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/*****************************************************************
* Description: scarakins.c
* Kinematics for scara typed robots
* Set the params using HAL to fit your robot
*
* Derived from a work by Sagar Behere
*
* Author: Sagar Behere
* License: GPL Version 2
* System: Linux
*
* Copyright (c) 2003 All rights reserved.
*
* Last change:
*******************************************************************
*/
#include "rtapi.h"
#include "rtapi_math.h"
#include "rtapi_string.h"
#include "posemath.h"
#include "hal.h"
#include "kinematics.h"
#include "switchkins.h"
struct scara_data {
hal_float_t *d1, *d2, *d3, *d4, *d5, *d6;
} *haldata = 0;
/* key dimensions
joint[0] = Entire arm rotates around a vertical axis at its inner end
which is attached to the earth. A value of zero means the
inner arm is pointing along the X axis.
D1 = Vertical distance from the ground plane to the center of the inner
arm.
D2 = Horizontal distance between joint[0] axis and joint[1] axis, ie.
the length of the inner arm.
joint[1] = Outer arm rotates around a vertical axis at its inner end
which is attached to the outer end of the inner arm. A
value of zero means the outer arm is parallel to the
inner arm (and extending outward).
D3 = Vertical distance from the center of the inner arm to the center
of the outer arm. May be positive or negative depending
on the structure of the robot.
joint[2] = End effector slides along a vertical axis at the outer end
of the outer arm. A value of zero means the end effector
is at the same height as the center of the outer arm, and
positive values mean downward movement.
D4 = Horizontal distance between joint[1] axis and joint[2] axis, ie.
the length of the outer arm
joint[3] = End effector rotates around the same vertical axis that it
slides along. A value of zero means that the tooltip (if
offset from the axis) is pointing in the same direction
as the centerline of the outer arm.
D5 = Vertical distance from the end effector to the tooltip. Positive
means the tooltip is lower than the end effector, and is
the normal case.
D6 = Horizontal distance from the centerline of the end effector (and
the joints 2 and 3 axis) and the tooltip. Zero means the
tooltip is on the centerline. Non-zero values should be
positive, if negative they introduce a 180 degree offset
on the value of joint[3].
*/
#define D1 (*(haldata->d1))
#define D2 (*(haldata->d2))
#define D3 (*(haldata->d3))
#define D4 (*(haldata->d4))
#define D5 (*(haldata->d5))
#define D6 (*(haldata->d6))
/* joint[0], joint[1] and joint[3] are in degrees and joint[2] is in length units */
static
int scaraKinematicsForward(const double * joint,
EmcPose * world,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags)
{
double a0, a1, a3;
double x, y, z, c;
/* convert joint angles to radians for sin() and cos() */
a0 = joint[0] * ( PM_PI / 180 );
a1 = joint[1] * ( PM_PI / 180 );
a3 = joint[3] * ( PM_PI / 180 );
/* convert angles into world coords */
a1 = a1 + a0;
a3 = a3 + a1;
x = D2*cos(a0) + D4*cos(a1) + D6*cos(a3);
y = D2*sin(a0) + D4*sin(a1) + D6*sin(a3);
z = D1 + D3 - joint[2] - D5;
c = a3;
*iflags = 0;
if (joint[1] < 90)
*iflags = 1;
