NAME

puma_kin -- unit for direct kinematics of puma arm

puma_invkin -- unit for inverse kinematics of puma arm

PROTOTYPES

unitptr puma_kinematics(int iMode, char cMode, unitptr uHost)

int exec_puma_kin(unitptr u)

int exec_puma_invkin(unitptr u)

unitptr puma_invkin( char cMode, unitptr uHost)

ARGUMENTS

int iMode
- not documented in source --
char cMode
unitptr uHost
unitptr u

RETURN VALUE:

A pointer to the created unit or NULL in the case of an error.

INTERFACE OF CREATED UNIT:

For forward kinematics:

X_in[6]:
(packed input field 0) : arm angles,
CTL_in[1]:
(control field)
X_out[3]:
(packed output field 0) cartesian position
Y_out[3]:
approach vector a
Z_out[3]:
normal vector n
out_3[3]:
closure vector s
out_4[3]:
roll/pitch/yaw [not yet implemented]

For inverse kinematics:

X_in[3]:
(packed input field 0) : cartesian position,
Y_in[3]:
approach vector (length should be 1)
Z_in[3]:
dependint on mode parameter:
in_4[4]:
configurations params ARM,ELBOW,WRIST,FLIP (defaults 1,1,1,1)
CTL_in[1]:
(control field)
X_out[6]:
(packed output field 0) arm angles

DESCRIPTION:

Units to compute forward and inverse kinematics for puma robot. Parameters and coordinate conventions follow the book by Gonzalez/Fu: Robotics. Preliminary.

SEE ALSO:

FILE

/local/homes/rhaschke/nst7/man/../o.linx86_64//../foldersrc/nst_robot.c