symbforwkine

by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - Symbolics tools
Introduced first in SolidGeometry 4.2, Creation date: 2018-08-16, Last change: 2025-09-14

returns a forward kinematic calculation from a symbolics links list description

Description

This function takes a cell list "b" of symbolic 4x4 matrices with exactly one degree of freedom (1DoF). They are generated, for example, by the function SGTofDHset.
These are now converted by matrix multiplication into functions of the endpoints of a kinematic chain. The first 4x4 matrix has 1Dof, the second matrix then 2DoF etc. This cell list Ti of the symbolic equations for calculating the endpoints of the kinematic chain is then converted into a cell list H of handeles of the corresponding matlab functions. The functions in H can then be used to calculate the endpoints numerically. Optionally, an angle list is generated, which is a permutation of angle positions at each DoF.

See Also: SGTofDHset

Example Illustration

missing image of symbforwkine(a,b,WL)

Syntax

[Ti,LL,H]=symbforwkine(a,b,[WL])

Input Parameter

a: unused yet
b: cell list of n symbolics symbolic HT matrices x of 1doF rotational links
WL: List of k angles of n links [k x l]

Output Parameter

Ti: cell list of n symbolic HT matrices of b link end points
LL: matrix [n x 3 x k]
H: matlab function handles the calculation of Ti

Examples


SGTofDHset([20 0 pi/2 0 ;0 10 pi 0;0 10 0 pi/2;10 0 pi/4 0; 10 0 pi/4 0]); show
[a,b]=SGTofDHset([20 0 pi/2 0 ;0 10 pi 0;0 10 0 pi/2;10 0 pi/4 0; 10 0 pi/4 0]);
symbforwkine(a,b);
[e,f,g]=symbforwkine(a,b,2)
e{:},g{:}



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