1、前記：

發布?MATLAB??代碼文件 (.m) 可創建包括您的代碼、注釋和輸出的格式化文檔。發布代碼的常見原因是與其他人共享文檔以用于教學或演示，或者生成您代碼的可讀外部文檔。要在 MATLAB 編輯器中創建同時包含您的代碼、格式化內容和輸出的交互式文檔，請參閱在實時編輯器中創建實時腳本。

2、步驟----打開要發布的代碼文件(m文件)-----點擊發布----選擇編輯發布選項。如下：

點擊輸出文件，選擇格式和修改地址，點擊發布

如：源代碼為?Robotics System Toolbox中的機器人運動 (3)中的例子

%% Waypoint tracking demonstration using Robotics System Toolbox

% This demonstration performs inverse kinematics of a

% robot manipulator to follow a desired set of waypoints.

% Copyright 2017-2018 The MathWorks, Inc.

%% Load and display robot

clear

clc

robot = importrobot('irb_140.urdf');

axis([-0.6 0.8 -0.6 0.65 0 1.2]);

show(robot);

axes.CameraPositionMode = 'auto';

%% Create a set of desired wayPoints

wayPoints = [0.5 0.1 0.6;0.5 0.4 0.5]; % Alternate set of wayPoints

%wayPoints = [0.2 -0.2 0.02;0.15 0 0.28;0.15 0.05 0.2; 0.15 0.09 0.15;0.1 0.12 0.1; 0.04 0.1 0.2;0.25 0 0.15; 0.2 0.2 0.02];

exampleHelperPlotWaypoints(wayPoints);

%% Create a smooth curve from the waypoints to serve as trajectory

trajectory = cscvn(wayPoints');%在點之間創建軌跡

% Plot trajectory spline and waypoints

hold on

fnplt(trajectory,'r',2);

%% Perform Inverse Kinematics for a point in space

% Add end effector frame, offset from the grip link frame

eeOffset = 0.01;

eeBody = robotics.RigidBody('end_effector');

setFixedTransform(eeBody.Joint,trvec2tform([eeOffset 0 0]));

addBody(robot,eeBody,'link_6');

ik = robotics.InverseKinematics('RigidBodyTree',robot);

weights = [0.1 0.1 0 1 1 1];

initialguess = robot.homeConfiguration;

% Calculate the inverse kinematic solution using the "ik" solver

% Use desired weights for solution (First three are orientation, last three are translation)

% Since it is a 4-DOF robot with only one revolute joint in Z we do not

% put a weight on Z rotation; otherwise it limits the solution space

numTotalPoints =40;

% Evaluate trajectory to create a vector of end-effector positions

eePositions = ppval(trajectory,linspace(0,trajectory.breaks(end),numTotalPoints));

% Call inverse kinematics solver for every end-effector position using the

% previous configuration as initial guess

for idx = 1:size(eePositions,2)

tform = trvec2tform(eePositions(:,idx)');

configSoln(idx,:) = ik('end_effector',tform,weights,initialguess);

initialguess = configSoln(idx,:);

end

%% Visualize robot configurations

title('Robot waypoint tracking visualization')

hold on

axis([-0.6 0.8 -0.6 0.65 0 1.3]);

for idx = 1:size(eePositions,2)

show(robot,configSoln(idx,:), 'PreservePlot', false,'Frames','off');

pause(0.1)

end

%% Plot joints values

A = cat(1,configSoln.JointPosition);

clf

figure

stem(A)%overview

%% Joints

joint1=A(1:40,1);

joint2=A(41:80,1);

joint3=A(81:120,1);

joint4=A(121:160,1);

joint5=A(161:200,1);

joint6=A(201:240,1);

figure

stem(joint1,'LineStyle','none','MarkerFaceColor','r','MarkerEdgeColor','g')

title('Joint關節的值變化')

hold on

stem(joint2,'LineStyle','none','MarkerFaceColor','g','MarkerEdgeColor','b')

stem(joint3,'LineStyle','none','MarkerFaceColor','b','MarkerEdgeColor','y')

stem(joint4,'LineStyle','none','MarkerFaceColor','y','MarkerEdgeColor','m')

stem(joint5,'LineStyle','none','MarkerFaceColor','c','MarkerEdgeColor','w')

stem(joint6,'LineStyle','none','MarkerFaceColor','m','MarkerEdgeColor','b')

發布后生成的PDF文檔效果為：

3、后記：figure圖框的利用---打印圖窗、點擊箭頭修改圖占框大小、插入圖例修改data標簽，以便給論文提取所需的圖。

----------己亥年二月初六晚

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