Biorobotics
/
frdm_kinematics
Direct and inverse kinematics of a scara robotic arm, based on trigonometry
main.cpp
- Committer:
- apdijkshoorn
- Date:
- 2015-10-19
- Revision:
- 4:022b69da83f8
- Parent:
- 3:1e8cfc385b48
File content as of revision 4:022b69da83f8:
#include "mbed.h" #include "MODSERIAL.h" #define PI 3.14159265 MODSERIAL pc(USBTX, USBRX); void DirectKin(double& a, double& b, double theta1, double theta2) { double L1 = 0.34; double L2 = 0.26; double theta1_0 = 0; double theta2_0 = 180; double r0_1[2] = {L1*cos((theta1_0+theta1) * PI / 180.0) , L1*sin((theta1_0+theta1) * PI / 180.0)}; double r0_2[2] = {L1*cos((theta1_0+theta1) * PI / 180.0)+L2*cos((theta1_0+theta1+theta2+theta2_0)* PI / 180.0), L1*sin((theta1_0+theta1) * PI / 180.0)+L2*sin((theta1_0+theta1+theta2+theta2_0)* PI / 180.0)}; double x = r0_2[0]; double y = r0_2[1]; a = x; b = y; } void IndirectKin(double&a, double& b, double x, double y) { double L1 = 0.34; double L2 = 0.26; double theta1_0 = 30; double theta2_0 = 180; double theta_2 = acos( (x*x+y*y-L1*L1-L2*L2)/(2*L1*L2) )* 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_1 = theta_total - theta_Q; a = theta_1 - theta1_0; b = theta_2 - theta2_0; } int main() { pc.baud(115200); double theta_1 = 0.000001; double theta_2 = 0.000001; double xy[2] = {0.0,0.0}; while (true) { wait(0.5f); DirectKin(xy[0],xy[1], theta_1, theta_2); pc.printf("%4.4f %4.4f \n",xy[0], xy[1]); IndirectKin(theta_1, theta_2, xy[0], xy[1]); pc.printf("%4.4f %4.4f \n\n",theta_1, theta_2); theta_1 = theta_1 + 90.0; } }