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DeltaManipulator.world File ReferenceThe Delta parallel manipulator. More... Go to the source code of this file. Detailed DescriptionThe Delta parallel manipulator. In the direct kinematics, we fix the the angles between the base plane and the lower part of the legs (thetaX_min, thetaX_max at the beginning of the world file) and we obtain the pose of the platform (that we can plot using cuikanimate). In the inverse kinematics, we fix the pose for the platform (uncommenting the last line of the file and setting it adequately) and we free the ranges for the lower limbs angles (commenting the lines with the ranges for the revolute joint connecting the base and the lower part of the legs). After the modifications of this world file, you have to regenerate the equations and then use cuik on the resulting _kin.cuik file. Definition in file DeltaManipulator.world. |