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ForwardKinematics

The ForwardKinematics Library. More...


Compounds
class	FKAcceleration
class	FKJacobian
class	FKJacobianBase
class	FKJacobianMitsubishi
	This class computes a semi closed-form of the Jacobian matrix for the Mitsubishi robot. More...
class	FKJacobianPlanar3R
class	FKPosition
class	FKPositionBase
	Interface class that specifes the minimum interface a derived class should have that implements a forward position solution. Derived classes can implement this interface and also inherit from Kinematics to implement additional functionality. More...
class	FKPositionMitsubishi
	This class contains the ForwardKinematics interface for a Mitsubishi manipulator. More...
class	FKPositionPuma
	This class contains the ForwardKinematics interface for a Puma manipulator. More...
class	FKPositionSpatial3R
	This class contains the ForwardKinematics interface for a Spatial 3R manipulator. More...
class	FKVelocity
class	Kinematics
Variables
const OSCARError	FKErrors
const OSCARError	fkDefinitionError
const OSCARError	outputCoordSizeMismatch
const OSCARError	jointDoesNotExist
const OSCARError	noLockedJntsOutOfRange
const OSCARError	argumentSizeMismatch
const OSCARError	argumentSizeIncorrect
const OSCARError	jointLockedTwice
const OSCARError	invalidOutputSpace
const OSCARError	invalidInputSpace
const OSCARError	noPartialJacobianExists
const OSCAR::OSCARError	jointLimitViolation

Detailed Description

This library contains functionality for calculating foward position, velocity, and acceleration solutions for generalized manipulator models based on DH parameters. The Jacobian matrix and individual link transformations can also be obtained. The library also contains several classes for performing closed-form solutions on 3-DOF planar, 3-DOF spatial, and 6-dof Puma robots.