Re: tetra transformations



Hi!
This is the c-code for genhexkins. I am not a programmer, so ever mind the
style, the naming conventions and the way i moved stuff from one file to
another.
I appended a small test programm to genhexkins that runs trafo tests in 6
for loops and varies the joint lengths from 30 to 36 i think.
Be careful with the files not to mix the up with the original files that
have the same name but are different.
Fred, please tell me what you think of it.
Till
-----Ursprüngliche Nachricht-----
Von: Fred Proctor <frederick.proctor-at-nist.gov>
An: Multiple recipients of list <emc-at-nist.gov>
Datum: Montag, 28. August 2000 15:33
Betreff: Re: tetra transformations


>
>Parallel kinematics fans,
>
>Till Franitza wrote:
>
>> Hallo Brian and emc list!
>> I have coded your trafo in matlab and i coded another trafo in matlab
>> that uses the quaternion representation directly. They BOTH work well.
>> Yours is quite tricky. I have never seen that way to do it.
>> I coded a third trafo that doesn`t work that good. I have them at home
>> and will send them to you tomorrow.
>
>Sounds good. The Matlab versions won't do me any good; can you dump the
>code in C form?
>
>> What was the problem with your
>> trafo? As far as i have tested it, it converges quite stably. And in
>> the cases it didn`t, there was a singularity. I did not test very
>> much, but is it possible that you made a forward trafo in situations
>> where there simply is no solution? If the algorithm detects that, what
>> is supposed to happen? I think the drives should not move and the
>> worker should get a warning message. Then he can go back in machine
>> coordinates and go somewhere else.
>
>I recall that the problem was with the convergence of the forward
>kinematics. Brian Register wrote the forward kins so I don't know the
>details. I'd like to try your version that uses the quaternion
>representation directly and see if that works on the minitetra.
>
>--Fred
>


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M(#$L"2\J(&9O<G=A<F1S/6EN=F5R<V4L(&)O=&-at--at-=V5L;"UB96AA=F5D("HO
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M<F0-at-:VEN<R J+PT*("!+24Y%34%424-37U!!4D%,3$5,+ D)+RH-at-=V5L;"UB
M96AA=F5D(&EN=F5R<V4-at-:VEN<R J+PT*("!+24Y%34%424-37T-54U1/30D)
M+RH-at-;F]N92!W96QL+6)E:&%V960-at-*B\-"GT-at-2TE.14U!5$E#4U]465!%.PT*
M#0IE>'1E<FX-at-2TE.14U!5$E#4U]465!%(&MI;F5M871I8W-4>7!E*'9O:60I
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`
end

begin 666 INFO.TXT
M:V]M<&EL92!W:71H(&<K*R!G96YH97AK:6YS+F,-at-;&EB<&TN82 M;R!G96YH
M97AH97AK:6YS#0ID87,-at-97AE8W5T86)L92!I<R!N86UE9"!L:6ME('1H92!W
6;W)D(&%F=&5R("UO#0H-"G1I;&P-"-at-``
`
end

begin 666 POSEMATH.H
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