packageFunctions
Library of functions related to the modelling of Delta Robots
Extends from DeltaRobot.Icons.Functions (Icon for 'Functions' package).
Contents
| 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 |