Class PumaInvKin

java.lang.Object
  |
  +--InvKin
        |
        +--PumaInvKin

public class PumaInvKin
extends InvKin

PumaInvKin.java A class to encapsulate the inverse kinematics for the Unimation 560 Puma robot.


Fields inherited from class InvKin
TO_DEGREES, TO_RADIANS
 
Constructor Summary
protected PumaInvKin()
          Default constructor.
 
Method Summary
 java.lang.Object clone()
          Implements the clone() method, returning an Object copy of this object.
 JointVariables getJointVariables(javax.vecmath.Point3d target)
          Returns the closest solution in JointVariables form, if a solution exists, otherwise returns null.
 
Methods inherited from class InvKin
getJointVariables, loadKinematics, setJointVariables
 
Methods inherited from class java.lang.Object
equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

PumaInvKin

protected PumaInvKin()
Default constructor.
Method Detail

getJointVariables

public JointVariables getJointVariables(javax.vecmath.Point3d target)
                                 throws OutOfRangeException
Returns the closest solution in JointVariables form, if a solution exists, otherwise returns null. Modified from the equations given in Craig, "Introduction to Robotics". Note that the desired pitch angle is implicitly equal to the current pitch, and the desired roll angle is the current roll.
Parameters:
target - the target Point to use to find the solution.
Throws:
OutOfRangeException - raised when the requested point has no solutions, and is out of range.
Overrides:
getJointVariables in class InvKin

clone

public java.lang.Object clone()
Implements the clone() method, returning an Object copy of this object.
Returns:
an Object copy of this JointVariables.
Overrides:
clone in class InvKin