Biorobotics 7
Forward Kinematics
Dependencies: MODSERIAL Matrix mbed
Revision 6:fe8712b56eb9, committed 2018-10-31
- Comitter:
- MAHCSnijders
- Date:
- Wed Oct 31 21:02:06 2018 +0000
- Parent:
- 5:65a609067e14
- Commit message:
- Fixed bug
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Wed Oct 31 14:11:08 2018 +0000
+++ b/main.cpp Wed Oct 31 21:02:06 2018 +0000
@@ -15,10 +15,10 @@
const float L6 = 1.0; // Length beam between frame 0 and motor 1 [meter]
volatile static float Pe_x_cur; // Current x-coordinate of end-effector from frame 0 [meter]
volatile static float Pe_y_cur; // Current y-coordinate of end-effector from frame 0 [meter]
-volatile double motor_angle1; // Current angle of motor 1 (left) based on kinematics [rad]
-volatile double motor_angle2; // Current angle of motor 2 (right) based on kinematics [rad]
+volatile double motor_angle1; // Current angle of motor 1 (left) based on kinematics [rad]
+volatile double motor_angle2; // Current angle of motor 2 (right) based on kinematics [rad]
-DigitalOut safetyLED(LED_GREEN); // Safety check LED
+DigitalOut safetyLED(LED_GREEN); // Safety check LED
// Useful stuff
@@ -37,60 +37,60 @@
// Calculation of Joint 2 expressed in frame 2
float m_y = J3y_0 - J1y_0;
float m_x = J1x_0 - J3x_0;
- float m = sqrt(pow(m_y,2) + pow(m_x,2)); // Radius between Joint 1 and 3
+ float m = sqrt(pow(m_y,2) + pow(m_x,2)); // Radius between Joint 1 and 3
float delta = acos(- ( pow(m,2) - pow(L2,2) - pow(L3,2))/(2*L2*L3) );
- float mu = acos( (pow(L2,2) - pow(L3,2) + pow(m,2))/(2*m*L2) ); // Angle between L2 and m
+ float mu = acos( (pow(L2,2) - pow(L3,2) + pow(m,2))/(2*m*L2) ); // Angle between L2 and m
float t_y = J3y_0;
float t_x = (L0 + L6) - J3x_0;
- float t = sqrt(pow(t_y,2) + pow(t_x,2)); // Radius between frame 1 and Joint 3
- float phi = acos( (pow(L1,2) - pow(t,2) + pow(m,2))/(2*m*L1) ); // Angle between L1 and m
+ float t = sqrt(pow(t_y,2) + pow(t_x,2)); // Radius between frame 1 and Joint 3
+ float phi = acos( (pow(L1,2) - pow(t,2) + pow(m,2))/(2*m*L1) ); // Angle between L1 and m
- float q2 = PI - mu - phi; // Angle that L2 makes in frame 2
+ float q2 = PI - mu - phi; // Angle that L2 makes in frame 2
float J2x_2 = L2*cos(q2);
float J2y_2 = L2*sin(q2);
// Calculation of Joint 2 expressed in frame 0
- float J1x_1 = L1*cos(motor_angle2); // Joint 1 expressed in frame 1
+ float J1x_1 = L1*cos(motor_angle2); // Joint 1 expressed in frame 1
float J1y_1 = L1*sin(motor_angle2);
float J2x_0 = J2x_2*cos(motor_angle2) - J2y_2 * sin(motor_angle2) + J1x_1 + L0 + L6; // Joint 2 expressed in frame 0
float J2y_0 = J2x_2*sin(motor_angle2) + J2y_2 * cos(motor_angle2) + J1y_1;
// Calculation of End-effector
- float f_x = J2x_0 - J3x_0;
+ float f_x = J2x_0 - L6; // I CHANGED THIS!!!!
float f_y = J2y_0;
- float f = sqrt(pow(f_x,2) + pow(f_y,2)); // Radius between motor 1 and Joint 2
- float xhi = acos( -(pow(f,2) - pow(L3,2) - pow(L4,2))/(2*L3*L4) ); // Angle between L3 and L4
- float omega = PI - xhi; // Angle between L4 and L5
- float n = sqrt(pow(L4,2) + pow(L5,2) - 2*L4*L5*cos(omega)); // Radius between end effector and motor 1
+ float f = sqrt(pow(f_x,2) + pow(f_y,2)); // Radius between motor 1 and Joint 2
+ float xhi = acos( -(pow(f,2) - pow(L3,2) - pow(L4,2))/(2*L3*L4) ); // Angle between L3 and L4
+ float omega = PI - xhi; // Angle between L4 and L5
+ float n = sqrt(pow(L4,2) + pow(L5,2) - 2*L4*L5*cos(omega)); // Radius between end effector and motor 1
- float theta = acos( (pow(L4,2) - pow(L5,2) + pow(n,2))/(2*n*L4) ); // Angle between n and L4
- float rho = PI - theta - motor_angle1; // Angle between n and L4
+ float theta = acos( (pow(L4,2) - pow(L5,2) + pow(n,2))/(2*n*L4) ); // Angle between n and L4
+ float rho = PI - theta - motor_angle1; // Angle between n and L4
- float Pe_x = L6 - n*cos(rho); // y-coordinate end-effector
- float Pe_y = n*sin(rho); // x-coordinate end-effector
+ float Pe_x = L6 - n*cos(rho); // y-coordinate end-effector
+ float Pe_y = n*sin(rho); // x-coordinate end-effector
// Implementing stops for safety
// 45 < Motor_angle1 < 70 graden
- if (motor_angle1 < 0.785398) // If motor_angle is smaller than 45 degrees
+ if (motor_angle1 < 0.785398) // If motor_angle is smaller than 45 degrees
{
motor_angle1 = 0.785398;
safetyLED = 0;
}
- else if (motor_angle1 > 1.22173) // If motor_angle is larger than 70 degrees
+ else if (motor_angle1 > 1.22173) // If motor_angle is larger than 70 degrees
{
motor_angle1 = 1.22173;
safetyLED = 0;
}
// -42 < Motor_angle2 < 85 graden
- if (motor_angle2 < -0.733038) // If motor_angle is smaller than -42 degrees
+ if (motor_angle2 < -0.733038) // If motor_angle is smaller than -42 degrees
{
motor_angle2 = -0.733038;
safetyLED = 0;
}
- else if (motor_angle2 > 1.48353) // If motor_angle is larger than 85 degrees
+ else if (motor_angle2 > 1.48353) // If motor_angle is larger than 85 degrees
{
motor_angle2 = 1.48353;
safetyLED = 0;
@@ -98,7 +98,7 @@
// Delta < 170 graden
- if (delta > 2.96706) // If delta is larger than 180 degrees
+ if (delta > 2.96706) // If delta is larger than 180 degrees
{
delta = 2.96706;
safetyLED = 0;