Discussion :

[autoin]

Bonjour à tous

Je suis débutante en programmation matlab,et je demande s'il y a quelqu'un qui peux m'aider ?

Merci d'avance

[duf42]

Bonjour,

Dans un premier temps, je te conseille d'aller les tutoriaux disponibles sur le site.

Tu trouveras ensuite des réponses dans la FAQ.

Enfin si tu as des questions, tu peux venir les poser sur le forum. Sachant que plus tes questions seront claires et précises, plus tu auras de chances d'obtenir des réponses satisfaisantes.

Duf

[FR119492]

Salut!
Dans un premier temps, tu dois écrire les équations qui régissent le comportement de ton robot, ce qui n'a rien à voir avec Matlab. En conséquence, je transfère cette discussion dans le forum algo/maths.
Jean-Marc Blanc

[autoin]

Salut à tous.

Merci pour vos réponse.

Cordialement.

[autoin]

Me revoilà

Alors je dois faire la modélisation du robot puma 560,j'ai rien compris concernant ce programme,si quelqu'un peux m'aider je sera vraiment reconnaissante.

Code :

Sélectionner tout - Visualiser dans une fenêtre à part

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
1015
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
1081
1082
1083
1084
1085
1086
1087
1088
1089
1090
1091
1092
1093
1094
1095
1096
1097
1098
1099
1100
1101
1102
1103
1104
1105
1106
1107
1108
1109
1110
1111
1112
1113
1114
1115
1116
1117
1118
1119
1120
1121
1122
1123
1124
1125
1126
1127
1128
% This is PUMA3d.M, a 3D Matlab Kinematic model of a Puma robot located
% in the robotics lab of Walla Walla University.
% The file uses CAD data converted to Matlab using cad2matdemo.m, which 
% is located on the Mathworks central file exchange.
%
% This file is still being developed, for the latest version check the
% Mathworks central file exchange.
%
% Todo list:
% 1) optimize pumaANI, lots of stuff in loop that needs help.
% 2) move x, y, and z position to end effecter, not link 6 origin.
% 3) Toggle kinematics buttons on/off with inverse kinematics button.
% 4) Make this work with real time inverse kinematics.
% 5) Make the track on and off option better.
% 6) add other things that makes this program fun.
% 7) check for noplots and nogos
% 8) add some better "demos" for the button
% 9) Fix problem of more than one robot window.
%
function puma3d
% GUI kinematic demo for the Puma Robot.
% Robot geometry uses the CAD2MATDEMO code in the Mathworks file exchange
%
%%
loaddata
InitHome
%
% Create the push buttons: pos is: [left bottom width height]
demo = uicontrol(fig_1,'String','Demo','callback',@demo_button_press,...
    'Position',[20 5 60 20]);
 
rnd_demo = uicontrol(fig_1,'String','Random Move','callback',@rnd_demo_button_press,...
    'Position',[100 5 80 20]);
 
clr_trail = uicontrol(fig_1,'String','Clr Trail','callback',@clr_trail_button_press,...
    'Position',[200 5 60 20]);
%
home = uicontrol(fig_1,'String','Home','callback',@home_button_press,...
    'Position',[280 5 70 20]);
%
% Kinematics Panel
%
K_p = uipanel(fig_1,...
    'units','pixels',...
    'Position',[20 45 265 200],...
    'Title','Kinematics','FontSize',11);
%
%     Angle    Range                Default Name
%     Theta 1: 320 (-160 to 160)    90       Waist Joint  
%     Theta 2: 220 (-110 to 110)   -90       Shoulder Joint
%     Theta 3: 270 (-135 to 135)   -90       Elbow Joint    
%     Theta 4: 532 (-266 to 266)     0       Wrist Roll
%     Theta 5: 200 (-100 to 100)     0       Wrist Bend  
%     Theta 6: 532 (-266 to 266)     0       Wrist Swivel
 
t1_home = 90; % offset to define the "home" position as UP.
t2_home = -90;
t3_home = -90;
 
