SCARAIK:
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Generate SCARA states for desired end effector position and angle.
Type SCARAIK for a demo.
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Form:
x = SCARAIK( r, theta )
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Inputs
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r (3,:) End effector position
theta (1,:) End effector angle
d (1,1) Geometry data structure
.a1 (1,1) Link 1 length
.a2 (1,1) Link 2 length
.z1 (1,1) Distance of link 4 from ground
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Outputs
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x (4,:) SCARA states
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Children:
Dynamics: Robotics/DrawSCARA
