VREP与MATLAB联合仿真UR5机械臂配置与控制

-- This is a threaded script, and is just an example!

threadFunction=function()

 while simGetSimulationState()~=sim_simulation_advancing_abouttostop do
 --read joints data from simulink

   result,data=simExtShareMemoryRead(UR5_data)
   UR5_torque=simUnpackFloats(data,0,6,0)
for i=1,6,1 do
      if UR5_torque[i]>0 then
         simSetJointTargetVelocity(UR5_jointhandle[i],0.05)
      elseif UR5_torque[i]<0 then
         simSetJointTargetVelocity(UR5_jointhandle[i],-0.05)
      else
          simSetJointTargetVelocity(UR5_jointhandle[i],0)
      end
      simSetJointForce(UR5_jointhandle[i],math.abs(UR5_torque[i]))
    end
  --show ur5 joint torque
   simAuxiliaryConsolePrint(UR5_consoleHandle,"JOINT1: "..UR5_torque[1].."\n")
   simAuxiliaryConsolePrint(UR5_consoleHandle,"JOINT2: "..UR5_torque[2].."\n")
   simAuxiliaryConsolePrint(UR5_consoleHandle,"JOINT3: "..UR5_torque[3].."\n")
   simAuxiliaryConsolePrint(UR5_consoleHandle,"JOINT4: "..UR5_torque[4].."\n")
   simAuxiliaryConsolePrint(UR5_consoleHandle,"JOINT5: "..UR5_torque[5].."\n")
   simAuxiliaryConsolePrint(UR5_consoleHandle,"JOINT6: "..UR5_torque[6].."\n")

 --send ur5 joint angle and velocity to simulink
   local joint_q={-1,-1,-1,-1,-1,-1}
   for i=1,6,1 do