.DeltaRobot.Functions

Information

Library of functions related to the modelling of Delta Robots

Contents

NameDescription
 jointsCoordinatesReturn a vector with the coordinates of the disc's joints resolved in the disc frame
 actuatorsJointsRotationAnglesReturn the rotation angles in degrees with axes sequence {3,1,3} to rotate the base/platform frame into the frames of the actuators joints
 inverseKinematicReturn the angles of the three actuators for a given platform position
 upperArmsDirectionsReturn three vectors resolved in base frame that represent the three upper arms for a given platform position
 parallelogramDirectionsReturn three vectors resolved in base frame that represent the three long sides of the parallelograms for a given platform position
 parallelogramAnglesReturn the angles to initialize the parallelograms
 checkLimitsReturn 'true' if all Delta Robot angles are within the valid ranges specified, return 'false' otherwise

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