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Show/hide line numbers BrocketJacobian.h Source File

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);