Loop and Inverse Kinematics

Computation of the inverse kinematics of system containing constraints (kinematics constraints or user-specified).
For more information, see Robotran theoritical framework.

Code sample

For running the kinematics, insert the following code in your main script and adapt it to your need :

    /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
     *                   INVERSE KINEMATICS                      *
     * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
    MbsSolvekin *mbs_solvekin;
    mbs_data->process = 5;
 
    mbs_solvekin = mbs_new_solvekin(mbs_data);
 
    // solvekin options, to interpolate part of the previous motion
    mbs_solvekin->options->t0 = 1.33333;
    mbs_solvekin->options->tf = 1.4;
    mbs_solvekin->options->dt = 1e-4;
    mbs_solvekin->options->framerate = 10000;
    mbs_solvekin->options->motion = trajectory;
    mbs_solvekin->options->trajectoryqname = "../../resultsR/dirdyn_q.res";
    mbs_solvekin->options->trajectoryqdname = "../../resultsR/dirdyn_qd.res";
    mbs_solvekin->options->trajectoryqddname = "../../resultsR/dirdyn_qdd.res";
 
    mbs_run_solvekin(mbs_solvekin, mbs_data);
 
    mbs_delete_solvekin(mbs_solvekin, mbs_data);

Use

The inverse kinematics is performed by the function mbs_run_solvekin().

The user specifies the desired options of the inverse kinematics in MbsInvOptions structure. The results are provided in the MbsBuffer structure (par of the MbsSolvekin structure) and written to files at the end of computation. The results is provided in the MBS_solvekin structure.

You should calls succesively

• mbs_new_solvekin()
• mbs_run_solvekin()
• mbs_delete_solvekin()