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
/amnt/loge/users/nistaff02/nistaff/rhaschke/nst7/man/../o.linux//../foldersrc/nst_robot.c