#include <stdio.h>
#include <vector>
#include <iostream>
#include <string>
#include <cmath>
#include <fstream>
#include <ctime>
#include "kinematics.h"

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Classes
struct	FloatVector

struct	IntVector

Macros
#define	_declspec(dllexport) int kin_setType(int type)
	This sets the robot type. More...

Typedefs
typedef struct FloatVector	FloatVector

typedef struct IntVector	IntVector

Variables
FloatVector FloatVector *	a

FloatVector FloatVector FloatVector *	alpha

FloatVector *	angle

FloatVector *	angleK4D

FloatVector *	angleMDH

FloatVector *	d

IntVector *	enc

FloatVector FloatVector int	maxBisection = 0)

FloatVector *	pose

FloatVector *	prev

FloatVector FloatVector FloatVector int	typeNr = -1)

Macro Definition Documentation

#define _declspec ( dllexport )

This sets the robot type.

This calculates the inverse kinematics.

This calculates the direct kinematics.

This converts angles in mDH convention to encoders.

This converts encoders to angles in mDH convention.

This converts angles from mDH to Katana4D convention.

This converts angles from Katana4D to mDH convention.

This cleans the kinematics library.

This initializes the kinematic.

Get the version number of the library.

Get the tcp offset.

Get the angle range.

Get the angle offsets.

Get the rotation direction.

Get the encoder offsets.

Get the encoders per cycle.

Get the immobile flag of the last joint.

Get the modified Denavit-Hartenberg parameters.

Get the degree of mobility.

Get the degree of freedom.

Get the maximum degree of freedom.

Get the robot type.

This sets the tcp offset.

This sets the angle range.

This sets the angle offsets.

This sets the rotation direction.

This sets the encoder offsets.

This sets the encoders per cycle.

This sets the immobile flag of the last joint.

This sets the link length parameters (part of mDH-parameters)

This sets the modified Denavit-Hartenberg parameters.

Setting robot type includes setting mDH parameters, immobile flag, degree of freedom (dof), degree of mobility (dom) and angles.

type dof dom 6M90A_F 6 6 6M90A_G 6 5 6M180 5 5 6M90B_F 6 6 6M90B_G 6 5

Parameters

type	0: 6M90A_F, 1: 6M90A_G, 2: 6M180, 3: 6M90B_F, 4: 6M90B_G

Returns: 0 if successful, < 0 if failed

Transformation from previous to current link: move a along (previous) x-axis, rotate alpha about (previous) x-axis, move d along (current) z-axis, rotate theta about (current) z-axis. Setting the mDH parameters includes setting dof, adjusting immobile flag (all free) and dom (= dof).

The length of the vectors need to be the same.

Parameters

theta	angle about z-axis
d	distance along x-axis
a	distance previous to current along previous x-axis
alpha	angle about previous x-axis
typeNr	0: 6M90A_F, 1: 6M90A_G, 2: 6M180, 3: 6M90B_F, 4: 6M90B_G, -1: other

Returns: 0 if successful, < 0 if failed

Setting link length parameters requires the type to be set to 0 (6M90A_F), 1 (6M90A_G), 2 (6M180), 3 (6M90B_F) or 4 (6M90B_G). This is done using the setType or setModifiedDH function that set the mDH parameters so they can be adjusted. The length of the vector has to be four.

Parameters

links length of the links in m

Returns: 0 if successful, < 0 if failed

Flag for the last joint if it is free (0) or locked (1). Setting the immobile flag includes adjusting dom. Type or mDH parameters have to be set.

Parameters

immobile last joint immobile flag: 0 for free, 1 for locked (immobile)

Returns: 0 if successful, < 0 if failed

Number of encoders in a full cycle of each joint. Length of epc needs to be equal to DOM set with Type or mDH parameters.

Parameters

epc	encoders pec cycle

Returns: 0 if successful, < 0 if failed

The encoder values at the calibration stops. Length of encOffset needs to be equal to DOM set with Type or mDH parameters.

Parameters

encOffset encoder values at calibration stops

Returns: 0 if successful, < 0 if failed

The rotation direction of the joints: +1 if encoders and angles (mDH convention) grow in same direction, -1 if encoders and angles grow in opposit direction. Length of rotDir needs to be equal to DOM set with Type or mDH parameters.

