MACRO_GROUP

this function allows to compute the homogeneouse trasformation matrix starting from DH parameters

Parameters:

pointer	to the actual DH parameter
pointer	to the trasformation matrix to compute

Returns:

void

Definition at line 94 of file kinematic.c.

this function allows to update the current dh parameter with the actual joints angle

Parameters:

pointer	to the DH parameter to update
pointer	to the new joint angle, value which update the DHP

Returns:

void

Definition at line 59 of file kinematic.c.

Function which performs the direct position kinematic function.

Given the joints values the TCP pose is computed

Parameters:

pointer	to the structure containing the actual joints values
pointer	to the pose structure where the result will be stored

Returns:

void

< initialization of matrices

< DHP initialization

< Homogeneous transformations

< Tool center point transformation

< matrix delation

Definition at line 120 of file kinematic.c.

Computes the inverse kinematics (returns the joints values for a desired pose).

Parameters:

p	is the pointer to the desired pose
joint	is where the result will be saved

Returns:

0 if the inverse kinematics is computed correctly

1 if the point to reach is not in the task space

Definition at line 471 of file kinematic.c.

Function which returns the Analytical Jacobian given the joints values.

Parameters:

joint	is the address to the structure containing the joints values
Ja	is the address where the Analytical Jacobian will be stored

Returns:

void

Definition at line 395 of file kinematic.c.

Function which returns the geometric Jacobian given the joints values.

Parameters:

pointer	to the structure containing the joints values
Jg	is the address where the geometric Jacobian will be stored
T_TCP	is the matrix in which the homogeneous transformation from 0 to TCP is stored once computed

Returns:

void

<compute dh_par="">compute T from dhp

compute distance from TCP

compute jacobian

Definition at line 187 of file kinematic.c.