world->tran.x = x;
world->tran.y = y;
world->tran.z = z;
world->c = c * 180 / PM_PI;
world->a = joint[4];
world->b = joint[5];
return (0);
} //scaraKinematicsForward()
static int scaraKinematicsInverse(const EmcPose * world,
double * joint,
const KINEMATICS_INVERSE_FLAGS * iflags,
KINEMATICS_FORWARD_FLAGS * fflags)
{
double a3;
double q0, q1;
double xt, yt, rsq, cc;
double x, y, z, c;
x = world->tran.x;
y = world->tran.y;
z = world->tran.z;
c = world->c;
/* convert degrees to radians */
a3 = c * ( PM_PI / 180 );
/* center of end effector (correct for D6) */
xt = x - D6*cos(a3);
yt = y - D6*sin(a3);
/* horizontal distance (squared) from end effector centerline
to main column centerline */
rsq = xt*xt + yt*yt;
/* joint 1 angle needed to make arm length match sqrt(rsq) */
cc = (rsq - D2*D2 - D4*D4) / (2*D2*D4);
if(cc < -1) cc = -1;
if(cc > 1) cc = 1;
q1 = acos(cc);
if (*iflags)
q1 = -q1;
/* angle to end effector */
q0 = atan2(yt, xt);
/* end effector coords in inner arm coord system */
xt = D2 + D4*cos(q1);
yt = D4*sin(q1);
/* inner arm angle */
q0 = q0 - atan2(yt, xt);
/* q0 and q1 are still in radians. convert them to degrees */
q0 = q0 * (180 / PM_PI);
q1 = q1 * (180 / PM_PI);
joint[0] = q0;
joint[1] = q1;
joint[2] = D1 + D3 - D5 - z;
joint[3] = c - ( q0 + q1);
joint[4] = world->a;
joint[5] = world->b;
*fflags = 0;
return (0);
} // scaraKinematicsInverse()
#define DEFAULT_D1 490
#define DEFAULT_D2 340
#define DEFAULT_D3 50
#define DEFAULT_D4 250
#define DEFAULT_D5 50
#define DEFAULT_D6 50
static int scaraKinematicsSetup(const int comp_id,
const char* coordinates,
kparms* kp)
{
int res=0;
haldata = hal_malloc(sizeof(*haldata));
if (!haldata) goto error;
res += hal_pin_float_newf(HAL_IN, &(haldata->d1), comp_id,"%s.D1",kp->halprefix);
res += hal_pin_float_newf(HAL_IN, &(haldata->d2), comp_id,"%s.D2",kp->halprefix);
res += hal_pin_float_newf(HAL_IN, &(haldata->d3), comp_id,"%s.D3",kp->halprefix);
res += hal_pin_float_newf(HAL_IN, &(haldata->d4), comp_id,"%s.D4",kp->halprefix);
res += hal_pin_float_newf(HAL_IN, &(haldata->d5), comp_id,"%s.D5",kp->halprefix);
res += hal_pin_float_newf(HAL_IN, &(haldata->d6), comp_id,"%s.D6",kp->halprefix);
if (res) { goto error; }
D1 = DEFAULT_D1;
D2 = DEFAULT_D2;
D3 = DEFAULT_D3;
D4 = DEFAULT_D4;
D5 = DEFAULT_D5;
D6 = DEFAULT_D6;
return 0;
error:
return -1;
} // scaraKinematicsSetup()
int switchkinsSetup(kparms* kp,
KS* kset0, KS* kset1, KS* kset2,
KF* kfwd0, KF* kfwd1, KF* kfwd2,
KI* kinv0, KI* kinv1, KI* kinv2
)
{
kp->kinsname = "scarakins"; // !!! must agree with filename
kp->halprefix = "scarakins"; // hal pin names
kp->required_coordinates = "xyzabc"; // ab are scaragui table tilts
kp->allow_duplicates = 0;
kp->max_joints = strlen(kp->required_coordinates);
rtapi_print("\n!!! switchkins-type 0 is %s\n",kp->kinsname);
*kset0 = scaraKinematicsSetup;
*kfwd0 = scaraKinematicsForward;
*kinv0 = scaraKinematicsInverse;
*kset1 = identityKinematicsSetup;
*kfwd1 = identityKinematicsForward;
*kinv1 = identityKinematicsInverse;
*kset2 = userkKinematicsSetup;
*kfwd2 = userkKinematicsForward;
*kinv2 = userkKinematicsInverse;
return 0;
} // switchkinsSetup()
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