.DeltaRobot.Functions.inverseKinematic

Information

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

Interface

function inverseKinematic
  extends DeltaRobot.Icons.Function;
  import TM = Modelica.Mechanics.MultiBody.Frames.TransformationMatrices;
  input SI.Position p[3] "Coordinates of the platform frame resolved in base frame";
  input SI.Distance L "Length of the upper arms";
  input SI.Distance l "Length of the parallelograms (long side)";
  input SI.Diameter Db "Base diameter";
  input SI.Diameter Dp "Platform diameter";
  input SI.Angle beta_base "Angle from the x-axis of the base frame to the direction where the joint #1 is located";
  output SI.Angle theta[3] "Angles of the three actuators";
end inverseKinematic;