https://github.com/12343954/rotary-delta-robot-kinematics

Rotary Delta Robot Forward/Inverse Kinematics Calculations ( js , C++ 、C# )
https://github.com/12343954/rotary-delta-robot-kinematics

delta-robot forward-kinematics inverse-kinematics kinematics robotics robotics-kinematics

Last synced: 8 days ago
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Rotary Delta Robot Forward/Inverse Kinematics Calculations ( js , C++ 、C# )

• Host: GitHub
• URL: https://github.com/12343954/rotary-delta-robot-kinematics
• Owner: 12343954
• Created: 2021-01-19T05:18:50.000Z (almost 4 years ago)
• Default Branch: main
• Last Pushed: 2024-05-01T02:14:41.000Z (7 months ago)
• Last Synced: 2024-05-01T03:26:11.989Z (7 months ago)
• Topics: delta-robot, forward-kinematics, inverse-kinematics, kinematics, robotics, robotics-kinematics
• Language: C++
• Homepage: https://12343954.github.io/fk/
• Size: 1.17 MB
• Stars: 9
• Watchers: 2
• Forks: 2
• Open Issues: 1
• Metadata Files:
  • Readme: README.md

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README

        

	

		

		

	

Rotary Delta Robot Kinematics ( js 、C++ 、C# )


Forward/Inverse Kinematics algorithm for Rotary Delta Robot.

Including `Web.js` 、`C++` and `C#` versions compare, all results are matched!

Features:  

1. Forward/Inverse Kinematics.

2. Bounds calculation, maxmin values of [xyz] and [abc].

3. Increment Mode calculation.

4. ETA recording in debugging mode.

 

Thanks to:


1. https://www.marginallyclever.com/other/samples/fk-ik-test.html

2. https://github.com/tinkersprojects/Delta-Kinematics-Library (Algorithm is not accurate)

This Library is licensed under a GPLv3 License.

 

1. Robot Settings




 



 


# 2. API

Functions:

```

int forward();

int forward(double thetaA, double thetaB, double thetaC);

int inverse();

int inverse(double x0, double y0, double z0);

```

Returns:

```

#define no_error			 0

#define non_existing_povar_error	 1

```

# 3. Examples

```

#include 

#include "DeltaKinematics.h"

using namespace std;

#define ROBOT_btf		 500.0		// base to floor

#define ROBOT_f			  63.0		// base radius

#define ROBOT_rf		 130.0		// shoulder length

#define ROBOT_re		 400.0		// arm length

#define ROBOT_e			  35.0		// end effector radius

#define ROBOT_s			3200.0		// steps per turn

//DeltaKinematics DK(500.0,	63.0,	 130.0,    400.0,     35.0,	3200.0);

  DeltaKinematics DK(ROBOT_btf, ROBOT_f, ROBOT_rf, ROBOT_re, ROBOT_e, ROBOT_s);

void out_print(int error, bool is_inverse);

int main()

{

	int error = DK.forward(5.0, 10.0, 15.0);

	out_print(error, false);

	DK.x = 0;

	DK.y = 0;

	DK.z = -300;

	error = DK.inverse();

	out_print(error, true);

	error = DK.forward(100.0, 45.0, 45.0);

	out_print(error, false);

	error = DK.inverse(30, 30, 30);

	out_print(error, true);

	error = DK.forward(100, 100, 100);

	out_print(error, false);

	error = DK.forward(130, 130, 130);

	out_print(error, false);

	error = DK.forward(200, 200, 200);

	out_print(error, false);

}

void out_print(int error, bool is_inverse) {

	cout << "Result=" << error << "\n";

	cout << "OLD: xyz=[" << DK.LastXYZ.x << ", " << DK.LastXYZ.y << ", " << DK.LastXYZ.z << "],"

		<< " abc=[" << DK.LastABC.a << ", " << DK.LastABC.b << ", " << DK.LastABC.c << "]"

		<< endl;

	if (is_inverse) {

		cout << "NEW: DK.xyz=[" << DK.x << ", " << DK.y << ", " << DK.z << "] ==> "

			<< "DK.abc=[" << DK.a << ", " << DK.b << ", " << DK.c << "]\n\n"

			<< endl;

	}

	else {

		cout << "NEW: DK.abc=[" << DK.a << ", " << DK.b << ", " << DK.c << "] ==> "

			<< "DK.xyz=[" << DK.x << ", " << DK.y << ", " << DK.z << "]\n\n"

			<< endl;

	}

}

```