%?PID?control?of?a?3DOF?PUMA?560?Robot
%?
%?Name:?Abdel-Razzak?MERHEB
%?Date:?5?Oct.?2008
%

clear?all
close?all

global?teta1?teta2?teta3?told
global?xdot?z?perror2?pderror?perror?desiredteta?teta?olderror?deltat


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

xdot?=?[0?0?0?0?0?0;?0?0?0?0?0?0];

%?initial?conditions
teta0?=?[0?0?0?0?0?0];????%?teta
dteta0?=?[0?0?0?0?0?0];???%?dteta


%?make?the?initial?condition?vector?needed?for?the?ode?function?（it?has?to?be?only?one?column）
for?i?=?1:1:6
????init0（i）=teta0（i）;????%first?6?elements?of?the?vector?are?the?displacement?vector‘s?elements
end

for?i?=?1:1:6
????init0（i+6）=dteta0（i）;?%second?6?elements?of?the?vector?are?the?velocity?vector‘s?elements
end

x0?=?init0‘;?%x0?is?a?one-column?initial?condition?vector


t=0:1:10;?%simulation?time


[tteta]=ode15s（‘PID_PUMA_fn‘tx0）;??%?solve?the?differential?equation

%?plot?the?joint‘s?displacement?and?velocity?paths
figure
plot（tteta）
?
?

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2008-11-06?10:58??PID?control?of?PUMA560?robot?-?my?code\
?????文件????????1048??2008-11-12?14:15??PID?control?of?PUMA560?robot?-?my?code\PID_PUMA.m
?????文件????????5437??2008-11-12?14:45??PID?control?of?PUMA560?robot?-?my?code\PID_PUMA_fn.m