%?This?is?PUMA3d.M?a?3D?Matlab?Kinematic?model?of?a?Puma?robot?located
%?in?the?robotics?lab?of?Walla?Walla?University.
%?The?file?uses?CAD?data?converted?to?Matlab?using?cad2matdemo.m?which?
%?is?located?on?the?Mathworks?central?file?exchange.
%
%?This?file?is?still?being?developed?for?the?latest?version?check?the
%?Mathworks?central?file?exchange.
%
%?Todo?list:
%?1）?optimize?pumaANI?lots?of?stuff?in?loop?that?needs?help.
%?2）?move?x?y?and?z?position?to?end?effecter?not?link?6?origin.
%?3）?Toggle?kinematics?buttons?on/off?with?inverse?kinematics?button.
%?4）?Make?this?work?with?real?time?inverse?kinematics.
%?5）?Make?the?track?on?and?off?option?better.
%?6）?add?other?things?that?makes?this?program?fun.
%?7）?check?for?noplots?and?nogos
%?8）?add?some?better?“demos“?for?the?button
%?9）?Fix?problem?of?more?than?one?robot?window.
%
function?puma3d
%?GUI?kinematic?demo?for?the?Puma?Robot.
%?Robot?geometry?uses?the?CAD2MATDEMO?code?in?the?Mathworks?file?exchange
%
%%
loaddata
InitHome
%
%?Create?the?push?buttons:?pos?is:?[left?bottom?width?height]
demo?=?uicontrol（fig_1‘String‘‘Demo‘‘callback‘@demo_button_press...
????‘Position‘[20?5?60?20]）;

rnd_demo?=?uicontrol（fig_1‘String‘‘Random?Move‘‘callback‘@rnd_demo_button_press...
????‘Position‘[100?5?80?20]）;

clr_trail?=?uicontrol（fig_1‘String‘‘Clr?Trail‘‘callback‘@clr_trail_button_press...
????‘Position‘[200?5?60?20]）;
%
home?=?uicontrol（fig_1‘String‘‘Home‘‘callback‘@home_button_press...
????‘Position‘[280?5?70?20]）;
%
%?Kinematics?Panel
%
K_p?=?uipanel（fig_1...
????‘units‘‘pixels‘...
????‘Position‘[20?45?265?200]...
????‘title‘‘Kinematics‘‘FontSize‘11）;
%
%?????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?Swivel

t1_home?=?90;?%?offset?to?define?the?“home“?position?as?UP.
t2_home?=?-90;
t3_home?=?-90;

LD?=?105;?%?Left?used?to?set?the?GUI.
HT?=?18;??%?Height
BT?=?156;?%?Bottom
%%??GUI?buttons?for?Theta?1.??pos?is:?[left?bottom?width?height]
t1_slider?=?uicontrol（K_p‘style‘‘slider‘...
????‘Max‘160‘Min‘-160‘Value‘0...
????‘SliderStep‘[0.05?0.2]...
????‘callback‘@t1_slider_button_press...
????‘Position‘[LD?BT?120?HT]）;
t1_min?=?uicontrol（K_p‘style‘‘text‘...
????‘String‘‘-160‘...
????‘Position‘[LD-30?BT+1?25?HT-4]）;?%?L?from?bottom?W?H
t1_max?=?uicontrol（K_p‘style‘‘text‘...
????‘String‘‘+160‘...
????‘Position‘[LD+125?BT+1?25?HT-4]）;?%?L?B?W?H
t1_text?=?uibutton（K_p‘style‘‘text‘...??%?Nice?program?Doug.?Need?this
????‘String‘‘\theta_1‘...????????????????%?due?to?no?TeX?in?uicontrols.?
????‘Position‘[LD-100?BT?20?HT]）;?%?