Silvie van den Bogaard / Mbed 2 deprecated Inverse_kinematics

x and y should be changed to represent the valid inputs. Takes a setpoint x,y and transfers it to required motor angles

Dependencies:   MODSERIAL mbed

main.cpp@0:30f920202a5c, 2018-10-25 (annotated)

Committer:
Duif
Date:
Thu Oct 25 11:34:55 2018 +0000
Revision:
0:30f920202a5c
Child:
1:edac9d449caa
Transforming x and y to angles for the motor, can't return the arguments yet

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Duif 0:30f920202a5c 1 #include "mbed.h"
Duif 0:30f920202a5c 2 #include "MODSERIAL.h"
Duif 0:30f920202a5c 3 #include "math.h"
Duif 0:30f920202a5c 4
Duif 0:30f920202a5c 5 const double pi = 3.14159265358979323846; //definition of pi
Duif 0:30f920202a5c 6 int sq = 2; //to square numbers
Duif 0:30f920202a5c 7 int ox = 0; //origin
Duif 0:30f920202a5c 8 int oy = 0; //origin
Duif 0:30f920202a5c 9 const double x0 = 80.0; //zero x position after homing
Duif 0:30f920202a5c 10 const double y0 = 141.0; //zero y position after homing
Duif 0:30f920202a5c 11 const double L1 = 250.0; //length of the first link
Duif 0:30f920202a5c 12 const double L3 = 350.0; //length of the second link
Duif 0:30f920202a5c 13
Duif 0:30f920202a5c 14 double x = 500.0; //x variable that will be set; input
Duif 0:30f920202a5c 15 double y = 141.0; //y variable that will be set; input
Duif 0:30f920202a5c 16
Duif 0:30f920202a5c 17 //reference angles of the starting position
Duif 0:30f920202a5c 18 double q2_0 = -acos((pow(x0,sq)+pow(y0,sq)-pow(L1,sq)-pow(L3,sq))/(2*L1*L3));
Duif 0:30f920202a5c 19 double q1_0 = atan(y0/x0)+acos((-pow(L3,sq)+pow(L1,sq)+pow(x0,sq)+pow(y0,2))/(2*L1*sqrt(pow(x0,2)+pow(y0,2))));
Duif 0:30f920202a5c 20
Duif 0:30f920202a5c 21 //function to calculate the angle from
Duif 0:30f920202a5c 22 void makeAngle(double x, double y){
Duif 0:30f920202a5c 23
Duif 0:30f920202a5c 24 double q2 = -acos((pow(x,sq)+pow(y,sq)-pow(L1,sq)-pow(L3,sq))/(2*L1*L3)); //angle of the second joint in setpoint configuration
Duif 0:30f920202a5c 25
Duif 0:30f920202a5c 26 double q1 = atan(y/x)+acos((-pow(L3,sq)+pow(L1,sq)+pow(x,sq)+pow(y,sq))/(2*L1*sqrt(pow(x,sq)+pow(y,sq)))); //angle of the first joint in the setpoint configuration
Duif 0:30f920202a5c 27
Duif 0:30f920202a5c 28 double q2_motor = pi - q2; //because q2 represents the angle at joint two and not at the motor a calculation has to be done
Duif 0:30f920202a5c 29
Duif 0:30f920202a5c 30 double q1_diff = 2*(q1-q1_0); //the actual amount of radians that the motor has to turn in total to reach the setpoint
Duif 0:30f920202a5c 31 double q2_diff = 2*(q2_motor - q2_0); //the actual amount of radians that the motor has to turn in total to reach the setpoint
Duif 0:30f920202a5c 32
Duif 0:30f920202a5c 33 double q_diff[2] = (q1_diff,q2_diff); //make a vector so the answer can be returned
Duif 0:30f920202a5c 34
Duif 0:30f920202a5c 35 return q_diff;
Duif 0:30f920202a5c 36 }
Duif 0:30f920202a5c 37
Duif 0:30f920202a5c 38 int main()
Duif 0:30f920202a5c 39 {
Duif 0:30f920202a5c 40 while (true) {
Duif 0:30f920202a5c 41
Duif 0:30f920202a5c 42 }
Duif 0:30f920202a5c 43 }