INSTITUTO TECNOLOGICO DE CIUDAD JUAREZ

Fundamentos de Robótica

Profesor:
Alumnos
Para lograr la movilidad de nuestro robot, encontramos la forma por medio de Matlab con
una modalidad llamada Gui. Con él se logró graficar hacia donde dirigimos nuestro robot,
dejando un brazo fijo, el eje fijo nada más se mueve en 360֠ sobre su mismo eje y partiendo
de ahí los demás brazos. A continuación, se muestra el programa que utilice para hacer el
controlador.
function varargout = RRR_Robot(varargin)

% RRR_ROBOT MATLAB code for RRR_Robot.fig

% RRR_ROBOT, by itself, creates a new RRR_ROBOT or raises the
existing
% singleton*.
%
% H = RRR_ROBOT returns the handle to a new RRR_ROBOT or the handle
to
% the existing singleton*.
%
% RRR_ROBOT('CALLBACK',hObject,eventData,handles,...) calls the
local
% function named CALLBACK in RRR_ROBOT.M with the given input
arguments.
%
% RRR_ROBOT('Property','Value',...) creates a new RRR_ROBOT or
raises the
% existing singleton*. Starting from the left, property value pairs
are
% applied to the GUI before RRR_Robot_OpeningFcn gets called. An
% unrecognized property name or invalid value makes property
application
% stop. All inputs are passed to RRR_Robot_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 RRR_Robot

% Last Modified by GUIDE v2.5 18-Oct-2018 16:37:30

% Begin initialization code - DO NOT EDIT

gui_Singleton = 1;
gui_State = struct('gui_Name', mfilename, ...
'gui_Singleton', gui_Singleton, ...
'gui_OpeningFcn', @RRR_Robot_OpeningFcn, ...
'gui_OutputFcn', @RRR_Robot_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 RRR_Robot is made visible.

function RRR_Robot_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 RRR_Robot (see VARARGIN)

% Choose default command line output for RRR_Robot

handles.output = hObject;

% Update handles structure

guidata(hObject, handles);

% UIWAIT makes RRR_Robot wait for user response (see UIRESUME)

% uiwait(handles.figure1);

% --- Outputs from this function are returned to the command line.
function varargout = RRR_Robot_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 Theta_1_Callback(hObject, eventdata, handles)

% hObject handle to Theta_1 (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 Theta_1 as text

% str2double(get(hObject,'String')) returns contents of Theta_1 as
a double

% --- Executes during object creation, after setting all properties.

function Theta_1_CreateFcn(hObject, eventdata, handles)
% hObject handle to Theta_1 (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 Theta_2_Callback(hObject, eventdata, handles)

% hObject handle to Theta_2 (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 Theta_2 as text

% str2double(get(hObject,'String')) returns contents of Theta_2 as
a double

% --- Executes during object creation, after setting all properties.

function Theta_2_CreateFcn(hObject, eventdata, handles)
% hObject handle to Theta_2 (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 Theta_3_Callback(hObject, eventdata, handles)

% hObject handle to Theta_3 (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 Theta_3 as text

% str2double(get(hObject,'String')) returns contents of Theta_3 as
a double

% --- Executes during object creation, after setting all properties.

function Theta_3_CreateFcn(hObject, eventdata, handles)
% hObject handle to Theta_3 (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 Theta_4_Callback(hObject, eventdata, handles)

% hObject handle to Theta_4 (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 Theta_4 as text

% str2double(get(hObject,'String')) returns contents of Theta_4 as
a double

% --- Executes during object creation, after setting all properties.

function Theta_4_CreateFcn(hObject, eventdata, handles)
% hObject handle to Theta_4 (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

% --- Executes on button press in btn_Forward.

function btn_Forward_Callback(hObject, eventdata, handles)
% hObject handle to btn_Forward (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
Th_1 = str2double(handles.Theta_1.String)*pi/180;
Th_2 = str2double(handles.Theta_2.String)*pi/180;
Th_3 = str2double(handles.Theta_3.String)*pi/180;
Th_4 = str2double(handles.Theta_4.String)*pi/180;

L_1 = 20;
L_2 = 50;
L_3 = 40;
L_4 = 40;

L(1) = Link([0 L_1 0 pi/2]);

L(2) = Link([0 0 L_2 0]);
L(3) = Link([0 0 L_3 0]);
L(4) = Link([0 0 L_4 0]);

Robot = SerialLink(L);
Robot.name = 'RRR_Robot';
Robot.plot([Th_1 Th_2 Th_3 Th_4]);
T = Robot.fkine([Th_1 Th_2 Th_3 Th_4]);
handles.Pos_W.String = num2str(floor(T(1,5)));
handles.Pos_X.String = num2str(floor(T(2,5)));
handles.Pos_Y.String = num2str(floor(T(3,5)));
handles.Pos_Z.String = num2str(floor(T(4,5)));

function Pos_X_Callback(hObject, eventdata, handles)

% hObject handle to Pos_X (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 Pos_X as text

% str2double(get(hObject,'String')) returns contents of Pos_X as a
double

% --- Executes during object creation, after setting all properties.

function Pos_X_CreateFcn(hObject, eventdata, handles)
% hObject handle to Pos_X (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 Pos_Y_Callback(hObject, eventdata, handles)

% hObject handle to Pos_Y (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 Pos_Y as text

% str2double(get(hObject,'String')) returns contents of Pos_Y as a
double

% --- Executes during object creation, after setting all properties.

function Pos_Y_CreateFcn(hObject, eventdata, handles)
% hObject handle to Pos_Y (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 Pos_Z_Callback(hObject, eventdata, handles)

% hObject handle to Pos_Z (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 Pos_Z as text

% str2double(get(hObject,'String')) returns contents of Pos_Z as a
double

% --- Executes during object creation, after setting all properties.

function Pos_Z_CreateFcn(hObject, eventdata, handles)
% hObject handle to Pos_Z (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 Pos_W_Callback(hObject, eventdata, handles)

% hObject handle to Pos_W (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 Pos_W as text

% str2double(get(hObject,'String')) returns contents of Pos_W as a
double

% --- Executes during object creation, after setting all properties.

function Pos_W_CreateFcn(hObject, eventdata, handles)
% hObject handle to Pos_W (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

% --- Executes on button press in btn_Inverse.

function btn_Inverse_Callback(hObject, eventdata, handles)
% hObject handle to btn_Inverse (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)

Se tiene que descargar un driver que es el que te da la visión de nuestro robot en la gráfica.
El programa a continuación.
disp('Robotics, Vision & Control: (c) Peter Corke 1992-2017
http://www.petercorke.com')

if verLessThan('matlab', '7.0')
warning('You are running a very old (and unsupported) version of
MATLAB. You will very likely encounter significant problems using the
toolboxes but you are on your own with this');
end
tb = false;
rvcpath = fileparts( mfilename('fullpath') );

robotpath = fullfile(rvcpath, 'robot');

if exist(robotpath,'dir')
addpath(robotpath);
tb = true;
if exist('startup_rtb') == 2
startup_rtb
end
end

visionpath = fullfile(rvcpath, 'vision');

if exist(visionpath,'dir')
addpath(visionpath);
tb = true;
if exist('startup_mvtb') == 2
startup_mvtb
end
end

if tb
addpath(fullfile(rvcpath, 'common'));
addpath(fullfile(rvcpath, 'simulink'));
end

clear tb rvcpath robotpath visionpath

ya por ultimo tu asignas los valores que deseas hacia donde se tiene que mover nuestro
robot dándote las coordenadas y su posición