Diff: main.cpp

Revision:

0:4a9c733c3b53

Child:

1:df3d7f71db4b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Oct 22 14:52:06 2018 +0000
@@ -0,0 +1,63 @@
+#include "mbed.h"
+#include "math.h"
+#include "Matrix.h"
+
+const float L0;                     // Length between two motors [meter]
+const float L1;                     // Length first beam from right motor2 [meter]
+const float L2;                     // Length second beam from right motor2 [meter]
+const float L3;                     // Length beam between L2 and L4 [meter]
+const float L4;                     // Length first beam from left motor1 [meter]
+const float L5;                     // Length from L3 to end-effector [meter]
+const double PI = 3.14159265359;
+volatile float Pe_x;                // x-coordinate of end-effector from frame 0 [meter]
+volatile float Pe_y;                // y-coordinate of end-effector from frame 0 [meter]
+volatile float motor_angle1;        // Desired angle of motor 1 (left) [rad]
+volatile float motor_angle2;        // Desired angle of motor 2 (right) [rad]
+
+ticker IK                           // Ticker function for inverse kinematics
+
+void InverseKinematics()
+{
+    // Calculation of the position of joint 3 in frame 0
+    float n = sqrt(pow(Pe_x,2) + pow(Pe_y,2);                           // Radius between origin frame 0 and endeffector [meter]
+    float omega = acos(-(pow(n,2) - pow(L4,2) - pow(L5,2))/(2*L4*L5));  // Angle between L4 and L5 [rad]
+    float q4 = PI - omega;                                              // Angle of joint 3 between L3 and L4
+    float theta = atan(L5*sin(q4)/(L4 + L5*cos(q4));                    // Angle between n and L4
+    float lambda = PI - atan(abs(Pe_y/Pe_x));                           // Entire angle between x-axis frame 0 and n
+    float motor_angle1 = lambda - theta;
+    float J3x_0 = L4*cos(q3);                                           // x-coordinate of joint 3 in frame 0
+    float J3y_0 = L4*sin(q3);                                           // y-coordinate of joint 3 in frame 0
+    
+    // Calculation of the position of joint 2 in frame 0 
+    float S = abs(J3y_0 - Pe_y);                                        // Distance between height endeffector and joint 3
+    float kappa = asin(S/L5);                                           // Angle of L5  
+    float J2x_0 = (L3+L5)*cos(kappa) + Pe_x;                            // x-coordinate of joint 2 in frame 0
+    float J2y_0 = (L3+L5)*sin(kappa) + Pe_y;                            // y-coordinate of joint 2 in frame 0
+    
+    // Calculation of the position of joint 1 in frame 0
+    float J2x_1 = J2x_0 - L0;                                           // x-coordinate of joint 2 in frame 1
+    float J2y_1 = J2y_0;                                                // y-coordinate of joint 2 in frame 1
+    float r = sqrt(pow(J2x_1,2) + pow(J2y_1,2);                         // Radius between origin frame 1 and J2
+    float alfa = acos(-(pow(r,2) - pow(L1,2) - pow(L2,2))/(2*L1*L2      // Angle opposite of radius r
+    float q2 = PI - alfa;                                               // Angle between L1 and L2
+    
+    // Calculation of motor_angle2
+    float beta = atan(L2*sin(q2)/(L1+L2*cos(q2)));                      // Angle between r and L1
+    float gamma = PI - atan(abs(J2y_1/J2x_1);                           // Angle between r and x-axis
+    // check if gamma works!
+    m_anle2 = gamma - beta;
+    float J1x_0 = L0 + L1*cos(q1);                                      // x-coordinate of joint 1 in frame 0
+    float J1y_0 = L1*sin(q1);                                           // y-coordinate of joint 1 in frame 0   
+    
+    
+    
+    
+    return motor_angle1
+    return motor_angle2
+}    
+
+
+int main()
+{
+    IK.attach(InverseKinematics)
+}
\ No newline at end of file