modelFunction_inverseKinematic_test
Test of the function 'inverseKinematic'
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| SI.Position[3] | platformPosition | {0.141421, 0, -0.543} | Coordinates of the platform frame resolved in base frame |
| DeltaRobot.Types.DiscParameters | base | Base parameters | |
| DeltaRobot.Types.DiscParameters | platform | Platform parameters | |
| DeltaRobot.Types.ArmParameters | armParameters | Arm parameters | |
| SI.Angle[3] | theta | inverseKinematic(platformPosition, armParameters.L, armParameters.l, base.D, platform.D, base.beta) | Angles of the three actuators |
| TM.Orientation | T | TM.axisRotation(3, base.beta - from_deg(-90)) | Transformation matrix from original base frame to a new base frame with 'beta=-90°' |
| SI.Position[3] | p_new | TM.resolve2(T, platformPosition) |