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matlab实现PUMA机器人的工作空间PUMA机器人的工作空间主要有前3个关节决定，后3个关节决定姿态。程序编写好了，请看运行结果!步长为20度xktaiDD mnuim ritsn工柞空同工存亭问Xil 住扒弓细丈F.TL.却电丁便遴聲建具有人性4L界面.詩设计逵面恆I运疑论民很慢谓闸心算悻.”C枉宇完全自己井岌）- 卜.I1-咽 L - 一IE匿二埶凸_mpz!：i. An步长为10度为了便遠鼻袪R有人性4L界面.詩世计该面恆I运球诩田很tft“谄闸心Hft.（程序充全自己井岌）PtJ-JKjWd IMu3aCll!l:ani至etL.3mI I$HetfcSB* 苇.9$duiidLdm;丄；T;:-宀“柱空I沁广辽-n-u11 m .f泗.叫.-c:1 池-r-| XD - i-|-Il k，dbW.Z弓圧阴丈步长为5度* 为了粧返葺怯只肓人性此界面.詩世计该面版！适聲迺嵐很慢“请的心i程宇充全自己幷換】PzMKXS :ManUBina,rtM5薛:21工祚空Ifln张平丈 苧号.cifcKiiiaiMilTSfl4H-.丄节空工1 !-?.!x评i 押.I 丫上呛工大机需人卿步长为3度作祐张要丈iji DfiStllJHlM呛工丸机需人f xa -：I _ rT祚空I丄忤壬H工性岳凋iFWUlFhn mu n i .“ddiii kfe-Ed 畳 muirii iIfv *“c -f=沟了證3M览具有人性比界面.詩世计该面版1适算直度很慢“谊的心渝”P-U4Ea； Inaa XaiCl :我.干完士总匚；IT总：-：F! .21步长为2度步长为5度时的XY平面4 J-I 1 kal-. j-jh-B； Ji jii minrii iFUB-叨A 为了性返葺柱R肓人性此界両.料谡计進面版！运昇谨凤很慢、1*帕心尊捋.”全自己i|唯;涉ife2隹；iirsmPA工太机辯人術Tirijui1E呵I It-EUli I涉（fcfiSE II 1：.?-B|nastiDaig曲出皿口 込a卄msHini a步长为5度时的XZ, YZ平面步悅5底ftr#l张辱丈贷号I DDSId咱工大机荐.人所；BFbBJ.沟了便国葺览艮肓人性4L界西.IStft计诔面扳I雀岸理枚很慢谊创心丼杵,.全自己升慣1州:.r .口 F 兀儿九乩儿JLhT.-J.:;PbuAEW K4iaCIa2aQE!niKUJH番嗨扁7xa吟 K3S： Ji|X心 II !.?!T -壓编写时的界面，为运行源代码如下:function varargout 二 mypuma(varargin) gui_Singleton 二 1;gui_State = struct( gui_Name, mfilename, .gui Singleton, gui Singleton, .gui_OpeningFcn, mypuma_OpeningFcn, .gui_OutputFcn, mypuma_OutputFcn,.gui_Layo utF cn,.gui_Callback, );if nargin & ischar(vararginl)gui_State.gui_Callback = str2func(vararginl);endif nargoutvarargout1:nargout = gui_mainfcn(gui_State, varargin:);elsegui_mainfcn(gui_State, varargin:);endhandles.output 二 hObject;guidata(hObject, handles);function varargout 二 mypuma_OutputFcn(hObject, eventdata, handles)varargout 1 = handles.output;%步长为20度时的工作空间，2个for循环就搞定function pushbuttonl_Callback(hObject, eventdata, handles)hold off;for a=(T60:20:160)*pi/180for b=(-225:20:45)*pi/180 x=431.8*cos(b)*cos(a)T49.09*sin(a); y=431.8*cos(b)*sin(a)+cos(a)*149.09; z=-431.8*sin(b);plo t3(x,y,z,b.);hold on;grid on;endendtitl e(PUMA560 20deg 08S008103 );%步长10度时的工作空间，2个for循环就搞定handles)function pushbutton2_Callback(h0bject, eventdata, hold off;a2=431.8;d2=149.09;for a=(-160:10:160)*pi/180for b=(-225:10:45)*pi/180x=431.8*cos(b)*cos(a)T49.09*sin(a);y=431.8*cos(b)*sin(a)+cos(a)*149.09; z=-431.8*sin(b);plot 3(x,y,z,，r.，);hold on;grid on;endendtitl e(PUMA560 lOdeg 08S008103 );%步长为5度时的工作空间，2个for循环就搞定function pushbutton3_Callback(h0bject, eventdata, hold off;a2=431.8;d2=149.09;for a=(T60:5:160)*pi/180for b=(-225:5:45)*pi/180x=431.8*cos(b)*cos(a)T49.09*sin(a);y=431.8*cos(b)*sin(a)+cos(a)*149.09;z=-431.8*sin(b);plot 3(x,y,z,，g.，);hold on;grid on;endendtit le(PUMA560 5deg 08S008103 );%步长为3度时的工作空间，2个for循环就搞定function pushbutton7_Callback(h0bject, eventdata,handles)handles)hold off;for a=(T60:3:160)*pi/180for b=(-225:3:45)*pi/180x=431.8*cos(b)*cos(a)T49.09*sin(a);y=431.8*cos(b)*sin(a)+cos(a)*149.09; z=-431.8*sin(b);plo t3(x,y,z,b.);hold on;grid on;endendtit le(PUMA560 3deg 08S008103 );%步长为2度时的工作空间，2个for循环就搞定handles)function pushbutton8_Callback(h0bject, eventdata, hold off;for a=(T60:2:160)*pi/180for b=(-225:2:45)*pi/180x=431.8*cos(b)*cos(a)T49.09*sin(a);y=431.8*cos(b)*sin(a)+cos(a)*149.09; z=-431.8*sin(b);plo t3(x,y,z,b.);hold on;grid on;endendtit le(PUMA560 2deg 08S008103 );%步长为5度时的xy平面function pushbutton4_Callback(h0bject, eventdata, hold off;a2=431.8;d2=149.09;for a=(T60:5:160)*pi/180for b=(-225:5:45)*pi/180x=431.8*cos(b)*cos(a)T49.09*sin(a);y=431.8*cos(b)*sin(a)+cos(a)*149.09; z=-431.8*sin(b);plo t(x,y,g.);hold on;grid on;endendtitle(PUMA560 5degXY 08S008103 );%步长为5度时的xz平面handles)handles)function pushbutton5_Callback(h0bject, eventdata, hold off;a2=431.8;d2=149.09;for a=(T60:5:160)*pi/180for b=(-225:5:45)*pi/180x=431.8*cos(b)*cos(a)T49.09*sin(a);y=431.8*cos(b)*sin(a)+cos(a)*149.09; z=-431.8*sin(b);plo t( x,z,g.);hold on;grid on;endendtit le(PUMA560 5degXZ 08S008103);%步长为5度时的yz平面handles)function pushbutton6_Callback(h0bject, eventdata,hold off;a2=431.8;d2=149.09;for a=(T60:5:160)*pi/180for b=(-225:5:45)*pi/180x=431.8*cos(b)*cos(a)T49.09*sin(a);y=431.8*cos(b)*sin(a)+cos(a)*149.09;z=-431.8*sin(b);plo t(y,z,g.);hold on;grid on;endendtitle(PUMA560 5degY-Z 08S008103 );
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