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/*****************************************************************
* Description: pumakins.h
* Kinematics for a puma typed robot
*
* Derived from a work by Fred Proctor
*
* Author:
* License: GPL Version 2
* System: Linux
*
* Copyright (c) 2004 All rights reserved.
*
* Last change:
*******************************************************************
* This is the header file to accompany pumakins.c.
*******************************************************************
*/
#ifndef PUMA_H
#define PUMA_H
/* the default values for a PUMA 560 type robot, these can be changed as HAL parameters */
#define DEFAULT_PUMA560_A2 300.0
#define DEFAULT_PUMA560_A3 50.0
#define DEFAULT_PUMA560_D3 70.0
#define DEFAULT_PUMA560_D4 400.0
#define SINGULAR_FUZZ 0.000001
#define FLAG_FUZZ 0.000001
/* flags for inverse kinematics */
#define PUMA_SHOULDER_RIGHT 0x01
#define PUMA_ELBOW_DOWN 0x02
#define PUMA_WRIST_FLIP 0x04
#define PUMA_SINGULAR 0x08 /* joints at a singularity */
/* flags for forward kinematics */
#define PUMA_REACH 0x01 /* pose out of reach */
#endif /* PUMA_H */
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