LD = 105; % Left, used to set the GUI.
HT = 18;  % Height
BT = 156; % Bottom
%%  GUI buttons for Theta 1.  pos is: [left bottom width height]
t1_slider = uicontrol(K_p,'style','slider',...
    'Max',160,'Min',-160,'Value',0,...
    'SliderStep',[0.05 0.2],...
    'callback',@t1_slider_button_press,...
    'Position',[LD BT 120 HT]);
t1_min = uicontrol(K_p,'style','text',...
    'String','-160',...
    'Position',[LD-30 BT+1 25 HT-4]); % L, from bottom, W, H
t1_max = uicontrol(K_p,'style','text',...
    'String','+160',...
    'Position',[LD+125 BT+1 25 HT-4]); % L, B, W, H
t1_text = uibutton(K_p,'style','text',...  % Nice program Doug. Need this
    'String','\theta_1',...                % due to no TeX in uicontrols. 
    'Position',[LD-100 BT 20 HT]); % L, B, W, H
% t1_text = uicontrol(K_p,'style','text',... % when matlab fixes uicontrol
%     'String','t1',...                      % for TeX, then I can use this.  
%     'Position',[LD-100 BT 20 HT]); % L, B, W, H
t1_edit = uicontrol(K_p,'style','edit',...
    'String',0,...
    'callback',@t1_edit_button_press,...
    'Position',[LD-75 BT 30 HT]); % L, B, W, H
%
%%  GUI buttons for Theta 2.
BT = 126;   % Bottom
t2_slider = uicontrol(K_p,'style','slider',...
    'Max',115,'Min',-115,'Value',0,...        % Mech. stop limits !
    'SliderStep',[0.05 0.2],...
    'callback',@t2_slider_button_press,...
    'Position',[LD BT 120 HT]);
t2_min = uicontrol(K_p,'style','text',...
    'String','-110',...
    'Position',[LD-30 BT+1 25 HT-4]); % L, from bottom, W, H
t2_max = uicontrol(K_p,'style','text',...
    'String','+110',...
    'Position',[LD+125 BT+1 25 HT-4]); % L, B, W, H
t2_text = uibutton(K_p,'style','text',...
    'String','\theta_2',...
    'Position',[LD-100 BT 20 HT]); % L, B, W, H
t2_edit = uicontrol(K_p,'style','edit',...
    'String',0,...
    'callback',@t2_edit_button_press,...
    'Position',[LD-75 BT 30 HT]); % L, B, W, H
%
%%  GUI buttons for Theta 3.
BT = 96;   % Bottom
t3_slider = uicontrol(K_p,'style','slider',...
    'Max',135,'Min',-135,'Value',0,...
    'SliderStep',[0.05 0.2],...
    'callback',@t3_slider_button_press,...
    'Position',[LD BT 120 HT]);
t3_min = uicontrol(K_p,'style','text',...
    'String','-135',...
    'Position',[LD-30 BT+1 25 HT-4]); % L, from bottom, W, H
t3_max = uicontrol(K_p,'style','text',...
    'String','+135',...
    'Position',[LD+125 BT+1 25 HT-4]); % L, B, W, H
t3_text = uibutton(K_p,'style','text',...
    'String','\theta_3',...
    'Position',[LD-100 BT 20 HT]); % L, B, W, H
t3_edit = uicontrol(K_p,'style','edit',...
    'String',0,...
    'callback',@t3_edit_button_press,...
    'Position',[LD-75 BT 30 HT]); % L, B, W, H
%
%%  GUI buttons for Theta 4.
BT = 66;   % Bottom
t4_slider = uicontrol(K_p,'style','slider',...
    'Max',266,'Min',-266,'Value',0,...
    'SliderStep',[0.05 0.2],...
    'callback',@t4_slider_button_press,...
    'Position',[LD BT 120 HT]);
t4_min = uicontrol(K_p,'style','text',...
    'String','-266',...
    'Position',[LD-30 BT+1 25 HT-4]); % L, from bottom, W, H
t4_max = uicontrol(K_p,'style','text',...
    'String','+266',...
    'Position',[LD+125 BT+1 25 HT-4]); % L, B, W, H
t4_text = uibutton(K_p,'style','text',...
    'String','\theta_4',...
    'Position',[LD-100 BT 20 HT]); % L, B, W, H
t4_edit = uicontrol(K_p,'style','edit',...
    'String',0,...
    'callback',@t4_edit_button_press,...
    'Position',[LD-75 BT 30 HT]); % L, B, W, H
%
%%  GUI buttons for Theta 5.
BT = 36;   % Bottom
t5_slider = uicontrol(K_p,'style','slider',...
    'Max',100,'Min',-100,'Value',0,...
    'SliderStep',[0.05 0.2],...
    'callback',@t5_slider_button_press,...
    'Position',[LD BT 120 HT]);
t5_min = uicontrol(K_p,'style','text',...
    'String','-100',...
    'Position',[LD-30 BT+1 25 HT-4]); % L, from bottom, W, H
t5_max = uicontrol(K_p,'style','text',...
    'String','+100',...
    'Position',[LD+125 BT+1 25 HT-4]); % L, B, W, H
t5_text = uibutton(K_p,'style','text',...
    'String','\theta_5',...
    'Position',[LD-100 BT 20 HT]); % L, B, W, H
t5_edit = uicontrol(K_p,'style','edit',...
    'String',0,...
    'callback',@t5_edit_button_press,...
    'Position',[LD-75 BT 30 HT]); % L, B, W, H
%
%%  GUI buttons for Theta 6.
BT = 6;   % Bottom
t6_slider = uicontrol(K_p,'style','slider',...
    'Max',266,'Min',-266,'Value',0,...
    'SliderStep',[0.05 0.2],...
    'callback',@t6_slider_button_press,...
    'Position',[LD BT 120 HT]);
t6_min = uicontrol(K_p,'style','text',...
    'String','-266',...
    'Position',[LD-30 BT+1 25 HT-4]); % L, from bottom, W, H
t6_max = uicontrol(K_p,'style','text',...
    'String','+266',...
    'Position',[LD+125 BT+1 25 HT-4]); % L, B, W, H
t6_text = uibutton(K_p,'style','text',...
    'String','\theta_6',...
    'Position',[LD-100 BT 20 HT]); % L, B, W, H
t6_edit = uicontrol(K_p,'style','edit',...
    'String',0,...
    'callback',@t6_edit_button_press,...
    'Position',[LD-75 BT 30 HT]); % L, B, W, H
%
%% Slider for Theta 1 motion.
%
    function t1_slider_button_press(h,dummy)
        slider_value = round(get(h,'Value'));
        set(t1_edit,'string',slider_value);
        T_Old = getappdata(0,'ThetaOld');
        t2old = T_Old(2); t3old = T_Old(3); t4old = T_Old(4);
        t5old = T_Old(5); t6old = T_Old(6);
        pumaANI(slider_value+t1_home,t2old,t3old,t4old,t5old,t6old,10,'n')
    end
%
%% Slider for Theta 2 motion.
%
    function t2_slider_button_press(h,dummy)
        slider_value = round(get(h,'Value'));
        set(t2_edit,'string',slider_value);
        T_Old = getappdata(0,'ThetaOld');
        t1old = T_Old(1); t3old = T_Old(3); t4old = T_Old(4);
        t5old = T_Old(5); t6old = T_Old(6);
        pumaANI(t1old,slider_value+t2_home,t3old,t4old,t5old,t6old,10,'n')
    end
%
%% Slider for Theta 3 motion.
    function t3_slider_button_press(h,dummy)
        slider_value = round(get(h,'Value'));
        set(t3_edit,'string',slider_value);
        T_Old = getappdata(0,'ThetaOld');
        t1old = T_Old(1); t2old = T_Old(2); t4old = T_Old(4);
        t5old = T_Old(5); t6old = T_Old(6);
        pumaANI(t1old,t2old,slider_value+t3_home,t4old,t5old,t6old,10,'n')
    end
%
%% Slider for Theta 4 motion.
    function t4_slider_button_press(h,dummy)
        slider_value = round(get(h,'Value'));
        set(t4_edit,'string',slider_value);
        T_Old = getappdata(0,'ThetaOld');
        t1old = T_Old(1); t2old = T_Old(2); t3old = T_Old(3);
        t5old = T_Old(5); t6old = T_Old(6);
        pumaANI(t1old,t2old,t3old,slider_value,t5old,t6old,10,'n')
    end
%
%% Slider for Theta 5 motion.
    function t5_slider_button_press(h,dummy)
        slider_value = round(get(h,'Value'));
        set(t5_edit,'string',slider_value);
        T_Old = getappdata(0,'ThetaOld');
        t1old = T_Old(1); t2old = T_Old(2); t3old = T_Old(3);
        t4old = T_Old(4); t6old = T_Old(6);
        pumaANI(t1old,t2old,t3old,t4old,slider_value,t6old,10,'n')
    end
%
%% Slider for Theta 6 motion.
    function t6_slider_button_press(h,dummy)
        slider_value = round(get(h,'Value'));
        set(t6_edit,'string',slider_value);
        T_Old = getappdata(0,'ThetaOld');
        t1old = T_Old(1); t2old = T_Old(2); t3old = T_Old(3);
        t4old = T_Old(4); t5old = T_Old(5);
        pumaANI(t1old,t2old,t3old,t4old,t5old,slider_value,10,'n')
    end
%
%% Edit box for Theta 1 motion.
