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Index in position 2 exceeds array bounds (must not exceed 1).

Asked by pranali revankar on 12 Apr 2019
Latest activity Commented on by Guillaume
on 12 Apr 2019
How to solve this error?
Index in position 2 exceeds array bounds (must not exceed 1).
Error in RRR_Robot>btn_Forward_Callback (line 168)
handles.Pos_X.String = num2str(floor(T(1,4)));
Error in gui_mainfcn (line 95)
feval(varargin{:});
Error in RRR_Robot (line 42)
gui_mainfcn(gui_State, varargin{:});
Error in
matlab.graphics.internal.figfile.FigFile/read>@(hObject,eventdata)RRR_Robot('btn_Forward_Callback',hObject,eventdata,guidata(hObject))
Error while evaluating UIControl Callback.
function varargout = RRR_Robot(varargin)
% RRR_ROBOT MATLAB code for RRR_Robot.fig
% RRR_ROBOT, by itself, creates a new RRR_ROBOT or raises the existing
% singleton*.
%
% H = RRR_ROBOT returns the handle to a new RRR_ROBOT or the handle to
% the existing singleton*.
%
% RRR_ROBOT('CALLBACK',hObject,eventData,handles,...) calls the local
% function named CALLBACK in RRR_ROBOT.M with the given input arguments.
%
% RRR_ROBOT('Property','Value',...) creates a new RRR_ROBOT or raises the
% existing singleton*. Starting from the left, property value pairs are
% applied to the GUI before RRR_Robot_OpeningFcn gets called. An
% unrecognized property name or invalid value makes property application
% stop. All inputs are passed to RRR_Robot_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 RRR_Robot
% Last Modified by GUIDE v2.5 06-Nov-2017 21:50:49
% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
gui_State = struct('gui_Name', mfilename, ...
'gui_Singleton', gui_Singleton, ...
'gui_OpeningFcn', @RRR_Robot_OpeningFcn, ...
'gui_OutputFcn', @RRR_Robot_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 RRR_Robot is made visible.
function RRR_Robot_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 RRR_Robot (see VARARGIN)
% Choose default command line output for RRR_Robot
handles.output = hObject;
% Update handles structure
guidata(hObject, handles);
% UIWAIT makes RRR_Robot wait for user response (see UIRESUME)
% uiwait(handles.figure1);
% --- Outputs from this function are returned to the command line.
function varargout = RRR_Robot_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
% --- 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 = 26;
L_2 = 18;
L_3 = 20;
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)));
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_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 = 26;
L_2 = 18;
L_3 = 20;
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],'mask',[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);
%
% J = Robot.ikine(T, [0 0 0],'mask',[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);

  2 Comments

Well, the error message tells us that T has only one column.

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1 Answer

Answer by Guillaume
on 12 Apr 2019
 Accepted Answer

T = Robot.fkine([Th_1 Th_2 Th_3]);
handles.Pos_X.String = num2str(floor(T(1,4)));
Your second line assumes that T (a.k.a Robot.fkine([Th_1 Th_2 Th_3]);) has at least 4 columns. The error message tells you it only has one.
So, you either need to understand why Robot.fkine([Th_1 Th_2 Th_3]) has only one column if you expected 4 or change your code so it works with an input with just one column.

  2 Comments

Thank you for your feedback. But as I am new to this simulink programming, can you please explain in detail about how to solve the above error.
You're calling the fkine function. Your code expects that it returns a matrix of size at least 3x4.
Currently, it is not returning a 3x4 matrix. All we know from the information you have given us is that it is ?x1.
So,
  • either fkine should have returned a 3x4 matrix and you need to find out why it didn't. We can't tell you why since we know nothing about that function. Perhaps, you've given it wrong inputs.
  • or fkine is meant to return a 1 column matrix, in which case, well don't write code that access its 4th column.
The best way for you to find what is actually is type in the command window:
dbstop if error
Then run your GUI. Now instead of terminating when an error occur. it will break into the debugger. You can then look at the T variable, in particular find its size with
size(T)
You could also set a breakpoint at the beginning of the fkine function and execute it step by step to see where it goes wrong.

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