public static RobotArm lynxmotionL6()
{
RobotArm arm = new RobotArm(7);
arm.links[1] = ArmLink.translateXYZ(arm.links[0], 0, 6.7, 0);
arm.links[2] = ArmLink.translateXYZ(arm.links[1], 0, 0, 0);
arm.links[3] = ArmLink.translateXYZ(arm.links[2], 15, 0, 0);
arm.links[4] = ArmLink.translateXYZ(arm.links[3], 17.5, 0, 0);
arm.links[5] = ArmLink.translateXYZ(arm.links[4], 3, 0, 0);
arm.links[6] = ArmLink.translateXYZ(arm.links[5], 4, 0, 0);
return(arm);
}
public ArmLink(ArmLink prevlink, double dispX, double dispY, double dispZ,
double rotX, double rotY, double rotZ)
{
int i, j;
ArmLink newlink = ArmLink.translateXYZ(prevlink, dispX, dispY, dispZ);
newlink = ArmLink.rotateX(newlink, rotX);
newlink = ArmLink.rotateY(newlink, rotY);
newlink = ArmLink.rotateZ(newlink, rotY);
// copying transfomation matrix from newlink to the object
for (i = 0; i < 4; i++)
{
for (j = 0; j < 4; j++)
{
this.T[i][j] = newlink.T[i][j];
}
}
// transformation matrix copied
}
public void addDHline(double anglei_1, double ai_1, double di, double homeangle)
{
linknum++;
// creating a new line in the Denavit - Hartenberg matrix
DHmatrix[linknum - 1] = new double[4];
// filling the line now
DHmatrix[linknum - 1][0] = anglei_1; // angle about the x-axis
// bewteen i-1 and i link
DHmatrix[linknum - 1][1] = ai_1; // distance between i-1 and i link
// on the x-axis
DHmatrix[linknum - 1][2] = di; // displace of link i on the z-axis
DHmatrix[linknum - 1][3] = anglei_1; // home angle of link-i
// Denavit - Hartenberg line added
// Now assigning a frame to the link
links[linknum - 1] = ArmLink.rotateX(links[linknum - 2], anglei_1); // rotating about x by angle i-1
// to align with link i
links[linknum - 1] = ArmLink.translateXYZ(links[linknum - 1], ai_1, 0, di); // translating on x by the distance bewteen
// i and i-1 and translating on z by displacement di
links[linknum - 1] = ArmLink.rotateZ(links[linknum - 1], homeangle); // rotating about z to home position (angle theta)
}