%
    function t1_edit_button_press(h,dummy)
        user_entry = check_edit(h,-160,160,0,t1_edit);
        set(t1_slider,'Value',user_entry);  % slider = text box.
        T_Old = getappdata(0,'ThetaOld');   % Current pose    
        %
        t2old = T_Old(2); t3old = T_Old(3); t4old = T_Old(4);
        t5old = T_Old(5); t6old = T_Old(6);
        %
        pumaANI(user_entry+t1_home,t2old,t3old,t4old,t5old,t6old,10,'n')
    end
%
%% Edit box for Theta 2 motion.
%
    function t2_edit_button_press(h,dummy)
        user_entry = check_edit(h,-110,110,0,t2_edit);
        set(t2_slider,'Value',user_entry);  % slider = text box.
        T_Old = getappdata(0,'ThetaOld');   % Current pose    
        %
        t1old = T_Old(1); t3old = T_Old(3); t4old = T_Old(4);
        t5old = T_Old(5); t6old = T_Old(6);
        %
        pumaANI(t1old,user_entry+t2_home,t3old,t4old,t5old,t6old,10,'n')
    end
%% Edit box for Theta 3 motion.
%
    function t3_edit_button_press(h,dummy)
        user_entry = check_edit(h,-135,135,0,t3_edit);
        set(t3_slider,'Value',user_entry);  % slider = text box.
        T_Old = getappdata(0,'ThetaOld');   % Current pose    
        %
        t1old = T_Old(1); t2old = T_Old(2); t4old = T_Old(4);
        t5old = T_Old(5); t6old = T_Old(6);
        %
        pumaANI(t1old,t2old,user_entry+t3_home,t4old,t5old,t6old,10,'n')
    end
%%
%% Edit box for Theta 4 motion.
%
    function t4_edit_button_press(h,dummy)
        user_entry = check_edit(h,-266,266,0,t4_edit);
        set(t4_slider,'Value',user_entry);  % slider = text box.
        T_Old = getappdata(0,'ThetaOld');   % Current pose    
        %
        t1old = T_Old(1); t2old = T_Old(2); t3old = T_Old(3);
        t5old = T_Old(5); t6old = T_Old(6);
        %
        pumaANI(t1old,t2old,t3old,user_entry,t5old,t6old,10,'n')
    end
%% Edit box for Theta 5 motion.
%
    function t5_edit_button_press(h,dummy)
        user_entry = check_edit(h,-100,100,0,t5_edit);
        set(t5_slider,'Value',user_entry);  % slider = text box.
        T_Old = getappdata(0,'ThetaOld');   % Current pose    
        %
        t1old = T_Old(1); t2old = T_Old(2); t3old = T_Old(3);
        t4old = T_Old(4); t6old = T_Old(6);
        %
        pumaANI(t1old,t2old,t3old,t4old,user_entry,t6old,10,'n')
    end
%%
%% Edit box for Theta 6 motion.
%
    function t6_edit_button_press(h,dummy)
        user_entry = check_edit(h,-266,266,0,t6_edit);
        set(t6_slider,'Value',user_entry);  % slider = text box.
        T_Old = getappdata(0,'ThetaOld');   % Current pose    
        %
        t1old = T_Old(1); t2old = T_Old(2); t3old = T_Old(3);
        t4old = T_Old(4); t5old = T_Old(5);
        %
        pumaANI(t1old,t2old,t3old,t4old,t5old,user_entry,10,'n')
    end
%%
    function user_entry = check_edit(h,min_v,max_v,default,h_edit)
        % This function will check the value typed in the text input box
        % against min and max values, and correct errors.
        %
        % h: handle of gui
        % min_v min value to check
        % max_v max value to check
        % default is the default value if user enters non number
        % h_edit is the edit value to update.
        %
        user_entry = str2double(get(h,'string'));
        if isnan(user_entry)
            errordlg(['You must enter a numeric value, defaulting to ',num2str(default),'.'],'Bad Input','modal')
            set(h_edit,'string',default);
            user_entry = default;
        end
        %
        if user_entry < min_v
            errordlg(['Minimum limit is ',num2str(min_v),' degrees, using ',num2str(min_v),'.'],'Bad Input','modal')
            user_entry = min_v;
            set(h_edit,'string',user_entry);
        end
        if user_entry > max_v
            errordlg(['Maximum limit is ',num2str(max_v),' degrees, using ',num2str(max_v),'.'],'Bad Input','modal')
            user_entry = max_v;
            set(h_edit,'string',user_entry);
        end
    end
%
%% Demo button's callback
    function demo_button_press(h,dummy)
        %
        % disp('pushed demo bottom');
        %         R = 500;
        %         x = 1000;
        n = 2;    % demo ani steps
        num = 30; % home to start, and end to home ani steps
        %         j = 1;
        %         M = 1000;
        for t = 0:.1:7*pi
            Px = 30*t*cos(t);
            Py = 1200-300*t*(t)/(50*pi);
            Pz = 30*t*sin(t);
            [theta1,theta2,theta3,theta4,theta5,theta6] = PumaIK(Px,Py,Pz);
            if t==0 %move to start of demo
                pumaANI(theta1,theta2,theta3-180,0,0,0,num,'n')
            end
            % Theta 4, 5 & 6 are zero due to plotting at wrist origen.
            pumaANI(theta1,theta2,theta3-180,0,0,0,n,'y')
            set(t1_edit,'string',round(theta1)); % Update slider and text.
            set(t1_slider,'Value',round(theta1));
            set(t2_edit,'string',round(theta2));
            set(t2_slider,'Value',round(theta2));
            set(t3_edit,'string',round(theta3-180));
            set(t3_slider,'Value',round(theta3-180));
        end
        gohome
%        pumaANI(90,-90,-90,0,0,0,num,'n')
    end
%
%
%%
    function home_button_press(h,dummy)
        %disp('pushed home bottom');
        gohome
    end
%
%%
    function clr_trail_button_press(h,dummy)
        %disp('pushed clear trail bottom');
        handles = getappdata(0,'patch_h');           %
        Tr = handles(9);
        %
        setappdata(0,'xtrail',0); % used for trail tracking.
        setappdata(0,'ytrail',0); % used for trail tracking.
        setappdata(0,'ztrail',0); % used for trail tracking.
        %
        set(Tr,'xdata',0,'ydata',0,'zdata',0);
    end
%
%
    function rnd_demo_button_press(h, dummy)
        %disp('pushed random demo bottom');
        % a = 10; b = 50; x = a + (b-a) * rand(5)
        %     Angle    Range                Default Name
        %     Theta 1: 320 (-160 to 160)    90       Waist Joint
        %     Theta 2: 220 (-110 to 110)    -90       Shoulder Joint
        %     Theta 3: 270 (-135 to 135)    -90       Elbow Joint
        %     Theta 4: 532 (-266 to 266)    0       Wrist Roll
        %     Theta 5: 200 (-100 to 100)    0       Wrist Bend
        %     Theta 6: 532 (-266 to 266)    0       Wrist Swival
        t1_home = 90; % offsets to define the "home" postition as UP.
        t2_home = -90;
        t3_home = -90;
        theta1 = -160 + 320*rand(1); % offset for home
        theta2 = -110 + 220*rand(1); % in the UP pos.
        theta3 = -135 + 270*rand(1);
        theta4 = -266 + 532*rand(1);
        theta5 = -100 + 200*rand(1);
        theta6 = -266 + 532*rand(1);
        n = 50;
        pumaANI(theta1+t1_home,theta2+t2_home,theta3+t3_home,theta4,theta5,theta6,n,'y')
        set(t1_edit,'string',round(theta1)); % Update slider and text.
        set(t1_slider,'Value',round(theta1));
        set(t2_edit,'string',round(theta2));
        set(t2_slider,'Value',round(theta2));
        set(t3_edit,'string',round(theta3));
        set(t3_slider,'Value',round(theta3));
        set(t4_edit,'string',round(theta4));
        set(t4_slider,'Value',round(theta4));
        set(t5_edit,'string',round(theta5));
        set(t5_slider,'Value',round(theta5));
        set(t6_edit,'string',round(theta6));
        set(t6_slider,'Value',round(theta6));
    end
 
