Data Sheet

82
ⅳ) Kinematics.h
(1) void RobotInfoReload(void);
Parameter
void
Return
void
Description
Calls RobotInfo
(2) matd Forward(vecd angle);
Parameter
Angle of All Joints(rad)
Return
4x4 TransformMatrix form
Description
RobotInfoReload calls joints angles runs FK and returns end
effector’s transformation matrix
(3) matd Forward(vecd angle, Pose3D *pose);
Parameter
Angle of All Joints(rad)
Return
4x4 EndEffector's TransformMatrix form
Description
RobotInfoReload calls joint angles runs FK and returns end
effector’s transformation matrix. It also sets pose pointer (*pose)
(4) void SetMaximumNumberOfIterationsForIK(unsigned int max_num);
Parameter
unsigned int max_num for IK
Return
void
Description
Sets IK’s number of iterations for solution