|
SUPPORT SITE |
|
|
|
SUPPORT SITE |
|
Path: Dynamics/Robotics
% Generate SCARA states for desired end effector position and angle.
Type SCARAIK for a demo.
--------------------------------------------------------------------------
Form:
x = SCARAIK( r, theta )
--------------------------------------------------------------------------
------
Inputs
------
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
-------
Outputs
-------
x (4,:) SCARA states
--------------------------------------------------------------------------
Dynamics: Robotics/DrawSCARA
Back to the Dynamics Module page