Inverse Kinematics for RA-01 Robotic Arm
[a,b,c] = InverseKinematicsAM(x,y,z)
This function finds the joint configurations for the waist, shoulder and elbow of the RA-01 robotic arm made by Images SI, Inc. It takes in three inputs which are the specifications of the x, y and z positions of the centre of the gripper of the robotic arm. The inverse kinematics is computed and the joint configuration is output, where:
- a is the angular configuration of the waist;
- b is the angular configuration of the shoulder; and
- c is the angular configuration of the elbow
This file requires another file submitted by me to this exchange, namely "armTransform.m". It uses this file to compute the forward kinematics for error checking and to ensure that it picks the correct solution from each set of four possible solutions.
인용 양식
Olawale Akinwale (2024). Inverse Kinematics for RA-01 Robotic Arm (https://www.mathworks.com/matlabcentral/fileexchange/27055-inverse-kinematics-for-ra-01-robotic-arm), MATLAB Central File Exchange. 검색됨 .
MATLAB 릴리스 호환 정보
플랫폼 호환성
Windows macOS Linux카테고리
태그
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!버전 | 게시됨 | 릴리스 정보 | |
---|---|---|---|
1.0.0.0 |