 
 
%%
%Here are the functions used for this robot example:
%
%%
% When called this function will simply initialize a plot of the Puma 762
% robot by plotting it in it's home orientation and setting the current
% angles accordingly.
    function gohome()
        pumaANI(90,-90,-90,0,0,0,20,'n') % show it animate home
        %PumaPOS(90,-90,-90,0,0,0)  %drive it home, no animate.
        set(t1_edit,'string',0);
        set(t1_slider,'Value',0);  %At the home position, so all
        set(t2_edit,'string',0);   %sliders and input boxes = 0. 
        set(t2_slider,'Value',0);
        set(t3_edit,'string',0);
        set(t3_slider,'Value',0);
        set(t4_edit,'string',0);
        set(t4_slider,'Value',0);
        set(t5_edit,'string',0);
        set(t5_slider,'Value',0);
        set(t6_edit,'string',0);
        set(t6_slider,'Value',0);
        setappdata(0,'ThetaOld',[90,-90,-90,0,0,0]);
    end
%%
% This function will load the 3D CAD data.
%
function loaddata
% Loads all the link data from file linksdata.mat.
% This data comes from a Pro/E 3D CAD model and was made with cad2matdemo.m
% from the file exchange.  All link data manually stored in linksdata.mat
[linkdata]=load('linksdata.mat','s1','s2', 's3','s4','s5','s6','s7','A1');
 
%Place the robot link 'data' in a storage area
setappdata(0,'Link1_data',linkdata.s1);
setappdata(0,'Link2_data',linkdata.s2);
setappdata(0,'Link3_data',linkdata.s3);
setappdata(0,'Link4_data',linkdata.s4);
setappdata(0,'Link5_data',linkdata.s5);
setappdata(0,'Link6_data',linkdata.s6);
setappdata(0,'Link7_data',linkdata.s7);
setappdata(0,'Area_data',linkdata.A1);
end
%
%%
% Use forward kinematics to place the robot in a specified configuration.
%
    function PumaPOS(theta1,theta2,theta3,theta4,theta5,theta6)
 
        s1 = getappdata(0,'Link1_data');
        s2 = getappdata(0,'Link2_data');
        s3 = getappdata(0,'Link3_data');
        s4 = getappdata(0,'Link4_data');
        s5 = getappdata(0,'Link5_data');
        s6 = getappdata(0,'Link6_data');
        s7 = getappdata(0,'Link7_data');
        A1 = getappdata(0,'Area_data');
        %
        a2 = 650;
        a3 = 0;
        d3 = 190;
        d4 = 600;
        Px = 5000;
        Py = 5000;
        Pz = 5000;
 
        t1 = theta1; 
        t2 = theta2; 
        t3 = theta3 %-180;  
        t4 = theta4; 
        t5 = theta5; 
        t6 = theta6; 
        %
        % Forward Kinematics
        T_01 = tmat(0, 0, 0, t1);
        T_12 = tmat(-90, 0, 0, t2);
        T_23 = tmat(0, a2, d3, t3);
        T_34 = tmat(-90, a3, d4, t4);
        T_45 = tmat(90, 0, 0, t5);
        T_56 = tmat(-90, 0, 0, t6);
 
