vrep-matlab机器人仿真--PUMA560机械臂目标抓取

PUMA560机械臂目标物块抓取系统，vrep与matlab联合仿真，有Qt写的上位机，功能有自由调整关节角、输入目标点定点移动、目标抓取等，可以将传送带上的物块夹到桌面上，适合初学者参考

% This example illustrates how to execute complex commands from
% a remote API client. You can also use a similar construct for
% commands that are not directly supported by the remote API.
%
% Load the demo scene ‘remoteApiCommandServerExample.ttt‘ in V-REP then 
% start the simulation and run this program.
%
% IMPORTANT: for each successful call to simxStart there
% should be a corresponding call to simxFinish at the end!

function complexCommandTest（）

    disp（‘Program started‘）;
    % vrep=remApi（‘remoteApi‘‘extApi.h‘）; % using the header （requires a compiler）
    vrep=remApi（‘remoteApi‘）; % using the prototype file （remoteApiProto.m）
    vrep.simxFinish（-1）; % just in case close all opened connections
    clientID=vrep.simxStart（‘127.0.0.1‘19999truetrue50005）;

    if （clientID>-1）
        disp（‘Connected to remote API server‘）;
        
        % 1. First send a command to display a specific message in a dialog box:
        [res retInts retFloats retStrings retBuffer]=vrep.simxCallscriptFunction（clientID‘remoteApiCommandServer‘vrep.sim_scripttype_childscript‘displayText_function‘[][]‘Hello world!‘[]vrep.simx_opmode_blocking）;
        if （res==vrep.simx_return_ok）
            fprintf（‘Returned message: %s\n‘retStrings）;
        else
            fprintf（‘Remote function call failed\n‘）;
        end

        % 2. Now create a dummy object at coordinate 0.10.20.3 with name ‘MyDummyName‘:
        [res retInts retFloats retStrings retBuffer]=vrep.simxCallscriptFunction（clientID‘remoteApiCommandServer‘vrep.sim_scripttype_childscript‘createDummy_function‘[][0.1 0.2 0.3]‘MyDummyName‘[]vrep.simx_opmode_blocking）;
        if （res==vrep.simx_return_ok）
            fprintf（‘Dummy handle: %d\n‘retInts（1））;
        else
            fprintf（‘Remote function call failed\n‘）;
        end

        % 3. Now send a code string to execute some random functions:
        code=[‘local octreeHandle=simCreateOctree（0.501）‘ char（10） ...
            ‘simInsertVoxelsIntoOctree（octreeHandle0{0.10.10.1}{2550255}）‘ char（10） ...
            ‘return ‘‘done‘‘‘];
        [res retInts retFloats retStrings retBuffer]=vrep.simxCallscriptFunction（clientID‘remoteApiCommandServer‘vrep.sim_scripttype_childscript‘executeCode_function‘[][]code[]vrep.simx_opmode_blocking）;
        if （res==vrep.simx_return_ok）
            fprintf（‘Code execution returned: %s\n‘retStrings）;
        else
            fprintf（‘Remote function call failed\n‘）;
        end

        % Now close the connection to V-REP:    
        vrep.simxFinish（clientID）;
    else
        disp（‘Failed connecting to remote API server‘）;
    end
    vrep.delete（）; % call the destructor!
    
    disp（‘Program ended‘）;
end

 属性            大小     日期    时间   名称
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     文件          0  2020-06-07 21:37  project_puma_v6\backup\detect.m

     文件       1370  2020-06-08 19:36  project_puma_v6\backup\getTarget.m

     文件       1163  2020-06-07 20:43  project_puma_v6\backup\instruct.m

     文件        954  2020-06-08 10:30  project_puma_v6\backup\movel.m

     文件       1707  2020-06-08 15:42  project_puma_v6\backup\movelTrack.m

     文件        621  2020-06-08 10:30  project_puma_v6\backup\newPlace.m

     文件       2799  2018-01-25 18:03  project_puma_v6\complexCommandTest.m

     文件       2118  2020-06-12 18:11  project_puma_v6\ik_solution.m

     文件       7240  2020-06-14 18:05  project_puma_v6\ik_step.m

     文件       2151  2020-06-14 17:24  project_puma_v6\pick_and_place.m

     文件     772497  2020-06-14 19:59  project_puma_v6\puma560v2.ttt

     文件        876  2018-01-25 18:03  project_puma_v6\readMe.txt

     文件     100875  2018-01-25 18:03  project_puma_v6\remApi.m

     文件      70656  2018-01-25 18:03  project_puma_v6\remoteApi.dll

     文件      35378  2018-01-25 18:03  project_puma_v6\remoteApiProto.m

     文件          0  2020-06-06 17:58  project_puma_v6\sim.simxStart

     文件       1770  2018-01-25 18:03  project_puma_v6\simpleSynchronousTest.m

     文件       2718  2018-01-25 18:03  project_puma_v6\simpleTest.m

     文件         46  2020-06-12 12:53  project_puma_v6\Untitled.m

     文件       1161  2020-06-11 00:21  project_puma_v6\visionSensor.m

     目录          0  2020-06-14 16:02  project_puma_v6\backup

     目录          0  2020-06-14 16:02  project_puma_v6

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