www.gusucode.com > 机器人工具箱 - robot源码程序 > robot\rtdemo.m
%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. % $Log: not supported by cvs2svn $ % Revision 1.3 2002-04-02 12:26:48 pic % Handle figures better, control echo at end of each script. % Fix bug in calling ctraj. % % Revision 1.2 2002/04/01 11:47:17 pic % General cleanup of code: help comments, see also, copyright, remnant dh/dyn % references, clarification of functions. % % $Revision: 1.1 $ % Copyright (C) 1993-2002, by Peter I. Corke % if demos are not already in the path, add them to the path if exist('rttrdemo') == 0 tbpath = fileparts(which('fkine')); demopath = fullfile(tbpath, 'demos'); addpath( demopath ); disp(['** Adding Robotics Toolbox demos to your Matlab path ' demopath]); end echo off clear all delete( get(0, 'Children') ); puma560 while 1, selection = menu('Robot Toolbox demonstrations', ... 'Transformations', ... 'Trajectory', ... 'Forward kinematics', ... 'Animation', ... 'Inverse kinematics', ... 'Jacobians', ... 'Inverse dynamics', ... 'Forward dynamics', ... 'Exit'); switch selection, case 1, rttrdemo case 2, rttgdemo case 3, rtfkdemo case 4, rtandemo case 5, rtikdemo case 6, rtjademo case 7, rtidemo case 8, rtfddemo case 9, delete( get(0, 'Children') ); break; end end