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ikine6s_if

ikine6s_if

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Description

This block computes the inverse kinematics for a robot with spherical wrist 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.

Configuration String :

Configuration string. Initial value: luf

See also

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