inversekinematic

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   INVERSEKINEMATIC    Inverse kinematic for serial robots.

     q = INVERSEKINEMATIC(robot, T) 
   returns the vector q of joint values according to the transformation matrix
   of the end effector T.

   INVERSEKINEMATIC calls a pre-defined function specified by ROBOT.inversekinematic_fn that
   should be implemented in the inversekinematic directory.

    See also DIRECTKINEMATIC.

   Author: Arturo Gil. Universidad Miguel Hernández de Elche.
   email: arturo.gil@umh.es date:   26/04/2012
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0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0002 %   INVERSEKINEMATIC    Inverse kinematic for serial robots.
0003 %
0004 %     q = INVERSEKINEMATIC(robot, T)
0005 %   returns the vector q of joint values according to the transformation matrix
0006 %   of the end effector T.
0007 %
0008 %   INVERSEKINEMATIC calls a pre-defined function specified by ROBOT.inversekinematic_fn that
0009 %   should be implemented in the inversekinematic directory.
0010 %
0011 %    See also DIRECTKINEMATIC.
0012 %
0013 %   Author: Arturo Gil. Universidad Miguel Hernández de Elche.
0014 %   email: arturo.gil@umh.es date:   26/04/2012
0015 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0016 
0017 % Copyright (C) 2012, by Arturo Gil Aparicio
0018 %
0019 % This file is part of ARTE (A Robotics Toolbox for Education).
0020 %
0021 % ARTE is free software: you can redistribute it and/or modify
0022 % it under the terms of the GNU Lesser General Public License as published by
0023 % the Free Software Foundation, either version 3 of the License, or
0024 % (at your option) any later version.
0025 %
0026 % ARTE is distributed in the hope that it will be useful,
0027 % but WITHOUT ANY WARRANTY; without even the implied warranty of
0028 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
0029 % GNU Lesser General Public License for more details.
0030 %
0031 % You should have received a copy of the GNU Leser General Public License
0032 % along with ARTE.  If not, see <http://www.gnu.org/licenses/>.
0033 function q = inversekinematic(robot, T)
0034 
0035 if robot.debug
0036     fprintf('\nComputing inverse kinematics for the %s robot\n', robot.name);
0037     fprintf('\nCall to: inversekinematic/%s\n', robot.inversekinematic_fn);
0038 end
0039 %Call specific inversekinematic function
0040 q = eval(robot.inversekinematic_fn);