RTDEMO Robot toolbox demonstrations Displays popup menu of toolbox demonstration scripts that illustrate: * homogeneous transformations * trajectories * forward kinematics * inverse kinematics * robot animation * inverse dynamics * forward dynamics The scripts require the user to periodically hit <Enter> in order to move through the explanation. Set PAUSE OFF if you want the scripts to run completely automatically.
0001 %RTDEMO Robot toolbox demonstrations 0002 % 0003 % Displays popup menu of toolbox demonstration scripts that illustrate: 0004 % * homogeneous transformations 0005 % * trajectories 0006 % * forward kinematics 0007 % * inverse kinematics 0008 % * robot animation 0009 % * inverse dynamics 0010 % * forward dynamics 0011 % 0012 % The scripts require the user to periodically hit <Enter> in order to move 0013 % through the explanation. Set PAUSE OFF if you want the scripts to run 0014 % completely automatically. 0015 0016 % $Log: not supported by cvs2svn $ 0017 % Revision 1.3 2002-04-02 12:26:48 pic 0018 % Handle figures better, control echo at end of each script. 0019 % Fix bug in calling ctraj. 0020 % 0021 % Revision 1.2 2002/04/01 11:47:17 pic 0022 % General cleanup of code: help comments, see also, copyright, remnant dh/dyn 0023 % references, clarification of functions. 0024 % 0025 % $Revision: 1.1 $ 0026 % Copyright (C) 1993-2002, by Peter I. Corke 0027 0028 % if demos are not already in the path, add them to the path 0029 if exist('rttrdemo') == 0 0030 tbpath = fileparts(which('fkine')); 0031 demopath = fullfile(tbpath, 'demos'); 0032 addpath( demopath ); 0033 disp(['** Adding Robotics Toolbox demos to your Matlab path ' demopath]); 0034 end 0035 0036 echo off 0037 clear all 0038 delete( get(0, 'Children') ); 0039 0040 puma560 0041 while 1, 0042 selection = menu('Robot Toolbox demonstrations', ... 0043 'Transformations', ... 0044 'Trajectory', ... 0045 'Forward kinematics', ... 0046 'Animation', ... 0047 'Inverse kinematics', ... 0048 'Jacobians', ... 0049 'Inverse dynamics', ... 0050 'Forward dynamics', ... 0051 'Exit'); 0052 0053 switch selection, 0054 case 1, 0055 rttrdemo 0056 case 2, 0057 rttgdemo 0058 case 3, 0059 rtfkdemo 0060 case 4, 0061 rtandemo 0062 case 5, 0063 rtikdemo 0064 case 6, 0065 rtjademo 0066 case 7, 0067 rtidemo 0068 case 8, 0069 rtfddemo 0070 case 9, 0071 delete( get(0, 'Children') ); 0072 break; 0073 end 0074 end