42 lines
815 B
C
42 lines
815 B
C
//
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// Created by 24871 on 2024/10/2.
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//
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#ifndef CUSTOMER_CONTROLLER_KINEMATICS_H
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#define CUSTOMER_CONTROLLER_KINEMATICS_H
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//连杆偏移
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#define LINK_OFFSET1 0.076
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#define LINK_OFFSET2 0.116
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#define LINK_OFFSET3 0
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#define LINK_OFFSET4 0.1295
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//连杆长度
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#define LINK_LENGTH1 0
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#define LINK_LENGTH2 0
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#define LINK_LENGTH3 0
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#define LINK_LENGTH4 0.036
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//连杆扭角
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#define LINK_TWIST1 -1.570796
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#define LINK_TWIST2 1.570796
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#define LINK_TWIST3 -1.570796
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#define LINK_TWIST4 0
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typedef struct
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{
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double offset; //d
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double length; //a
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double twist; //alpha
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double angle; //theta
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double angle_set;
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double angle_set2;
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double transformation_matrix[4][4];
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} Link_Parameter_s;
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void Kinematic_Init();
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void Kinematic_Calculate();
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#endif //CUSTOMER_CONTROLLER_KINEMATICS_H
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