        %T_01 = T_01;
        T_02 = T_01*T_12;
        T_03 = T_02*T_23;
        T_04 = T_03*T_34;
        T_05 = T_04*T_45;
        T_06 = T_05*T_56;
        %
        Link1 = s1.V1;
        Link2 = (T_01*s2.V2')';
        Link3 = (T_02*s3.V3')';
        Link4 = (T_03*s4.V4')';
        Link5 = (T_04*s5.V5')';
        Link6 = (T_05*s6.V6')';
        Link7 = (T_06*s7.V7')';
 
        handles = getappdata(0,'patch_h');           %
        L1 = handles(1);
        L2 = handles(2);
        L3 = handles(3);
        L4 = handles(4);
        L5 = handles(5);
        L6 = handles(6);
        L7 = handles(7);
        %
        set(L1,'vertices',Link1(:,1:3),'facec', [0.717,0.116,0.123]);
        set(L1, 'EdgeColor','none');
        set(L2,'vertices',Link2(:,1:3),'facec', [0.216,1,.583]);
        set(L2, 'EdgeColor','none');
        set(L3,'vertices',Link3(:,1:3),'facec', [0.306,0.733,1]);
        set(L3, 'EdgeColor','none');
        set(L4,'vertices',Link4(:,1:3),'facec', [1,0.542,0.493]);
        set(L4, 'EdgeColor','none');
        set(L5,'vertices',Link5(:,1:3),'facec', [0.216,1,.583]);
        set(L5, 'EdgeColor','none');
        set(L6,'vertices',Link6(:,1:3),'facec', [1,1,0.255]);
        set(L6, 'EdgeColor','none');
        set(L7,'vertices',Link7(:,1:3),'facec', [0.306,0.733,1]);
        set(L7, 'EdgeColor','none');
    end
%%
% This function computes the Inverse Kinematics for the Puma 762 robot
% given X,Y,Z coordinates for a point in the workspace. Note: The IK are
% computed for the origin of Coordinate systems 4,5 & 6.
    function [theta1,theta2,theta3,theta4,theta5,theta6] = PumaIK(Px,Py,Pz)
        theta4 = 0;
        theta5 = 0;
        theta6 = 0;
        sign1 = 1;
        sign3 = 1;
        nogo = 0;
        noplot = 0;
        % Because the sqrt term in theta1 & theta3 can be + or - we run through
        % all possible combinations (i = 4) and take the first combination that
        % satisfies the joint angle constraints.
        while nogo == 0;
            for i = 1:1:4
                if i == 1
                    sign1 = 1;
                    sign3 = 1;
                elseif i == 2
                    sign1 = 1;
                    sign3 = -1;
                elseif i == 3
                    sign1 = -1;
                    sign3 = 1;
                else
                    sign1 = -1;
                    sign3 = -1;
                end
                a2 = 650;
                a3 = 0;
                d3 = 190;
                d4 = 600;
                rho = sqrt(Px^2+Py^2);
                phi = atan2(Py,Px);
                K = (Px^2+Py^2+Pz^2-a2^2-a3^2-d3^2-d4^2)/(2*a2);
                c4 = cos(theta4);
                s4 = sin(theta4);
                c5 = cos(theta5);
                s5 = sin(theta5);
                c6 = cos(theta6);
                s6 = sin(theta6);
                theta1 = (atan2(Py,Px)-atan2(d3,sign1*sqrt(Px^2+Py^2-d3^2)));
 
                c1 = cos(theta1);
                s1 = sin(theta1);
                theta3 = (atan2(a3,d4)-atan2(K,sign3*sqrt(a3^2+d4^2-K^2)));
 
                c3 = cos(theta3);
                s3 = sin(theta3);
                t23 = atan2((-a3-a2*c3)*Pz-(c1*Px+s1*Py)*(d4-a2*s3),(a2*s3-d4)*Pz+(a3+a2*c3)*(c1*Px+s1*Py));
                theta2 = (t23 - theta3);
 
                c2 = cos(theta2);
                s2 = sin(theta2);
                s23 = ((-a3-a2*c3)*Pz+(c1*Px+s1*Py)*(a2*s3-d4))/(Pz^2+(c1*Px+s1*Py)^2);
                c23 = ((a2*s3-d4)*Pz+(a3+a2*c3)*(c1*Px+s1*Py))/(Pz^2+(c1*Px+s1*Py)^2);
                r13 = -c1*(c23*c4*s5+s23*c5)-s1*s4*s5;
                r23 = -s1*(c23*c4*s5+s23*c5)+c1*s4*s5;
                r33 = s23*c4*s5 - c23*c5;
                theta4 = atan2(-r13*s1+r23*c1,-r13*c1*c23-r23*s1*c23+r33*s23);
 
                r11 = c1*(c23*(c4*c5*c6-s4*s6)-s23*s5*c6)+s1*(s4*c5*c6+c4*s6);
                r21 = s1*(c23*(c4*c5*c6-s4*s6)-s23*s5*c6)-c1*(s4*c5*c6+c4*s6);
                r31 = -s23*(c4*c5*c6-s4*s6)-c23*s5*c6;
                s5 = -(r13*(c1*c23*c4+s1*s4)+r23*(s1*c23*c4-c1*s4)-r33*(s23*c4));
                c5 = r13*(-c1*s23)+r23*(-s1*s23)+r33*(-c23);
                theta5 = atan2(s5,c5);
 
                s6 = -r11*(c1*c23*s4-s1*c4)-r21*(s1*c23*s4+c1*c4)+r31*(s23*s4);
                c6 = r11*((c1*c23*c4+s1*s4)*c5-c1*s23*s5)+r21*((s1*c23*c4-c1*s4)*c5-s1*s23*s5)-r31*(s23*c4*c5+c23*s5);
                theta6 = atan2(s6,c6);
 
                theta1 = theta1*180/pi;
                theta2 = theta2*180/pi;
                theta3 = theta3*180/pi;
                theta4 = theta4*180/pi;
                theta5 = theta5*180/pi;
                theta6 = theta6*180/pi;
                if theta2>=160 && theta2<=180
                    theta2 = -theta2;
                end
 
