Ja kno it
Embed:
(wiki syntax)
Show/hide line numbers
BrocketJacobian.h
00001 #include "mbed.h" 00002 00003 /** Brocket function 00004 Used to determine the end effector position depending on the joint angles 00005 @param q1 current position of joint 1 in radians 00006 @param q2 current position of joint 2 in radians 00007 @param x Output variable for the x position of the end effector 00008 @param y Output variable for the y position of the end effector 00009 */ 00010 void Brocket(float q1,float q2,float &x,float &y); 00011 00012 /** Jacobian Tansposed function 00013 Used to determine the joint torques depending on the Forces applied to the end effector 00014 @param q1 current position of joint 1 in radians 00015 @param q2 current position of joint 2 in radians 00016 @param Fsprx Force applied to the end effector in x direction 00017 @param Fspry Force applied to the end effector in y direction 00018 @param tau1 Output variable for the Moment in joint1 00019 @param tau2 Output variable for the Moment in joint2 00020 */ 00021 void TransposeJacobian(float q1,float q2,float Fsprx,float Fspry,float &tau1,float &tau2); 00022 00023 /** Jacobian Tansposed function 00024 Used to determine the joint velocities depending on the end effector velocities 00025 @param q1 current position of joint 1 in radians 00026 @param q2 current position of joint 2 in radians 00027 @param vx Velocity of the end effector in x direction 00028 @param vy Velocity of the end effector in y direciton 00029 @param tau1 Output variable for the Moment in joint1 00030 @param tau2 Output variable for the Moment in joint2 00031 */ 00032 void InverseJacobian(float q1 , float q2, float vx, float vy, float &q1dot, float &q2dot);
Generated on Sat Jul 16 2022 06:32:39 by
1.7.2