; %D-H paramaters
a3 = 0;
d3 = 190;
d4 = 600;
% Err2 = 0;
%
ThetaOld = getappdata(0,'ThetaOld');
%
theta1old = ThetaOld(1);
theta2old = ThetaOld(2);
theta3old = ThetaOld(3);
theta4old = ThetaOld(4);
theta5old = ThetaOld(5);
theta6old = ThetaOld(6);
%
t1 = linspace(theta1old,theta1,n);
t2 = linspace(theta2old,theta2,n);
t3 = linspace(theta3old,theta3,n);% -180;
t4 = linspace(theta4old,theta4,n);
t5 = linspace(theta5old,theta5,n);
t6 = linspace(theta6old,theta6,n);
n = length(t1);
for i = 2:1:n
% Forward Kinematics
%
T_01 = tmat(0, 0, 0, t1(i));
T_12 = tmat(-90, 0, 0, t2(i));
T_23 = tmat(0, a2, d3, t3(i));
T_34 = tmat(-90, a3, d4, t4(i));
T_45 = tmat(90, 0, 0, t5(i));
T_56 = tmat(-90, 0, 0, t6(i));
%
% % T_67 = [ 1 0 0 0
% % 0 1 0 0
% % 0 0 1 188
% % 0 0 0 1];
%T_01 = T_01; % it is, but don't need to say so.
T_02 = T_01*T_12;
T_03 = T_02*T_23;
T_04 = T_03*T_34;
T_05 = T_04*T_45;
T_06 = T_05*T_56;
% T_07 = T_06*T_67;
%
s1 = getappdata(0,'Link1_data');
s2 = getappdata(0,'Link2_data');
s3 = getappdata(0,'Link3_data');
s4 = getappdata(0,'Link4_data');
s5 = getappdata(0,'Link5_data');
s6 = getappdata(0,'Link6_data');
s7 = getappdata(0,'Link7_data');
%A1 = getappdata(0,'Area_data');
Link1 = s1.V1;
Link2 = (T_01*s2.V2')';
Link3 = (T_02*s3.V3')';
Link4 = (T_03*s4.V4')';
Link5 = (T_04*s5.V5')';
Link6 = (T_05*s6.V6')';
Link7 = (T_06*s7.V7')';
% Tool = T_07;
% if sqrt(Tool(1,4)^2+Tool(2,4)^2)<514
% Err2 = 1;
% break
% end
%
handles = getappdata(0,'patch_h'); %
L1 = handles(1);
L2 = handles(2);
L3 = handles(3);
L4 = handles(4);
L5 = handles(5);
L6 = handles(6);
L7 = handles(7);
Tr = handles(9);
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