Public Member Functions | |
| double[] | inverseKinematics (TransformNR target, double[] jointSpaceVector, DHChain chain) |
| double[] | inverseKinematics6dof (TransformNR target, double[] jointSpaceVector, DHChain chain) |
Detailed Description
Definition at line 11 of file DeltaIKModel.java.
Member Function Documentation
◆ inverseKinematics()
| double [] com.neuronrobotics.sdk.addons.kinematics.ik.DeltaIKModel.inverseKinematics | ( | TransformNR | target, |
| double[] | jointSpaceVector, | ||
| DHChain | chain | ||
| ) |
Inverse kinematics.
- Parameters
-
target the target jointSpaceVector the joint space vector chain the chain
- Returns
- the double[]
Implements com.neuronrobotics.sdk.addons.kinematics.DhInverseSolver.
Definition at line 18 of file DeltaIKModel.java.
References com.neuronrobotics.sdk.addons.kinematics.ik.DeltaIKModel.inverseKinematics6dof().
◆ inverseKinematics6dof()
| double [] com.neuronrobotics.sdk.addons.kinematics.ik.DeltaIKModel.inverseKinematics6dof | ( | TransformNR | target, |
| double[] | jointSpaceVector, | ||
| DHChain | chain | ||
| ) |
System of equasions Theta2 = asin(z/wristVect) l3 = wristVect * cos( theta2) theta1 = acos(l1^2+x^2-l3^2/2*l1*x)
compute the top of the wrist now that the first 3 links are calculated
Calculte the second angle
Calculte the last angle
Definition at line 33 of file DeltaIKModel.java.
References com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.copy(), com.neuronrobotics.sdk.addons.kinematics.DHChain.forwardKinematicsMatrix(), com.neuronrobotics.sdk.addons.kinematics.DHChain.getLinks(), com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.getRotation(), com.neuronrobotics.sdk.addons.kinematics.math.RotationNR.getRotationAzimuth(), com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.getX(), com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.getY(), com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.getZ(), com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.inverse(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.inverseOffset(), com.neuronrobotics.sdk.addons.kinematics.DHChain.kin, com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.times(), and com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.translateX().
Referenced by com.neuronrobotics.sdk.addons.kinematics.ik.DeltaIKModel.inverseKinematics().
The documentation for this class was generated from the following file:
- java-bowler/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ik/DeltaIKModel.java
