KinematicsFiveBarForward Class Reference

KinematicsFiveBarForward implements forward kinematics for a five-bar parallel mechanism- currently we apply this to a custom built digital pantograph, though it may be useful for other things... More...

#include <kinematics.hpp>

Inheritance diagram for KinematicsFiveBarForward:

Public Member Functions
void	begin (float32_t s, float32_t l1, float32_t l2, float32_t l3, float32_t l4, float32_t l5, float32_t a)
	Initializes the KinematicsFiveBarForward with the specified mechanism parameters.

Public Attributes
BlockPort	input_r
	Input BlockPort for the right encoder angle in radians. Map upstream components to this port.
BlockPort	input_l
	Input BlockPort for the left encoder angle in radians. Map upstream components to this port.
BlockPort	output_x
	Output BlockPort for X axis motion. Map downstream components to this port.
BlockPort	output_y
	Output BlockPort for Y axis motion. Map downstream components to this port.

Protected Member Functions
void	run ()

Detailed Description

KinematicsFiveBarForward implements forward kinematics for a five-bar parallel mechanism- currently we apply this to a custom built digital pantograph, though it may be useful for other things...

The KinematicsFiveBarForward class converts encoder angles into Cartesian X and Y coordinates for a five-bar parallel kinematics mechanism, such as a Parallel SCARA. This is useful for controlling mechanisms that utilize a five-bar linkage system. To see an example of a basic module that uses KinematicsFiveBarForward, see the Pantograph example under Kinematics Examples.

Member Function Documentation

begin()

void KinematicsFiveBarForward::begin	(	float32_t	s,
		float32_t	l1,
		float32_t	l2,
		float32_t	l3,
		float32_t	l4,
		float32_t	l5,
		float32_t	a )

Initializes the KinematicsFiveBarForward with the specified mechanism parameters.

Parameters

s	Separation between the two encoders (distance between encoder pivots).
l1	Length of the right encoder arm.
l2	Length of the left encoder arm.
l3	Length of the right pivot arm.
l4	Length of the left pivot arm.
l5	Length of the tool arm.
a	Tool arm angle in radians.

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The documentation for this class was generated from the following file:

• lib/kinematics.hpp