modelInverseKinematic_test
Test of the complete inverse kinematic
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| SI.Position[3] | platformPosition | {0, 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 | |
| Modelica.Mechanics.MultiBody.Types.RotationSequence | rotationSequence | {3, 1, 3} | Sequence of rotations relative to function 'actuatorsJointsRotationAngles' |
| SI.Position[3,3] | J | jointsCoordinates(base) | Coordinates of the actuators' joints resolved in base frame |
| SI.Position[3,3] | Jp | jointsCoordinates(platform) | Coordinates of the platform joints resolved in platform frame |
| NonSI.Angle_deg[3,3] | alpha | actuatorsJointsRotationAngles(base) | Rotation angles to rotate base frame into the frames of base joints |
| SI.Angle[3] | theta | inverseKinematic(platformPosition, armParameters.L, armParameters.l, base.D, platform.D, base.beta) | Angles of the three actuators |
| SI.Angle[3,3] | parallAngles | parallelogramAngles(platformPosition, armParameters.L, armParameters.l, base.D, platform.D, base.beta) | Rotation angles. In sequence: around upper revolute joint, parallelogram joint, lower revolute joint |