.DeltaRobot.Functions.parallelogramAngles

Information

Return the angles to initialize the parallelograms

Interface

function parallelogramAngles
  extends DeltaRobot.Icons.Function;
  import Modelica.Math.atan2;
  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 angles[3, 3] "Rotation angles. In sequence: around upper revolute joint, parallelogram joint, lower revolute joint (angles[#parallelogram,#angle])";
end parallelogramAngles;