fourbarposeCPLshaping

by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - 4Bar/Linkages
Introduced first in SolidGeometry 5.1, Creation date: 2022-01-28, Last change: 2025-09-15

returns collision free path shaped contour for a specific fourbar linkage

Description

This is a new version of CPLofPosefourbarshaping of original CPLofPosefourbarshaping of June-2019
This is a full implementation of original Posefourbarshaping of April 2019

See Also:

Example Illustration

missing image of fourbarposeCPLshaping(PS,aps,CPL,att,XCPLW,XCPLE,XCPLC,XCPLS,LEVEL,

Syntax

CPL=fourbarposeCPLshaping(PS,[aps,CPL,att,XCPLW,XCPLE,XCPLC,XCPLS,LEVEL,"R12","debug"])

Input Parameter

PS: Pose and fourbar linkage struct including GPL and GAL
aps: [solution, limiting order]
CPL: Contour to shape; if empty an simple contour is created
att: Given CPL is moved relatively/is attached to 'E'ffector, 'C'rank, or 'Swing' or 'WORLD'
XCPLW: Static obstacles in the environment and will cut the moving CPL
XCPLE: Obstacle contours attached to Pose and will cut the moving CPL
XCPLC: Obstacle contour moved with crank and will cut the moving CPL
XCPLS: Obstacle contour moved with swing and will cut the moving CPL

Output Parameter

CPL: Collision free contour

Examples


PosereadAPD('/Volumes/LUETH-WIN/MATLAB_files_for_experiments/basecabinet_new.APD');PS=ans;
PS=checkfourbar3Poseattachpermutation(PS,'',20)
PS.CPLE=CPLfillinside(PS.CPLE);
CPLofPosefourbarshaping(PS,[546]) % Full path of the fourbar
CPLofPosefourbarshaping(PS,[546,123]) % limited to poses 123
%% TRY WITH 546 and 153
CPLofPosefourbarshaping(PS,[546,123],'','E',''); PS.CPLE=ans; % Shape of effektor
CPLofPosefourbarshaping(PS,[546,123],'','C','',PS.CPLE); PS.CPLC=ans; % Shape of crank
CPLofPosefourbarshaping(PS,[546,123],'','S','',PS.CPLE,PS.CPLC); PS.CPLS=ans; % Shape of swing
CPLofPosefourbarshaping(PS,[546,123],'','W','',PS.CPLE,PS.CPLC,PS.CPLS); % Work Space



Copyright 2022-2025 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