                if theta1<=160 && theta1>=-160 && (theta2<=20 && theta2>=-200) && theta3<=45 && theta3>=-225 && theta4<=266 && theta4>=-266 && theta5<=100 && theta5>=-100 && theta6<=266 && theta6>=-266
                    nogo = 1;
                    theta3 = theta3+180;
                    break
                end
                if i == 4 && nogo == 0
                    h = errordlg('Point unreachable due to joint angle constraints.','JOINT ERROR');
                    waitfor(h);
                    nogo = 1;
                    noplot = 1;
                    break
                end
            end
        end
    end
%
%% 
    function pumaANI(theta1,theta2,theta3,theta4,theta5,theta6,n,trail)
        % This function will animate the Puma 762 robot given joint angles.
        % n is number of steps for the animation
        % trail is 'y' or 'n' (n = anything else) for leaving a trail.
        %
        %disp('in animate');
        a2 = 650; %D-H paramaters
        a3 = 0;
        d3 = 190;
        d4 = 600;
        % Err2 = 0;
        %
        ThetaOld = getappdata(0,'ThetaOld');
        %
        theta1old = ThetaOld(1);
        theta2old = ThetaOld(2);
        theta3old = ThetaOld(3);
        theta4old = ThetaOld(4);
        theta5old = ThetaOld(5);
        theta6old = ThetaOld(6);
        %
        t1 = linspace(theta1old,theta1,n); 
        t2 = linspace(theta2old,theta2,n); 
        t3 = linspace(theta3old,theta3,n);% -180;  
        t4 = linspace(theta4old,theta4,n); 
        t5 = linspace(theta5old,theta5,n); 
        t6 = linspace(theta6old,theta6,n); 
 
        n = length(t1);
        for i = 2:1:n
            % Forward Kinematics
            %
            T_01 = tmat(0, 0, 0, t1(i));
            T_12 = tmat(-90, 0, 0, t2(i));
            T_23 = tmat(0, a2, d3, t3(i));
            T_34 = tmat(-90, a3, d4, t4(i));
            T_45 = tmat(90, 0, 0, t5(i));
            T_56 = tmat(-90, 0, 0, t6(i));
 
% 
%             %     T_67 = [   1            0      0 0
%             %                0            1      0 0
%             %                0            0      1 188
%             %                0            0      0 1];
 
            %T_01 = T_01;  % it is, but don't need to say so.
            T_02 = T_01*T_12;
            T_03 = T_02*T_23;
            T_04 = T_03*T_34;
            T_05 = T_04*T_45;
            T_06 = T_05*T_56;
            %     T_07 = T_06*T_67;
            %
            s1 = getappdata(0,'Link1_data');
            s2 = getappdata(0,'Link2_data');
            s3 = getappdata(0,'Link3_data');
            s4 = getappdata(0,'Link4_data');
            s5 = getappdata(0,'Link5_data');
            s6 = getappdata(0,'Link6_data');
            s7 = getappdata(0,'Link7_data');
            %A1 = getappdata(0,'Area_data');
 
            Link1 = s1.V1;
            Link2 = (T_01*s2.V2')';
            Link3 = (T_02*s3.V3')';
            Link4 = (T_03*s4.V4')';
            Link5 = (T_04*s5.V5')';
            Link6 = (T_05*s6.V6')';
            Link7 = (T_06*s7.V7')';
            %     Tool = T_07;
 
            %     if sqrt(Tool(1,4)^2+Tool(2,4)^2)<514
            %         Err2 = 1;
            %         break
            %     end
            %
            handles = getappdata(0,'patch_h');           %
            L1 = handles(1);
            L2 = handles(2);
            L3 = handles(3);
            L4 = handles(4);
            L5 = handles(5);
            L6 = handles(6);
            L7 = handles(7);
            Tr = handles(9);
            %
            set(L1,'vertices',Link1(:,1:3),'facec', [0.717,0.116,0.123]);
            set(L1, 'EdgeColor','none');
            set(L2,'vertices',Link2(:,1:3),'facec', [0.216,1,.583]);
            set(L2, 'EdgeColor','none');
            set(L3,'vertices',Link3(:,1:3),'facec', [0.306,0.733,1]);
            set(L3, 'EdgeColor','none');
            set(L4,'vertices',Link4(:,1:3),'facec', [1,0.542,0.493]);
            set(L4, 'EdgeColor','none');
            set(L5,'vertices',Link5(:,1:3),'facec', [0.216,1,.583]);
            set(L5, 'EdgeColor','none');
            set(L6,'vertices',Link6(:,1:3),'facec', [1,1,0.255]);
            set(L6, 'EdgeColor','none');
            set(L7,'vertices',Link7(:,1:3),'facec', [0.306,0.733,1]);
            set(L7, 'EdgeColor','none');
            % store trail in appdata 
            if trail == 'y'
                x_trail = getappdata(0,'xtrail');
                y_trail = getappdata(0,'ytrail');
                z_trail = getappdata(0,'ztrail');
                %
                xdata = [x_trail T_04(1,4)];
                ydata = [y_trail T_04(2,4)];
                zdata = [z_trail T_04(3,4)];
                %
                setappdata(0,'xtrail',xdata); % used for trail tracking.
                setappdata(0,'ytrail',ydata); % used for trail tracking.
                setappdata(0,'ztrail',zdata); % used for trail tracking.
                %
                set(Tr,'xdata',xdata,'ydata',ydata,'zdata',zdata);
            end
            drawnow
        end
        setappdata(0,'ThetaOld',[theta1,theta2,theta3,theta4,theta5,theta6]);
    end
%%
%
%
%%
    function InitHome
        % Use forward kinematics to place the robot in a specified
        % configuration.
        % Figure setup data, create a new figure for the GUI
        set(0,'Units','pixels')
        dim = get(0,'ScreenSize');
        fig_1 = figure('doublebuffer','on','Position',[0,35,dim(3)-200,dim(4)-110],...
            'MenuBar','none','Name',' 3D Puma Robot Graphical Demo',...
            'NumberTitle','off','CloseRequestFcn',@del_app);
        hold on;
        %light('Position',[-1 0 0]);
        light                               % add a default light
        daspect([1 1 1])                    % Setting the aspect ratio
        view(135,25)
        xlabel('X'),ylabel('Y'),zlabel('Z');
        title('WWU Robotics Lab PUMA 762');
        axis([-1500 1500 -1500 1500 -1120 1500]);
        plot3([-1500,1500],[-1500,-1500],[-1120,-1120],'k')
        plot3([-1500,-1500],[-1500,1500],[-1120,-1120],'k')
        plot3([-1500,-1500],[-1500,-1500],[-1120,1500],'k')
        plot3([-1500,-1500],[1500,1500],[-1120,1500],'k')
        plot3([-1500,1500],[-1500,-1500],[1500,1500],'k')
        plot3([-1500,-1500],[-1500,1500],[1500,1500],'k')
 
