FiveBars Directory Reference

Introduction

This folder includes several files:

• FiveBars.world includes the kinematic equations and it used for position analysis.
• FiveBars_dynamics.world models a weight throwing task and it includes kinematic and dynamic equations and is used mainly for kinodynamic plannig.
• FiveBars_dynamicsIRI.world is a variant of the previous with different link sizes.
• FiveBars_spring.world is a five-bars mechanism with an added spring that damps its movements. We used it in our ICRA-18 paper.

Files
file	FiveBars.world [code]
	A planar five bar mechanism.
file	FiveBars_dynamics.world [code]
	A planar five bar mechanism with dynamic constraints.
file	FiveBars_dynamicsIRI.world [code]
	A planar five bar mechanism with dynamic constraints.
file	FiveBars_spring.world [code]
	A planar five bar mechanism with dynamic constraints.