modelInverseKinematic
The outputs are the three actuators angles required to have the input position
Extends from DeltaRobot.Icons.InverseKinematic (Icon for 'InverseKinematic' model).
Parameters
| Type | Name | Default | Description |
|---|
| DiscParameters | base | gp.base | Parameters of the base |
| DiscParameters | platform | gp.platform | Parameters of the platform |
| ArmParameters | armParameters | gp.armParameters[1] | Parameters of the arms |
| Limits |
| Boolean | limitOutputs | true | =true, if you want to limit the outputs within [minTheta,maxTheta] |
| Boolean | stopWhenSaturated | true | When a saturation is detected all output signals maintain their current values until all output signals return within the limits |
| SI.Angle[3] | maxTheta | {gp.armParameters[1].maxTheta, gp.armParameters[2].maxTheta, gp.armParameters[3].maxTheta} | Max actuator angle |
| SI.Angle[3] | minTheta | {gp.armParameters[1].minTheta, gp.armParameters[2].minTheta, gp.armParameters[3].minTheta} | Min actuator angle |
| Derivatives |
| SI.Time | T_velocity | 0.01 | Time constants for velocity derivative (T>0 required; T=0 is ideal derivative block) |
| SI.Time | T_acc | 0.1 | Time constants for acceleration derivative (T>0 required; T=0 is ideal derivative block) |
