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

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);

[Alex Mcaulley]

size(T)  %??

[Guillaume]

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

Answer 1

[Guillaume]

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.

[pranali revankar]

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.

[Guillaume]

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.

[Aung Kyaw Nyein]

I had the same error. This helps me.

https://www.researchgate.net/publication/330519494_A_GUI_Based_Kinematic_Model_Development_OF_6_DOF_Manipulator_Using_Matlab