机械臂仿真MATLAB（完美运行，GUI界面）
资源内容介绍
机械臂仿真是指使用计算机技术和虚拟环境来模拟机械臂在现实世界中的运动和操作。通过仿真，可以对机械臂的运动轨迹、姿态控制、碰撞检测等进行验证、优化和调试，提高机械臂的性能和稳定性。机械臂仿真通常包括以下几个方面：动力学仿真：模拟机械臂在各个自由度上的运动，并计算其位置、速度、加速度等动力学参数。控制算法仿真：通过仿真模拟机械臂的控制算法，包括位置控制、速度控制、力控制等，以验证控制策略的有效性和稳定性。碰撞检测仿真：仿真环境中模拟机械臂与其他物体的碰撞，并实时检测和预测碰撞，防止机械臂与周围环境发生碰撞。路径规划仿真：通过仿真计算机械臂在给定场景中的最优路径，以及机械臂末端执行器的最优轨迹，并对路径进行优化和调整。虚拟现实仿真：将机械臂的仿真模型与虚拟现实技术结合，使操作者能够在虚拟环境中与机械臂进行交互和操作，提供沉浸式的仿真体验。机械臂仿真可以帮助工程师和研究人员在设计和开发阶段进行测试和验证，避免了实际操作中的损坏和风险，节省了时间和成本。同时，机械臂仿真也可以用于教学和培训，提高操作者的技能和安全意识。 function varargout = main(varargin)% MAIN MATLAB code for main.fig% MAIN, by itself, creates a new MAIN or raises the existing% singleton*.%% H = MAIN returns the handle to a new MAIN or the handle to% the existing singleton*.%% MAIN('CALLBACK',hObject,eventData,handles,...) calls the local% function named CALLBACK in MAIN.M with the given input arguments.%% MAIN('Property','Value',...) creates a new MAIN or raises the% existing singleton*. Starting from the left, property value pairs are% applied to the GUI before main_OpeningFcn gets called. An% unrecognized property name or invalid value makes property application% stop. All inputs are passed to main_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 main% Begin initialization code - DO NOT EDITgui_Singleton = 1;gui_State = struct('gui_Name', mfilename, ... 'gui_Singleton', gui_Singleton, ... 'gui_OpeningFcn', @main_OpeningFcn, ... 'gui_OutputFcn', @main_OutputFcn, ... 'gui_LayoutFcn', [] , ... 'gui_Callback', []);if nargin && ischar(varargin{1}) gui_State.gui_Callback = str2func(varargin{1});endmainfc;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 main is made visible.function main_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 main (see VARARGIN)% Choose default command line output for mainhandles.output = hObject;% Update handles structureguidata(hObject, handles);% UIWAIT makes main wait for user response (see UIRESUME)% uiwait(handles.figure1);% --- Outputs from this function are returned to the command line.function varargout = main_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 structurevarargout{1} = handles.output;function edit1_Callback(hObject, eventdata, handles)% hObject handle to edit1 (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 edit1 as text% str2double(get(hObject,'String')) returns contents of edit1 as a double% --- Executes during object creation, after setting all properties.function edit1_CreateFcn(hObject, eventdata, handles)% hObject handle to edit1 (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');endfunction edit2_Callback(hObject, eventdata, handles)% hObject handle to edit2 (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 edit2 as text% str2double(get(hObject,'String')) returns contents of edit2 as a double% --- Executes during object creation, after setting all properties.function edit2_CreateFcn(hObject, eventdata, handles)% hObject handle to edit2 (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');endfunction edit3_Callback(hObject, eventdata, handles)% hObject handle to edit3 (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 edit3 as text% str2double(get(hObject,'String')) returns contents of edit3 as a double% --- Executes during object creation, after setting all properties.function edit3_CreateFcn(hObject, eventdata, handles)% hObject handle to edit3 (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');endfunction edit4_Callback(hObject, eventdata, handles)% hObject handle to edit4 (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 edit4 as text% str2double(get(hObject,'String')) returns contents of edit4 as a double% --- Executes during object creation, after setting all properties.function edit4_CreateFcn(hObject, eventdata, handles)% hObject handle to edit4 (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');endfunction edit5_Callback(hObject, eventdata, handles)% hObject handle to edit5 (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 edit5 as text% str2double(get(hObject,'String')) returns contents of edit5 as a double% --- Executes during object creation, after setting all properties.function edit5_CreateFcn(hObject, eventdata, handles)% hObject handle to edit5 (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');endfunction edit6_Callback(hObject, eventdata, handles)% hObject handle to edit6 (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 edit6 as text% str2double(get(hObject,'String')) returns contents of edit6 as a double% --- Executes during object creation, after setting all properties.function edit6_CreateFcn(hObject, eventdata, handles)% hObject handle to edit6 (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 && isequa