Parameters

rotDir rotation direction of the joints

Returns: 0 if successful, < 0 if failed

The angles at the calibration stops in mDH convention! Length of angleOffset needs to be equal to DOM set with Type or mDH parameters.

Parameters

angleOffset angle values at calibration stops in mDH

Returns: 0 if successful, < 0 if failed

The angle range from angle offset to angle stop in mDH convention (negative if angleOffset > angleStop)! Length of angleRange needs to be equal to DOM set with Type or mDH parameters.

Parameters

angleRange angle range from angle offset to angle stop

Returns: 0 if successful, < 0 if failed

Offset from the flange to the effective tcp.

Parameters

tcpOffset (x, y, z, psi) offset in m and rad respectively where psi is rotation about x-axis of tool coordinate system

Returns: 0 if successful, < 0 if failed

Get the robot type

Returns: 0 for 6M90A_F, 1 for 6M90A_G, 2 for 6M180, 3 for 6M90B_F, 4 for 6M90B_G, -1 for other or not set yet

Get the maximum degree of freedom (length of array in the vectors)

Returns: Maximum degree of freedom

Get the degree of freedom

Returns: Degree of freedom or -1 if not set yet

Get the degree of mobility

Returns: Degree of mobility or -1 if not set yet

Parameters

theta	vector to write in angle about z-axis
d	vector to write in distance along x-axis
a	vector to write in distance previous to current along previous x-axis
alpha	vector to write in angle about previous x-axis

Returns: 0 if successful, < 0 if failed; 0 if mobile, 1 if immobile, < 0 if failed

Parameters

epc	vector to write in encoders pec cycle

Returns: 0 if successful, < 0 if failed

Parameters

encOffset vector to write in encoder values at calibration stops

Returns: 0 if successful, < 0 if failed

Parameters

rotDir vector to write in rotation direction of the joints

Returns: 0 if successful, < 0 if failed

Parameters

angleOffset vector to write in angle values at calibration stops in mDH

Returns: 0 if successful, < 0 if failed

Parameters

angleRange vector to write in angle range from angle offset to angle stop

Returns: 0 if successful, < 0 if failed

Parameters

tcpOffset vector to write in (x, y, z, psi) offset

Returns: 0 if successful, < 0 if failed

Parameters

version vector to write in version (major, minor, revision)

Returns: 0 if successful, < 0 if failed

Initialize the kinematic. Parameters mDH, dof, angle offset and angle range (SetType or SetMDH and SetAngleOffset and SetAngleRange) have to be set prior to initialization of the kinematic!

Returns: 0 if successful, < 0 if failed

Free memory allocated in setType() / setMDH() before closing the library

Returns: 0 if successful, < 0 if failed

Length of angleK4D needs to be equal to DOM set with Type or mDH parameters.

Parameters

angleK4D	angle in K4D convention
angleMDH	angle in mDH convention

Returns: 0 if successful, < 0 if failed

Length of angleMDH needs to be equal to DOM set with Type or mDH parameters.

Parameters

angleMDH	angle in mDH convention
angleK4D	angle in K4D convention

Returns: 0 if successful, < 0 if failed

Length of enc needs to be equal to DOM set with Type or mDH parameters.

Parameters

enc	encoders
angle	angles in mDH convention

Returns: 0 if successful, < 0 if failed

Length of angle needs to be equal to DOM set with Type or mDH parameters.

Parameters

angle	angle in mDH convention
enc	encoders

Returns: 0 if successful, < 0 if failed

Length of angle needs to be equal to DOM set with Type or mDH parameters.

Parameters

angle	angles in mDH convention
pose	pose of the TCP [x, y, z, phi, theta, psi]

Returns: 0 if successful, < 0 if failed

Length of prev needs to be equal to DOM set with Type or mDH parameters.

Parameters

pose	pose of the TCP [x, y, z, phi, theta, psi]
prev	previous angles (starting point)
angle	angles in mDH convention
maxBisection	maximum number of bisections done, if no solution found