Serial linkage operations

Functions
int	c_alloc_dh_table (int n, c_dh_table *tbl)
	Allocate a Denavit-Hartenberg table.
void	c_free_dh_table (c_dh_table *tbl)
	Release a Denavit-Hartenberg table.
void	c_define_link_csys (const double xim1[3], const double zim1[3], const double zi[3], const double rim1[3], const double ri[3], c_coordinate_system *csys)
	Define a link coordinate system from adjacent geometry.
void	c_define_csys (const double i[3], const double j[3], const double k[3], const double o[3], c_coordinate_system *csys)
	Define a coordinate system from basis vectors and origin.
void	c_build_dh_table (int n, const c_coordinate_system *csys, c_dh_table *tbl)
	Build Denavit-Hartenberg parameters from coordinate systems.
int	c_alloc_serial_linkage (int n, c_serial_linkage *lnk)
	Allocate a serial linkage.
void	c_free_serial_linkage (c_serial_linkage *lnk)
	Release a serial linkage.
void	c_build_serial_linkage (int n, const c_binary_link *links, c_serial_linkage *linkage)
	Build a serial linkage from link definitions.
void	c_serial_linkage_forward_kinematics (int n, const c_serial_linkage *lnk, const double *q, double *T, int ldt)
	Evaluate serial-link forward kinematics.
void	c_serial_linkage_jacobian (int n, const c_serial_linkage *lnk, const double *q, double *jac, int ldj)
	Evaluate the serial-link Jacobian.
void	c_serial_linkage_inverse_kinematics (int n, const c_serial_linkage *lnk, const double *qo, const double *trg, int ldt, double *q, c_iteration_behavior *ib)
	Solve serial-link inverse kinematics.

Detailed Description

Function Documentation

c_alloc_dh_table()

int c_alloc_dh_table	(	int	n,
		c_dh_table *	tbl
	)

Allocate a Denavit-Hartenberg table.

Parameters

n	Number of parameter sets.
tbl	Table initialized by the routine.

Returns

Zero on success; nonzero on allocation failure.

c_free_dh_table()

void c_free_dh_table

(

c_dh_table *

tbl

)

Release a Denavit-Hartenberg table.

Parameters

tbl	Table to release.

c_define_link_csys()

void c_define_link_csys	(	const double	xim1[3],
		const double	zim1[3],
		const double	zi[3],
		const double	rim1[3],
		const double	ri[3],
		c_coordinate_system *	csys
	)

Define a link coordinate system from adjacent geometry.

Parameters

xim1	Previous x direction.
zim1	Previous z direction.
zi	Current z direction.
rim1	Previous origin.
ri	Current origin.
csys	Output coordinate system.

c_define_csys()

void c_define_csys	(	const double	i[3],
		const double	j[3],
		const double	k[3],
		const double	o[3],
		c_coordinate_system *	csys
	)

Define a coordinate system from basis vectors and origin.

Parameters

i	First basis vector.
j	Second basis vector.
k	Third basis vector.
o	Origin.
csys	Output coordinate system.

c_build_dh_table()

void c_build_dh_table	(	int	n,
		const c_coordinate_system *	csys,
		c_dh_table *	tbl
	)

Build Denavit-Hartenberg parameters from coordinate systems.

Parameters

n	Number of systems.
csys	Coordinate systems.
tbl	Output table.

c_alloc_serial_linkage()

int c_alloc_serial_linkage	(	int	n,
		c_serial_linkage *	lnk
	)

Allocate a serial linkage.

Parameters

n	Link count.
lnk	Linkage initialized by the routine.

Returns

Zero on success; nonzero on allocation failure.

c_free_serial_linkage()

void c_free_serial_linkage

(

c_serial_linkage *

lnk

)

Release a serial linkage.

Parameters

lnk	Linkage to release.

c_build_serial_linkage()

void c_build_serial_linkage	(	int	n,
		const c_binary_link *	links,
		c_serial_linkage *	linkage
	)

Build a serial linkage from link definitions.

Parameters

n	Link count.
links	Link definitions.
linkage	Output linkage.

c_serial_linkage_forward_kinematics()

void c_serial_linkage_forward_kinematics	(	int	n,
		const c_serial_linkage *	lnk,
		const double *	q,
		double *	T,
		int	ldt
	)

Evaluate serial-link forward kinematics.

Parameters

n	Link count.
lnk	Linkage.
q	Joint variables.
T	Output transform.
ldt	Leading dimension of T.

c_serial_linkage_jacobian()

void c_serial_linkage_jacobian	(	int	n,
		const c_serial_linkage *	lnk,
		const double *	q,
		double *	jac,
		int	ldj
	)

Evaluate the serial-link Jacobian.

Parameters

n	Link count.
lnk	Linkage.
q	Joint variables.
jac	Output Jacobian.
ldj	Leading dimension of jac.

c_serial_linkage_inverse_kinematics()

void c_serial_linkage_inverse_kinematics	(	int	n,
		const c_serial_linkage *	lnk,
		const double *	qo,
		const double *	trg,
		int	ldt,
		double *	q,
		c_iteration_behavior *	ib
	)

Solve serial-link inverse kinematics.

Parameters

n	Link count.
lnk	Linkage.
qo	Initial joint variables.
trg	Target transform.
ldt	Leading dimension of trg.
q	Output joint variables.
ib	Output iteration statistics.