33 lines
640 B
Matlab
33 lines
640 B
Matlab
function [b1,b2,b3,b4,b5,b6] = calcIK_CATIA(X,Y,Z,OMEGA,CHI,PHI)
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%CALCIK_CATIA Summary of this function goes here
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% Detailed explanation goes here
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[q1,q2,q3,q4,q5,q6] = calcIK(X,Y,Z,OMEGA,CHI,PHI)
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% calcIK variables
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% q1 slider in Y direction
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% q2 slider in Z direction
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% q3 upper x slider
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% q4 lower x slider
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% q5 Phi Rotation
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% q6 Omega Rotation
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% CATIA variables
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% b1 Omega Rotation
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% b2 slider in Y direction
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% b3 slider in Z direction
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% b4 upper x slider
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% b5 lower x slider
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% b6 Phi Rotation
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b1 = q6 + 180;
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b2 = -q1 -4.836e-3;
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b3 = q2;
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b4 = -q3 -6.837e-3;
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b5 = -q4 -6.873e-3;
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b6 = q5;
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end
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