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Direct and inverse kinematics of a scara robotic arm, based on trigonometry
Revision 4:022b69da83f8, committed 2015-10-19
- Comitter:
- apdijkshoorn
- Date:
- Mon Oct 19 13:25:24 2015 +0000
- Parent:
- 3:1e8cfc385b48
- Commit message:
- Functions for direct and inverse kinematics of a scara robotic arm, based on trigonometry
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 1e8cfc385b48 -r 022b69da83f8 main.cpp --- a/main.cpp Mon Oct 19 13:23:58 2015 +0000 +++ b/main.cpp Mon Oct 19 13:25:24 2015 +0000 @@ -26,7 +26,7 @@ double L1 = 0.34; double L2 = 0.26; double theta1_0 = 30; - double theta2_0 = 46; + 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;