.DeltaRobot.Functions

Contents

Name	Description
jointsCoordinates	Return a vector with the coordinates of the disc's joints resolved in the disc frame
actuatorsJointsRotationAngles	Return the rotation angles in degrees with axes sequence {3,1,3} to rotate the base/platform frame into the frames of the actuators joints
inverseKinematic	Return the angles of the three actuators for a given platform position
upperArmsDirections	Return three vectors resolved in base frame that represent the three upper arms for a given platform position
parallelogramDirections	Return three vectors resolved in base frame that represent the three long sides of the parallelograms for a given platform position
parallelogramAngles	Return the angles to initialize the parallelograms
checkLimits	Return 'true' if all Delta Robot angles are within the valid ranges specified, return 'false' otherwise