        s1 = getappdata(0,'Link1_data');
        s2 = getappdata(0,'Link2_data');
        s3 = getappdata(0,'Link3_data');
        s4 = getappdata(0,'Link4_data');
        s5 = getappdata(0,'Link5_data');
        s6 = getappdata(0,'Link6_data');
        s7 = getappdata(0,'Link7_data');
        A1 = getappdata(0,'Area_data');
        %
        a2 = 650;
        a3 = 0;
        d3 = 190;
        d4 = 600;
        Px = 5000;
        Py = 5000;
        Pz = 5000;
 
        %The 'home' position, for init.
        t1 = 90;
        t2 = -90;
        t3 = -90;
        t4 = 0;
        t5 = 0;
        t6 = 0;
 
        % Forward Kinematics
        T_01 = tmat(0, 0, 0, t1);
        T_12 = tmat(-90, 0, 0, t2);
        T_23 = tmat(0, a2, d3, t3);
        T_34 = tmat(-90, a3, d4, t4);
        T_45 = tmat(90, 0, 0, t5);
        T_56 = tmat(-90, 0, 0, t6);
 
        % Each link fram to base frame transformation
        T_02 = T_01*T_12;
        T_03 = T_02*T_23;
        T_04 = T_03*T_34;
        T_05 = T_04*T_45;
        T_06 = T_05*T_56;
 
        % Actual vertex data of robot links
        Link1 = s1.V1;
        Link2 = (T_01*s2.V2')';
        Link3 = (T_02*s3.V3')';
        Link4 = (T_03*s4.V4')';
        Link5 = (T_04*s5.V5')';
        Link6 = (T_05*s6.V6')';
        Link7 = (T_06*s7.V7')';
 
        % points are no fun to watch, make it look 3d.
        L1 = patch('faces', s1.F1, 'vertices' ,Link1(:,1:3));
        L2 = patch('faces', s2.F2, 'vertices' ,Link2(:,1:3));
        L3 = patch('faces', s3.F3, 'vertices' ,Link3(:,1:3));
        L4 = patch('faces', s4.F4, 'vertices' ,Link4(:,1:3));
        L5 = patch('faces', s5.F5, 'vertices' ,Link5(:,1:3));
        L6 = patch('faces', s6.F6, 'vertices' ,Link6(:,1:3));
        L7 = patch('faces', s7.F7, 'vertices' ,Link7(:,1:3));
        A1 = patch('faces', A1.Fa, 'vertices' ,A1.Va(:,1:3));
        Tr = plot3(0,0,0,'b.'); % holder for trail paths
        %
        setappdata(0,'patch_h',[L1,L2,L3,L4,L5,L6,L7,A1,Tr])
        %
        setappdata(0,'xtrail',0); % used for trail tracking.
        setappdata(0,'ytrail',0); % used for trail tracking.
        setappdata(0,'ztrail',0); % used for trail tracking.
        %
        set(L1, 'facec', [0.717,0.116,0.123]);
        set(L1, 'EdgeColor','none');
        set(L2, 'facec', [0.216,1,.583]);
        set(L2, 'EdgeColor','none');
        set(L3, 'facec', [0.306,0.733,1]);
        set(L3, 'EdgeColor','none');
        set(L4, 'facec', [1,0.542,0.493]);
        set(L4, 'EdgeColor','none');
        set(L5, 'facec', [0.216,1,.583]);
        set(L5, 'EdgeColor','none');
        set(L6, 'facec', [1,1,0.255]);
        set(L6, 'EdgeColor','none');
        set(L7, 'facec', [0.306,0.733,1]);
        set(L7, 'EdgeColor','none');
        set(A1, 'facec', [.8,.8,.8],'FaceAlpha',.25);
        set(A1, 'EdgeColor','none');
        %
        setappdata(0,'ThetaOld',[90,-90,-90,0,0,0]);
        %
    end
%%
    function T = tmat(alpha, a, d, theta)
        % tmat(alpha, a, d, theta) (T-Matrix used in Robotics)
        % The homogeneous transformation called the "T-MATRIX"
        % as used in the Kinematic Equations for robotic type
        % systems (or equivalent).
        %
        % This is equation 3.6 in Craig's "Introduction to Robotics."
        % alpha, a, d, theta are the Denavit-Hartenberg parameters.
        %
        % (NOTE: ALL ANGLES MUST BE IN DEGREES.)
        %
        alpha = alpha*pi/180;    %Note: alpha is in radians.
        theta = theta*pi/180;    %Note: theta is in radians.
        c = cos(theta);
        s = sin(theta);
        ca = cos(alpha);
        sa = sin(alpha);
        T = [c -s 0 a; s*ca c*ca -sa -sa*d; s*sa c*sa ca ca*d; 0 0 0 1];
    end
%%
    function del_app(varargin)
        %This is the main figure window close function, to remove any
        % app data that may be left due to using it for geometry.
        %CloseRequestFcn
        % here is the data to remove:
        %     Link1_data: [1x1 struct]
        %     Link2_data: [1x1 struct]
        %     Link3_data: [1x1 struct]
        %     Link4_data: [1x1 struct]
        %     Link5_data: [1x1 struct]
        %     Link6_data: [1x1 struct]
        %     Link7_data: [1x1 struct]
        %      Area_data: [1x1 struct]
        %        patch_h: [1x9 double]
        %       ThetaOld: [90 -182 -90 -106 80 106]
        %         xtrail: 0
        %         ytrail: 0
        %         ztrail: 0
        % Now remove them.
        rmappdata(0,'Link1_data');
        rmappdata(0,'Link2_data');
        rmappdata(0,'Link3_data');
        rmappdata(0,'Link4_data');
        rmappdata(0,'Link5_data');
        rmappdata(0,'Link6_data');
        rmappdata(0,'Link7_data');
        rmappdata(0,'ThetaOld');
        rmappdata(0,'Area_data');
        rmappdata(0,'patch_h');
        rmappdata(0,'xtrail');
        rmappdata(0,'ytrail');
        rmappdata(0,'ztrail');
        delete(fig_1);
    end
 
