Library of functions related to the modelling of Delta Robots

Name | Description |
---|---|

jointsCoordinates | Return a vector with the coordinates of the disc's joints resolved in the disc frame |

actuatorsJointsRotationAngles | Return the rotation angles in degrees with axes sequence {3,1,3} to rotate the base/platform frame into the frames of the actuators joints |

inverseKinematic | Return the angles of the three actuators for a given platform position |

upperArmsDirections | Return three vectors resolved in base frame that represent the three upper arms for a given platform position |

parallelogramDirections | Return three vectors resolved in base frame that represent the three long sides of the parallelograms for a given platform position |

parallelogramAngles | Return the angles to initialize the parallelograms |

checkLimits | Return 'true' if all Delta Robot angles are within the valid ranges specified, return 'false' otherwise |

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