六自由度机械臂正逆运动Matlab仿真.zip

function varargout = znGUI(varargin) % ZNGUI MATLAB code for znGUI.fig % ZNGUI, by itself, creates a new ZNGUI or raises the existing % singleton*. % % H = ZNGUI returns the handle to a new ZNGUI or the handle to % the existing singleton*. % % ZNGUI('CALLBACK',hObject,eventData,handles,...) calls the local % function named CALLBACK in ZNGUI.M with the given input arguments. % % ZNGUI('Property','Value',...) creates a new ZNGUI or raises the % existing singleton*. Starting from the left, property value pairs are % applied to the GUI before znGUI_OpeningFcn gets called. An % unrecognized property name or invalid value makes property application % stop. All inputs are passed to znGUI_OpeningFcn via varargin. % % *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one % instance to run (singleton)". % % See also: GUIDE, GUIDATA, GUIHANDLES % Edit the above text to modify the response to help znGUI % Last Modified by GUIDE v2.5 31-Jul-2018 14:41:17 % Begin initialization code - DO NOT EDIT gui_Singleton = 1; gui_State = struct('gui_Name', mfilename, ... 'gui_Singleton', gui_Singleton, ... 'gui_OpeningFcn', @znGUI_OpeningFcn, ... 'gui_OutputFcn', @znGUI_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 znGUI is made visible. function znGUI_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 znGUI (see VARARGIN) % Choose default command line output for znGUI global t0; global s0; t0=[0 0 0 0 0 0]; s0=[1 0 0 110;0 0 -1 -20;0 1 0 60]; handles.output = hObject; % Update handles structure guidata(hObject, handles); % UIWAIT makes znGUI wait for user response (see UIRESUME) % uiwait(handles.figure1); % --- Outputs from this function are returned to the command line. function varargout = znGUI_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; function x1_Callback(hObject, eventdata, handles) % hObject handle to x1 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Hints: get(hObject,'String') returns contents of x1 as text % str2double(get(hObject,'String')) returns contents of x1 as a double % --- Executes during object creation, after setting all properties. function x1_CreateFcn(hObject, eventdata, handles) % hObject handle to x1 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % Hint: edit controls usually have a white background on Windows. % See ISPC and COMPUTER. if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white'); end function x2_Callback(hObject, eventdata, handles) % hObject handle to x2 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Hints: get(hObject,'String') returns contents of x2 as text % str2double(get(hObject,'String')) returns contents of x2 as a double % --- Executes during object creation, after setting all properties. function x2_CreateFcn(hObject, eventdata, handles) % hObject handle to x2 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % Hint: edit controls usually have a white background on Windows. % See ISPC and COMPUTER. if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white'); end function x3_Callback(hObject, eventdata, handles) % hObject handle to x3 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Hints: get(hObject,'String') returns contents of x3 as text % str2double(get(hObject,'String')) returns contents of x3 as a double % --- Executes during object creation, after setting all properties. function x3_CreateFcn(hObject, eventdata, handles) % hObject handle to x3 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % Hint: edit controls usually have a white background on Windows. % See ISPC and COMPUTER. if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white'); end function x4_Callback(hObject, eventdata, handles) % hObject handle to x4 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Hints: get(hObject,'String') returns contents of x4 as text % str2double(get(hObject,'String')) returns contents of x4 as a double % --- Executes during object creation, after setting all properties. function x4_CreateFcn(hObject, eventdata, handles) % hObject handle to x4 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % Hint: edit controls usually have a white background on Windows. % See ISPC and COMPUTER. if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white'); end function x5_Callback(hObject, eventdata, handles) % hObject handle to x5 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Hints: get(hObject,'String') returns contents of x5 as text % str2double(get(hObject,'String')) returns contents of x5 as a double % --- Executes during object creation, after setting all properties. function x5_CreateFcn(hObject, eventdata, handles) % hObject handle to x5 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % Hint: edit controls usually have a white background on Windows. % See ISPC and COMPUTER. if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white'); end function x6_Callback(hObject, eventdata, handles) % hObject handle to x6 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Hints: get(hObject,'String') returns contents of x6 as text % str2double(get(hObject,'String')) returns contents of x6 as a double % --- Executes during object creation, after setting all properties. function x6_CreateFcn(hObject, eventdata, handles) % hObject handle to x6 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % Hi