invkinrplan3
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
returns the angles for a rotating planar two arm kinematic
Description
This function contains the solution for a Jaco-Style 3DoF Kinematic
See Also: forwkinrplan3
, invkinplan2
Example Illustration
Syntax
[aW,aU,bW,bU,ri,VL]=invkinrplan3(d1,a2,a3,[VL])
Input Parameter
d1: | | Height of the base |
a2: | | length of link 2 |
a3: | | length of link 3 |
VL: | | Vertex list [n x 3] |
Output Parameter
aW: | | Set of Configuration A (ellbow up) |
aU: | | Set of Configuration B (ellbow down) |
bW: | | Set of Configuration C (reverse ellbow up) |
bU: | | Set of Configuration D (reverse (ellbow down) |
ri: | | row index of VL for real solutions |
VL: | | Vertex list if created by this function |
Examples
invkinrplan3(20,15,10,permutevector(2:2:10,2:2:10,0));
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