Dear Sir,
I test with Fanuc LR_MATE_200iD.
Just jog Y axis only but, the q4 change from 0 -> -90 (we don't need this change) as pictures below:

The spline function in the toolbox interferes with the built-in spline.m function from MATLAB

Just a recommendation, put some screenshots/gifs for showing the potential of the project.

Internet loves gifs

robot.name= 'FANUC M_10iA';

robot.DH.theta= '[q(1) q(2)-pi/2 q(3) q(4) q(5) q(6)+pi]';
robot.DH.d='[0.45 0 0 0.64 0 0.1 ]';
robot.DH.a='[0.15 0.6 0.2 0 0 0]';
robot.DH.alpha= '[-pi/2 0 -pi/2 pi/2 -pi/2 0]';
robot.J=[];

Hi, I got a issue every time I'm trying to compute_joint_velocity from one robot.
I am a student in University of Wollongong in Australia and we have to use ARTE for one of our project in lecture.
I built a new robot and I got an issue with the functions compute_joint_volocity it tell me that:
"Undefined function or variable 'manipulator_jacobian'.

Error in compute_joint_velocity (line 55)
J = manipulator_jacobian(robot, q);

Error in question10partB (line 41)
vq = compute_joint_velocity(robot, q(:,1), V/norm(V)');"

I will really appreciate if you can help me

This section of code needs to be updated, the else component is never called if the tool exists, meaning the pieces no longer get drawn
(in DRAW PIECE GRABBED component)

            if isfield(robot, 'tool')
                if robot.tool.piece_gripped==1
                    %update the last known position and orientation of the robot
                    %Trel is computed when the simulation_grip_piece function is
                    %executed. Trel is the relative position and orientation of
                    %the tool and the piece that assures that the piece is
                    %picked at a constant and visually effective orientation.
                    draw_link(pieza_dibujar, 1, T07*(robot.tool.Trel));
                end
            else
                draw_link(pieza_dibujar, 1, pieza_dibujar.T0);
            end

Update to this -->

            if isfield(robot, 'tool')
                if robot.tool.piece_gripped==1
                    %update the last known position and orientation of the robot
                    %Trel is computed when the simulation_grip_piece function is
                    %executed. Trel is the relative position and orientation of
                    %the tool and the piece that assures that the piece is
                    %picked at a constant and visually effective orientation.
                    draw_link(pieza_dibujar, 1, T07*(robot.tool.Trel));
                    else
                        draw_link(pieza_dibujar, 1, pieza_dibujar.T0);
                    end
            end

Thanks for your great work!!!
I am using the teach GUI, and I found my result is diffrent from the practice you provided.
The first figure is your gui and the second one is my gui