forwkinrplan3
by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - Kinematics and Frames
Introduced first in SolidGeometry 4.2, Creation date: 2018-07-26, Last change: 2025-09-14
forward kinematic of a planar rz 2 arm rotating around an arm z axis
See Also: invkinrplan3
, SGTofDHset
, SGTofDenavitHartenberg
Example Illustration
Syntax
[VL3,VL2,VL1,RL3,TL3]=forwkinrplan3(d1,a2,a3,[WL])
Input Parameter
d1: | | distance of link 1 |
a2: | | width of link 2 |
a3: | | width of link 3 |
WL: | | Linst of angle (n x 3) |
Output Parameter
VL3: | | Coordinates of link3 |
VL2: | | Coordinates of link2 |
VL1: | | Coordinates of link1 |
RL3: | | Rotation matrix at link 3 [3,3,n] |
TL3: | | HT matrix at link 3 [4,4,n] |
Examples
forwkinrplan3(10,10,10,[0 0 0; pi pi/3 pi/4;pi/3 -pi/3 pi/3; pi/2 0 pi/2 ])
Copyright 2018-2025 Tim C. Lueth. All rights reserved. The code is the property of Tim C. Lueth and may not be redistributed or modified without explicit written permission. This software may be used free of charge for academic research and teaching purposes only. Commercial use, redistribution, modification, or reverse engineering is strictly prohibited. Access to source code is restricted and granted only under specific agreements. For licensing inquiries or commercial use, please contact: Tim C. Lueth
Last html export of this page out of FM database by TL: 2025-09-21