Develop a simulation of a SCARA robot using \"standard form\" as well as \"modif

Question

Develop a simulation of a SCARA robot using "standard form" as well as "modified form" with 1m and 2m link length tor the first two links using Robotics Toolbox for MATLAB The third link associated with the prismatic joint should have joint limits of 0 and 3(or pi if you so desire. Lull no negative values. Oils can be achieved by commands like link.qlim - joint limits see Robotics Toolbox Manual). Use the link( ) and robot ( ) functions. Use drivebot() function to move the Iinks after creating the simulated robot.

Explanation / Answer

function drivebot(a,b) bgcol = [135 206 250]/255; if isstr(a) % drivebot(name, j), graphical callback function name = a; j = b; rh = findobj('Tag', name); handles = get(gco, 'Userdata'); scale = handles{3}; for r=rh', rr = get(r, 'UserData'); q = rr.q; if isempty(q), q = zeros(1,rr.n); end if gco == handles{1}, % get value from slider q(j) = get(gco, 'Value') / scale(j); set(handles{2}, 'String', num2str(scale(j)*q(j))); else % get value from text box q(j) = str2num(get(gco, 'String')) / scale(j); set(handles{1}, 'Value', q(j)); end rr.q = q; set(r, 'UserData', rr); plot(rr, q) end else % drivebot(r, q) r = a; scale = ones(r.n,1); n = r.n; width = 300; height = 40; minVal = -pi; maxVal = pi; qlim = r.qlim; if isempty(qlim), qlim = [minVal*ones(r.n,1) maxVal*ones(r.n,1)]; end if nargin < 2, q = zeros(1,n); else if isstr(b), if strncmp(b, 'deg', 3), disp('** in degree mode') L = r.link; for i=1:r.n, if L{i}.sigma == 0, scale(i) = 180/pi; end end end else q = b; end end fig = figure('Units', 'pixels', ... 'Position', [0 -height width height*(n+1)], ... 'Color', bgcol); set(fig,'MenuBar','none') delete( get(fig, 'Children') ) % first we check to see if there are any graphical robots of % this name, if so we use them, otherwise create a robot plot. rh = findobj('Tag', r.name); % attempt to get current joint config of graphical robot if ~isempty(rh), rr = get(rh(1), 'UserData'); if ~isempty(rr.q), q = rr.q; end end scale % now make the sliders for i=1:n, uicontrol(fig, 'Style', 'text', ... 'Units', 'pixels', ... 'BackgroundColor', bgcol, ... 'Position', [0 height*(6-i) width*0.1 height*0.4], ... 'String', sprintf('q%d', i)); h(i) = uicontrol(fig, 'Style', 'slider', ... 'Units', 'pixels', ... 'Position', [width*0.1 height*(6-i) width*0.7 height*0.4], ... 'Min', scale(i)*qlim(i,1), ... 'Max', scale(i)*qlim(i,2), ... 'Value', scale(i)*q(i), ... 'Tag', sprintf('Slider%d', i), ... 'Callback', ['drivebot(''' r.name ''',' num2str(i) ')']); h2(i) = uicontrol(fig, 'Style', 'edit', ... 'Units', 'pixels', ... 'Position', [width*0.8 height*(6-i) width*0.2 height*0.4], ... 'String', num2str(scale(i)*q(i)), ... 'Tag', sprintf('Edit%d', i), ... 'Callback', ['drivebot(''' r.name ''',' num2str(i) ')']); handles = {h(i) h2(i) scale}; set(h(i), 'Userdata', handles); set(h2(i), 'Userdata', handles); end uicontrol(fig, 'Style', 'text', ... 'Units', 'pixels', ... 'FontSize', 20, ... 'HorizontalAlignment', 'left', ... 'Position', [0 height*6 0.8*width height], ... 'BackgroundColor', 'white', ... 'String', r.name); uicontrol(fig, 'Style', 'pushbutton', ... 'Units', 'pixels', ... 'FontSize', 16, ... 'Position', [0.8*width height*6 0.2*width height], ... 'CallBack', 'delete(gcf)', ... 'BackgroundColor', 'red', ... 'String', 'Quit'); if isempty(rh), figure plot(r, q); end end

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