【机械仿真】机械臂运动控制【含GUI Matlab源码 063期】

⛄一、获取代码方式

获取代码方式1：
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获取代码方式2：
付费专栏Matlab物理应用（初级版）

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⛄二、部分源代码

function varargout = MAINFILE(varargin)
gui_Singleton = 1;
gui_State = struct(‘gui_Name’, mfilename, …
‘gui_Singleton’, gui_Singleton, …
‘gui_OpeningFcn’, @MAINFILE_OpeningFcn, …
‘gui_OutputFcn’, @MAINFILE_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 MAINFILE is made visible.
function MAINFILE_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 MAINFILE (see VARARGIN)

% Choose default command line output for MAINFILE
handles.output = hObject;

% Update handles structure
guidata(hObject, handles);

% UIWAIT makes MAINFILE wait for user response (see UIRESUME)
% uiwait(handles.figure1);

% — Outputs from this function are returned to the command line.
function varargout = MAINFILE_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;

% — Executes on button press in DOF.
function DOF_Callback(hObject, eventdata, handles)
% hObject handle to DOF (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
run TRANSMAT.m

% — Executes on button press in TO.
function TO_Callback(hObject, eventdata, handles)
% hObject handle to TO (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
run TRANSOP.m

% — Executes on button press in TM.
function TM_Callback(hObject, eventdata, handles)
% hObject handle to TM (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
run TRANSMAP.m

% — Executes on button press in EA.
function EA_Callback(hObject, eventdata, handles)
% hObject handle to EA (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
run EULERANG.m

% — Executes on button press in FK.
function FK_Callback(hObject, eventdata, handles)
% hObject handle to FK (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
run DHPARAM.m

% — Executes on button press in WS.
function WS_Callback(hObject, eventdata, handles)
% hObject handle to WS (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
run WORKSPACE.m

% — Executes on button press in IK.
function IK_Callback(hObject, eventdata, handles)
% hObject handle to IK (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
run INVERSEKINEMATICS.m

% — Executes on button press in DF.
function DF_Callback(hObject, eventdata, handles)
% hObject handle to DF (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
run JACOBIAN.m

% — Executes on button press in IDK.
function IDK_Callback(hObject, eventdata, handles)
% hObject handle to IDK (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
run INVERSEDIFFERENTIAL.m

% — Executes on button press in MD.
function MD_Callback(hObject, eventdata, handles)
% hObject handle to MD (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)

% — Executes on button press in IKUJ.
function IKUJ_Callback(hObject, eventdata, handles)
% hObject handle to IKUJ (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
run INVERSEKINEMATICSJACOB.m

% — Executes on button press in RM.
function RM_Callback(hObject, eventdata, handles)
% hObject handle to RM (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
run ROTMAT.m

% — Executes on button press in LPF.
function LPF_Callback(hObject, eventdata, handles)
% hObject handle to LPF (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
run DHNEW.m

⛄三、运行结果

⛄四、matlab版本及参考文献

1 matlab版本
2014a

2 参考文献
[1] 门云阁.MATLAB物理计算与可视化[M].清华大学出版社，2013.

3 备注
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