Assembles all of the individual link transformation matrices into a single transformation matrix locating the end-effector in the parent coordinate system for the overall mechanism.
| Type | Intent | Optional | Attributes | Name | ||
|---|---|---|---|---|---|---|
| real(kind=real64), | intent(in) | :: | T1(4,4) |
The transformation matrix for the first link nearest ground in the linkage. |
||
| real(kind=real64), | intent(in) | :: | T2(4,4) |
The transformation matrix for the second link in the linkage. |
The resulting transformation matrix.
Assembles all of the individual link transformation matrices into a single transformation matrix locating the end-effector in the parent coordinate system for the overall mechanism.
| Type | Intent | Optional | Attributes | Name | ||
|---|---|---|---|---|---|---|
| real(kind=real64), | intent(in) | :: | T1(4,4) |
The transformation matrix for the first link nearest ground in the linkage. |
||
| real(kind=real64), | intent(in) | :: | T2(4,4) |
The transformation matrix for the second link in the linkage. |
||
| real(kind=real64), | intent(in) | :: | T3(4,4) |
The transformation matrix for the third link in the linkage. |
The resulting transformation matrix.
Assembles all of the individual link transformation matrices into a single transformation matrix locating the end-effector in the parent coordinate system for the overall mechanism.
| Type | Intent | Optional | Attributes | Name | ||
|---|---|---|---|---|---|---|
| real(kind=real64), | intent(in) | :: | T1(4,4) |
The transformation matrix for the first link nearest ground in the linkage. |
||
| real(kind=real64), | intent(in) | :: | T2(4,4) |
The transformation matrix for the second link in the linkage. |
||
| real(kind=real64), | intent(in) | :: | T3(4,4) |
The transformation matrix for the third link in the linkage. |
||
| real(kind=real64), | intent(in) | :: | T4(4,4) |
The transformation matrix for the fourth link in the linkage. |
The resulting transformation matrix.
Assembles all of the individual link transformation matrices into a single transformation matrix locating the end-effector in the parent coordinate system for the overall mechanism.
| Type | Intent | Optional | Attributes | Name | ||
|---|---|---|---|---|---|---|
| real(kind=real64), | intent(in) | :: | T1(4,4) |
The transformation matrix for the first link nearest ground in the linkage. |
||
| real(kind=real64), | intent(in) | :: | T2(4,4) |
The transformation matrix for the second link in the linkage. |
||
| real(kind=real64), | intent(in) | :: | T3(4,4) |
The transformation matrix for the third link in the linkage. |
||
| real(kind=real64), | intent(in) | :: | T4(4,4) |
The transformation matrix for the fourth link in the linkage. |
||
| real(kind=real64), | intent(in) | :: | T5(4,4) |
The transformation matrix for the fifth link in the linkage. |
The resulting transformation matrix.
Assembles all of the individual link transformation matrices into a single transformation matrix locating the end-effector in the parent coordinate system for the overall mechanism.
| Type | Intent | Optional | Attributes | Name | ||
|---|---|---|---|---|---|---|
| real(kind=real64), | intent(in) | :: | T1(4,4) |
The transformation matrix for the first link nearest ground in the linkage. |
||
| real(kind=real64), | intent(in) | :: | T2(4,4) |
The transformation matrix for the second link in the linkage. |
||
| real(kind=real64), | intent(in) | :: | T3(4,4) |
The transformation matrix for the third link in the linkage. |
||
| real(kind=real64), | intent(in) | :: | T4(4,4) |
The transformation matrix for the fourth link in the linkage. |
||
| real(kind=real64), | intent(in) | :: | T5(4,4) |
The transformation matrix for the fifth link in the linkage. |
||
| real(kind=real64), | intent(in) | :: | T6(4,4) |
The transformation matrix for the sixth link in the linkage. |
The resulting transformation matrix.
Assembles all of the individual link transformation matrices into a single transformation matrix locating the end-effector in the parent coordinate system for the overall mechanism.
| Type | Intent | Optional | Attributes | Name | ||
|---|---|---|---|---|---|---|
| real(kind=real64), | intent(in) | :: | T1(4,4) |
The transformation matrix for the first link nearest ground in the linkage. |
||
| real(kind=real64), | intent(in) | :: | T2(4,4) |
The transformation matrix for the second link in the linkage. |
||
| real(kind=real64), | intent(in) | :: | T3(4,4) |
The transformation matrix for the third link in the linkage. |
||
| real(kind=real64), | intent(in) | :: | T4(4,4) |
The transformation matrix for the fourth link in the linkage. |
||
| real(kind=real64), | intent(in) | :: | T5(4,4) |
The transformation matrix for the fifth link in the linkage. |
||
| real(kind=real64), | intent(in) | :: | T6(4,4) |
The transformation matrix for the sixth link in the linkage. |
||
| real(kind=real64), | intent(in) | :: | T7(4,4) |
The transformation matrix for the seventh link in the linkage. |
The resulting transformation matrix.
Assembles all of the individual link transformation matrices into a single transformation matrix locating the end-effector in the parent coordinate system for the overall mechanism.
| Type | Intent | Optional | Attributes | Name | ||
|---|---|---|---|---|---|---|
| real(kind=real64), | intent(in) | :: | T1(4,4) |
The transformation matrix for the first link nearest ground in the linkage. |
||
| real(kind=real64), | intent(in) | :: | T2(4,4) |
The transformation matrix for the second link in the linkage. |
||
| real(kind=real64), | intent(in) | :: | T3(4,4) |
The transformation matrix for the third link in the linkage. |
||
| real(kind=real64), | intent(in) | :: | T4(4,4) |
The transformation matrix for the fourth link in the linkage. |
||
| real(kind=real64), | intent(in) | :: | T5(4,4) |
The transformation matrix for the fifth link in the linkage. |
||
| real(kind=real64), | intent(in) | :: | T6(4,4) |
The transformation matrix for the sixth link in the linkage. |
||
| real(kind=real64), | intent(in) | :: | T7(4,4) |
The transformation matrix for the seventh link in the linkage. |
||
| real(kind=real64), | intent(in) | :: | T8(4,4) |
The transformation matrix for the eigth link in the linkage. |
The resulting transformation matrix.
Assembles all of the individual link transformation matrices into a single transformation matrix locating the end-effector in the parent coordinate system for the overall mechanism. The first entry must be from the first link nearest ground.
| Type | Intent | Optional | Attributes | Name | ||
|---|---|---|---|---|---|---|
| real(kind=real64), | intent(in), | dimension(:) | :: | alpha |
The link twist angles, in radians. This angle is the required rotation of the z(i-1) axis about the link's x-axis to become parallel with the link's z-axis. |
|
| real(kind=real64), | intent(in), | dimension(size(alpha)) | :: | a |
The link lengths as measured along the link's x-axis. |
|
| real(kind=real64), | intent(in), | dimension(size(alpha)) | :: | theta |
The joint angles, in radians. This angle is the required rotation of the z(i-1) axis about the z(i-1) axis to become parallel with the link's x-axis. |
|
| real(kind=real64), | intent(in), | dimension(size(alpha)) | :: | d |
The joint offsets distance measured as the distance between the x(i-1) axis and the link's x-axis along the z(i-1) axis. |
The resulting 4-by-4 transformation matrix.