Diff: BrocketJacobian.h

Revision:

0:92c31f1d4274

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BrocketJacobian.h	Mon Oct 30 13:51:13 2017 +0000
@@ -0,0 +1,32 @@
+#include "mbed.h"
+
+/** Brocket function
+    Used to determine the end effector position depending on the joint angles
+    @param q1 current position of joint 1 in radians
+    @param q2 current position of joint 2 in radians
+    @param x Output variable for the x position of the end effector
+    @param y Output variable for the y position of the end effector
+*/
+void Brocket(float q1,float q2,float &x,float &y);
+
+/** Jacobian Tansposed function
+    Used to determine the joint torques depending on the Forces applied to the end effector
+    @param q1 current position of joint 1 in radians
+    @param q2 current position of joint 2 in radians
+    @param Fsprx Force applied to the end effector in x direction
+    @param Fspry Force applied to the end effector in y direction
+    @param tau1 Output variable for the Moment in joint1
+    @param tau2 Output variable for the Moment in joint2
+*/
+void TransposeJacobian(float q1,float q2,float Fsprx,float Fspry,float &tau1,float &tau2);
+
+/** Jacobian Tansposed function
+    Used to determine the joint velocities depending on the end effector velocities
+    @param q1 current position of joint 1 in radians
+    @param q2 current position of joint 2 in radians
+    @param vx Velocity of the end effector in x direction
+    @param vy Velocity of the end effector in y direciton
+    @param tau1 Output variable for the Moment in joint1
+    @param tau2 Output variable for the Moment in joint2
+*/
+void InverseJacobian(float q1 , float q2, float vx, float vy, float &q1dot, float &q2dot);
\ No newline at end of file