SCARAIK:

Path: Dynamics/Robotics

% 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
   ------
   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

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Children:

Dynamics: Robotics/DrawSCARA

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