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ikine_if

ikine_if

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Description

This block computes the inverse kinematics for a robot in a certain configuration. A homogeneous transform for the location of the end-effector is received as input and joint coordinates is returned as output.

This block has one regular input.

This block has one regular output. It represent a set of joint coordinates and therefore the number of its elements must equal the number of robot's constituent links.

You can specify as block parameter the robot model robot for which you want compute inverse kinematic.

Dialog Box

Robot object :

SerialLink. It represents the robot model to be simulated. Note that this variable is a symbolic parameter which has to be defined in the context of the Xcos diagram in order to be used.

Initial q :

n-element vector. It descries the initial joint coordinates, i.e. the initial configuration of manipulator. Initial value: qz=[0,0,0,0,0,0].

Pinv (yes/no) :

string (yes or no) about using the pseudo-inverse Jacobian. Initial value: no.

Options(es:'novarstep','alpha',A...) :

Other options string. For more info see the function ikine.

See also

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