how to display the end-effector position?

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Cheng Yoong
Cheng Yoong 2011년 5월 21일
I have a 3 links robot GUI software. The file can be downloaded through this link: http://www.sendspace.com/file/yrqzmp
I use the following command as callback for the textbox for x,y,z position:
set(handles.fromDHandTheta,'String',point4.x) but it doesn't work.
Anyone can help me with that?
Thanks in advance.
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Walter Roberson
Walter Roberson 2011년 5월 24일
click on the dot that appears to the left of the line number of the line you want to stop at. Then run the program. It will stop executing when you reach that line, and you will be able to examine the state of the variables.

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Ben Mitch
Ben Mitch 2011년 5월 22일
Hi Cheng
If you're going to post code, I think you'll have to trim it down to the essentials if you want anyone to look at it.
Perhaps you need this?
set(handles.fromDHandTheta, 'String', num2str(point4.x))
Cheers
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Ben Mitch
Ben Mitch 2011년 5월 27일
Do you mean simulate or <http://cowsheep.net/link/110527 visualize>? In either case, the key feature is geometry. I recommend you start with "homogeneous coordinates", as the guys in 3D graphics do. Then you've got points (4x1 vectors) and transforms (4x4 matrices, like rotations or translations). Build a model of your robot out of points (think, solid parts) and transforms (think, joints with angles that vary over time). Build faces out of points, build solid parts out of faces. Try "doc patch" to get started with visualizing faces. Change the renderer to "OpenGL", YMMV. If you get stuck, post a specific question as a new thread. Good luck.
Of course, there may be tools for robot visualization so you don't have to build everything yourself. Simscape? Have a Google on matlab robot visualization.

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