![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Direct and inverse kinematics of a scara robotic arm, based on trigonometry
Diff: main.cpp
- Revision:
- 1:dd8fca950fed
- Parent:
- 0:8d4438eabc82
- Child:
- 2:47913550ec8d
--- a/main.cpp Mon Oct 19 12:33:06 2015 +0000 +++ b/main.cpp Mon Oct 19 12:40:29 2015 +0000 @@ -27,19 +27,13 @@ double L2 = 0.26; double para2 = (x*x+y*y-L1*L1-L2*L2)/(2*L1*L2); - //double theta_1 = 0.0; - double theta_2 = 0.0; - double theta_Q = 0.0; - - //double theta_2 = acos(para2)* 180 / PI; + double theta_2 = acos(para2)* 180 / PI; double theta_total = atan2 (y,x) * 180 / PI; - //double theta_Q = acos( (x*x+y*y+L1*L1-L2*L2) / (2*L1*sqrt(x*x+y*y)) )* 180 / PI; + double theta_Q = acos( (x*x+y*y+L1*L1-L2*L2) / (2*L1*sqrt(x*x+y*y)) )* 180 / PI; double theta_1 = theta_total - theta_Q; a = theta_1; b = theta_2; - //a = theta_1; - //b = theta_2; } @@ -47,8 +41,8 @@ { pc.baud(115200); - double theta_1 = 0.0; - double theta_2 = 0.0; + double theta_1 = 1.0; + double theta_2 = 1.0; double xy[2] = {0.0,0.0};