www.gusucode.com > 机器人工具箱 - robot源码程序 > robot\demos\rtandemo.m
%RTANDEMO Animation demo %**************************animation******************************************** figure(2) echo on clf % % The trajectory demonstration has shown how a joint coordinate trajectory % may be generated t = [0:.056:2]'; % generate a time vector q = jtraj(qz, qr, t); % generate joint coordinate trajectory % % the overloaded function plot() animates a stick figure robot moving % along a trajectory. plot(p560, q); % The drawn line segments do not necessarily correspond to robot links, but % join the origins of sequential link coordinate frames. % % A small right-angle coordinate frame is drawn on the end of the robot to show % the wrist orientation. % % A shadow appears on the ground which helps to give some better idea of the % 3D object. pause % any key to continue % % We can also place additional robots into a figure. % % Let's make a clone of the Puma robot, but change its name and base location p560_2 = p560; p560_2.name = 'another Puma'; p560_2.base = transl(-0.5, 0.5, 0); hold on plot(p560_2, q); pause % any key to continue % We can also have multiple views of the same robot clf plot(p560, qr); figure plot(p560, qr); view(40,50) plot(p560, q) pause % any key to continue % % Sometimes it's useful to be able to manually drive the robot around to % get an understanding of how it works. drivebot(p560) % % use the sliders to control the robot (in fact both views). Hit the red quit % button when you are done. echo off