%%
    function [hout,ax_out] = uibutton(varargin)
        %uibutton: Create pushbutton with more flexible labeling than uicontrol.
        % Usage:
        %   uibutton accepts all the same arguments as uicontrol except for the
        %   following property changes:
        %
        %     Property      Values
        %     -----------   ------------------------------------------------------
        %     Style         'pushbutton', 'togglebutton' or 'text', default =
        %                   'pushbutton'.
        %     String        Same as for text() including cell array of strings and
        %                   TeX or LaTeX interpretation.
        %     Interpreter   'tex', 'latex' or 'none', default = default for text()
        %
        % Syntax:
        %   handle = uibutton('PropertyName',PropertyValue,...)
        %   handle = uibutton(parent,'PropertyName',PropertyValue,...)
        %   [text_obj,axes_handle] = uibutton('Style','text',...
        %       'PropertyName',PropertyValue,...)
        %
        % uibutton creates a temporary axes and text object containing the text to
        % be displayed, captures the axes as an image, deletes the axes and then
        % displays the image on the uicontrol.  The handle to the uicontrol is
        % returned.  If you pass in a handle to an existing uicontol as the first
        % argument then uibutton will use that uicontrol and not create a new one.
        %
        % If the Style is set to 'text' then the axes object is not deleted and the
        % text object handle is returned (as well as the handle to the axes in a
        % second output argument).
        %
        % See also UICONTROL.
 
        % Version: 1.6, 20 April 2006
        % Author:  Douglas M. Schwarz
        % Email:   dmschwarz=ieee*org, dmschwarz=urgrad*rochester*edu
        % Real_email = regexprep(Email,{'=','*'},{'@','.'})
 
 
        % Detect if first argument is a uicontrol handle.
        keep_handle = false;
        if nargin > 0
            h = varargin{1};
            if isscalar(h) && ishandle(h) && strcmp(get(h,'Type'),'uicontrol')
                keep_handle = true;
                varargin(1) = [];
            end
        end
 
        % Parse arguments looking for 'Interpreter' property.  If found, note its
        % value and then remove it from where it was found.
        interp_value = get(0,'DefaultTextInterpreter');
        arg = 1;
        remove = [];
        while arg <= length(varargin)
            v = varargin{arg};
            if isstruct(v)
                fn = fieldnames(v);
                for i = 1:length(fn)
                    if strncmpi(fn{i},'interpreter',length(fn{i}))
                        interp_value = v.(fn{i});
                        v = rmfield(v,fn{i});
                    end
                end
                varargin{arg} = v;
                arg = arg + 1;
            elseif ischar(v)
                if strncmpi(v,'interpreter',length(v))
                    interp_value = varargin{arg+1};
                    remove = [remove,arg,arg+1];
                end
                arg = arg + 2;
            elseif arg == 1 && isscalar(v) && ishandle(v) && ...
                    any(strcmp(get(h,'Type'),{'figure','uipanel'}))
                arg = arg + 1;
            else
                error('Invalid property or uicontrol parent.')
            end
        end
        varargin(remove) = [];
 
        % Create uicontrol, get its properties then hide it.
        if keep_handle
            set(h,varargin{:})
        else
            h = uicontrol(varargin{:});
        end
        s = get(h);
        if ~any(strcmp(s.Style,{'pushbutton','togglebutton','text'}))
            delete(h)
            error('''Style'' must be pushbutton, togglebutton or text.')
        end
        set(h,'Visible','off')
 
        % Create axes.
        parent = get(h,'Parent');
        ax = axes('Parent',parent,...
            'Units',s.Units,...
            'Position',s.Position,...
            'XTick',[],'YTick',[],...
            'XColor',s.BackgroundColor,...
            'YColor',s.BackgroundColor,...
            'Box','on',...
            'Color',s.BackgroundColor);
        % Adjust size of axes for best appearance.
        set(ax,'Units','pixels')
        pos = round(get(ax,'Position'));
        if strcmp(s.Style,'text')
            set(ax,'Position',pos + [0 1 -1 -1])
        else
            set(ax,'Position',pos + [4 4 -8 -8])
        end
        switch s.HorizontalAlignment
            case 'left'
                x = 0.0;
            case 'center'
                x = 0.5;
            case 'right'
                x = 1;
        end
        % Create text object.
        text_obj = text('Parent',ax,...
            'Position',[x,0.5],...
            'String',s.String,...
            'Interpreter',interp_value,...
            'HorizontalAlignment',s.HorizontalAlignment,...
            'VerticalAlignment','middle',...
            'FontName',s.FontName,...
            'FontSize',s.FontSize,...
            'FontAngle',s.FontAngle,...
            'FontWeight',s.FontWeight,...
            'Color',s.ForegroundColor);
 
        % If we are creating something that looks like a text uicontrol then we're
        % all done and we return the text object and axes handles rather than a
        % uicontrol handle.
        if strcmp(s.Style,'text')
            delete(h)
            if nargout
                hout = text_obj;
                ax_out = ax;
            end
            return
        end
 
        % Capture image of axes and then delete the axes.
        frame = getframe(ax);
        delete(ax)
 
        % Build RGB image, set background pixels to NaN and put it in 'CData' for
        % the uicontrol.
        if isempty(frame.colormap)
            rgb = frame.cdata;
        else
            rgb = reshape(frame.colormap(frame.cdata,:),[pos([4,3]),3]);
        end
        size_rgb = size(rgb);
        rgb = double(rgb)/255;
        back = repmat(permute(s.BackgroundColor,[1 3 2]),size_rgb(1:2));
        isback = all(rgb == back,3);
        rgb(repmat(isback,[1 1 3])) = NaN;
        set(h,'CData',rgb,'String','','Visible',s.Visible)
 
        % Assign output argument if necessary.
        if nargout
            hout = h;
        end
%%
    end
end
% Finally.

Bonne soirée.