Biorobotics / Robot-Software_jesse

Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed

Fork of Robot-Software by Biorobotics

help_functions/kinematics.h@4:88d28354e023, 2018-10-22 (annotated)

Committer:
SvenD97
Date:
Mon Oct 22 19:10:41 2018 +0000
Revision:
4:88d28354e023
Parent:
3:40e0e9404f82
Child:
5:0dd66c757f24
Put double x,y in forwardkinematics_function;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MaikOvermars 0:4cb1de41d049 1 #include "mbed.h"
MaikOvermars 0:4cb1de41d049 2
MaikOvermars 0:4cb1de41d049 3 double L1 = 0.5;
MaikOvermars 0:4cb1de41d049 4 double L2 = 0.7;
MaikOvermars 0:4cb1de41d049 5 double x01 = 0.0;
MaikOvermars 0:4cb1de41d049 6 double y01 = 0.2;
MaikOvermars 0:4cb1de41d049 7
SvenD97 3:40e0e9404f82 8 double forwardkinematics_function(double q1, double q2) {
MaikOvermars 0:4cb1de41d049 9 // input are joint angles, output are x and y position of end effector
MaikOvermars 0:4cb1de41d049 10
SvenD97 4:88d28354e023 11 double x;
SvenD97 4:88d28354e023 12 double y;
SvenD97 4:88d28354e023 13
MaikOvermars 0:4cb1de41d049 14 x = x01 - L1 * sin(q1) + L2 * cos(q1 + q2);
MaikOvermars 0:4cb1de41d049 15 y = y01 + L1 * cos(q1) + L2 * sin(q1 + q2);
MaikOvermars 0:4cb1de41d049 16 return x;
MaikOvermars 0:4cb1de41d049 17 }
MaikOvermars 0:4cb1de41d049 18
SvenD97 3:40e0e9404f82 19 double inversekinematics_function(double q1, double q2, double reference) {
MaikOvermars 0:4cb1de41d049 20 // pseudo inverse jacobian to get joint speeds
MaikOvermars 0:4cb1de41d049 21 // input are desired vx and vy of end effector, output joint angle speeds
MaikOvermars 0:4cb1de41d049 22
MaikOvermars 0:4cb1de41d049 23 return 5.5;
MaikOvermars 0:4cb1de41d049 24 }