Kinematic factory

"sailendra sethi" <[email protected]> Thu, 15 Jun 2006 12:26:34 +0000

Newsgroups	gmane.science.robotics.orocos.user
Message-ID	<[email protected]>

i defined a new robot type in Kinematic factory.hpp as :

if (name == "MY_ARM")
    {
      SerialZXXDWH* ki = new SerialZXXDWH();
	ki->geometrySet(3.2,4.70,4.70,0.0,0.0,0.2);
	ki->offsetSet(0.);
        ki->eccentricitySet(0.);
      return ki;
    }

i am taking link lengths in inches.

How it works when i give a new robo type. Is there any  function so that i 
can analyse the calculation for this ZXXDWH type configuration. It is not 
moving to given point may be either due to motor constraints. Please give me 
some way to solve this problem.

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