1、前言：机器人正逆运动学可以直接查看机器人工具箱的函数ikine和fkine,以及直接用teach（）函数演示正逆运动学。
如下：
L_1=20;
L_2=50;
L_3=40;
L(1)=Link([0 L_1 0 pi/2]);
L(2)=Link([0 0 L_2 0]);
L(3)=Link([0 0 L_3 0 ]);
Robot=SerialLink(L);teach(Robot)
2、当在GUI中主要是数据输入求解的演示：（下面直接贴出代码），主要看
btn_Forward和btn_Inverse %GUI的fig文件可以按照下图自己建立，也可直接下载我的资源：
<利用MATLAB和Robot toolbox 做的一个简单的三轴机器人GUI>function varargout = SimpleRobotGui(varargin)
% SIMPLEROBOTGUI MATLAB code for SimpleRobotGui.fig
% SIMPLEROBOTGUI, by itself, creates a new SIMPLEROBOTGUI or raises the existing
% singleton*.
%
% H = SIMPLEROBOTGUI returns the handle to a new SIMPLEROBOTGUI or the handle to
% the existing singleton*.
%
% SIMPLEROBOTGUI('CALLBACK',hObject,eventData,handles,...) calls the local
% function named CALLBACK in SIMPLEROBOTGUI.M with the given input arguments.
%
% SIMPLEROBOTGUI('Property','Value',...) creates a new SIMPLEROBOTGUI or raises the
% existing singleton*. Starting from the left, property value pairs are
% applied to the GUI before SimpleRobotGui_OpeningFcn gets called. An
% unrecognized property name or invalid value makes property application
% stop. All inputs are passed to SimpleRobotGui_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 SimpleRobotGui
% Last Modified by GUIDE v2.5 19-Jun-2018 16:36:17
% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
gui_State = struct('gui_Name', mfilename, ...
'gui_Singleton', gui_Singleton, ...
'gui_OpeningFcn', @SimpleRobotGui_OpeningFcn, ...
'gui_OutputFcn', @SimpleRobotGui_OutputFcn, ...
'gui_LayoutFcn', [] , ...
'gui_Callback', []);
if nargin && ischar(varargin{1})
gui_State.gui_Callback = str2func(varargin{1});
end
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 SimpleRobotGui is made visible.
function SimpleRobotGui_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 SimpleRobotGui (see VARARGIN)
% Choose default command line output for SimpleRobotGui
handles.output = hObject;
% Update handles structure
guidata(hObject, handles);
% UIWAIT makes SimpleRobotGui wait for user response (see UIRESUME)
% uiwait(handles.figure1);
% --- Outputs from this function are returned to the command line.
function varargout = SimpleRobotGui_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 structure
varargout{1} = handles.output;
function Theta_1_Callback(hObject, eventdata, handles)
% hObject handle to Theta_1 (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 Theta_1 as text
% str2double(get(hObject,'String')) returns contents of Theta_1 as a double
% --- Executes during object creation, after setting all properties.
function Theta_1_CreateFcn(hObject, eventdata, handles)
% hObject handle to Theta_1 (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');
end
function Theta_2_Callback(hObject, eventdata, handles)
% hObject handle to Theta_2 (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 Theta_2 as text
% str2double(get(hObject,'String')) returns contents of Theta_2 as a double
% --- Executes during object creation, after setting all properties.
function Theta_2_CreateFcn(hObject, eventdata, handles)
% hObject handle to Theta_2 (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');
end
function Theta_3_Callback(hObject, eventdata, handles)
% hObject handle to Theta_3 (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 Theta_3 as text
% str2double(get(hObject,'String')) returns contents of Theta_3 as a double
% --- Executes during object creation, after setting all properties.
function Theta_3_CreateFcn(hObject, eventdata, handles)
% hObject handle to Theta_3 (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');
end
function Pos_X_Callback(hObject, eventdata, handles)
% hObject handle to Pos_X (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 Pos_X as text
% str2double(get(hObject,'String')) returns contents of Pos_X as a double
% --- Executes during object creation, after setting all properties.
function Pos_X_CreateFcn(hObject, eventdata, handles)
% hObject handle to Pos_X (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');
end
function Pos_Y_Callback(hObject, eventdata, handles)
% hObject handle to Pos_Y (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 Pos_Y as text
% str2double(get(hObject,'String')) returns contents of Pos_Y as a double
% --- Executes during object creation, after setting all properties.
function Pos_Y_CreateFcn(hObject, eventdata, handles)
% hObject handle to Pos_Y (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');
end
function Pos_Z_Callback(hObject, eventdata, handles)
% hObject handle to Pos_Z (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 Pos_Z as text
% str2double(get(hObject,'String')) returns contents of Pos_Z as a double
% --- Executes during object creation, after setting all properties.
function Pos_Z_CreateFcn(hObject, eventdata, handles)
% hObject handle to Pos_Z (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');
end
% --- Executes on button press in btn_Forward.
function btn_Forward_Callback(hObject, eventdata, handles)
% hObject handle to btn_Forward (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
Th_1=str2double(handles.Theta_1.String)*pi/180;
Th_2=str2double(handles.Theta_2.String)*pi/180;
Th_3=str2double(handles.Theta_3.String)*pi/180;
L_1=20;
L_2=50;
L_3=40;
L(1)=Link([0 L_1 0 pi/2]);
L(2)=Link([0 0 L_2 0]);
L(3)=Link([0 0 L_3 0 ]);
Robot=SerialLink(L);
Robot.name='RRR_Robot';
Robot.plot([Th_1 Th_2 Th_3]);
T=Robot.fkine([Th_1 Th_2 Th_3]);
handles.Pos_X.String=num2str(floor(T(1,4)));
handles.Pos_Y.String=num2str(floor(T(2,4)));
handles.Pos_Z.String=num2str(floor(T(3,4)));
% --- Executes on button press in btn_Inverse.
function btn_Inverse_Callback(hObject, eventdata, handles)
% hObject handle to btn_Inverse (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
PX=str2double(handles.Pos_X.String);
PY=str2double(handles.Pos_Y.String);
PZ=str2double(handles.Pos_Z.String);
L_1=20;
L_2=50;
L_3=40;
L(1)=Link([0 L_1 0 pi/2]);
L(2)=Link([0 0 L_2 0]);
L(3)=Link([0 0 L_3 0 ]);
Robot=SerialLink(L);
Robot.name='RRR_Robot';
T=[1 0 0 PX;
0 1 0 PY;
0 0 1 PZ;
0 0 0 1;]
J=Robot.ikine(T,[0 0 0],[1 1 1 0 0 0])*180/pi;
handles.Theta_1.String=num2str(floor(J(1)));
handles.Theta_2.String=num2str(floor(J(2)));
handles.Theta_3.String=num2str(floor(J(3)));
Robot.plot(J*pi/180);
