Biorobotics / Robot-Software_jesse

Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed

Fork of Robot-Software by Biorobotics

help_functions/kinematics.h

Committer:
SvenD97
Date:
2018-10-23
Revision:
7:b77f2201b156
Parent:
6:8ff9566c91e2
Child:
8:bba05e863b68

File content as of revision 7:b77f2201b156:

#include "mbed.h"

double L1 = 0.5;
double L2 = 0.7;
double x01 = 0.0;
double y01 = 0.2;

void forwardkinematics_function(double q1, double q2) {
    // input are joint angles, output are x and y position of end effector
    
    x = x01 + L1*cos(q1)-L2*cos(q2);
    y = y01 + L1 * sin(q1) - L2 * sin(q2);    
}

double inversekinematics_function(double q1, double q2, double reference) {
    // pseudo inverse jacobian to get joint speeds
    // input are desired vx and vy of end effector, output joint angle speeds
    // I assume here that reference is a vector (this should also be global I think)
    
    
    return 5.5;    
}