image missing /media/kunena/emoticons/silly.png seems a simply solution can be follow:
Code:
static int scaraKinematicsInverse(const EmcPose * world,
double * joint,
const KINEMATICS_INVERSE_FLAGS * iflags,
KINEMATICS_FORWARD_FLAGS * fflags)
{
double a3;
double q0, q1;
double xt, yt, xt1, yt1, rsq, cc;
double x, y, z, c;
x = world->tran.x;
y = world->tran.y;
z = world->tran.z;
c = world->c;
/* convert degrees to radians */
a3 = c * ( PM_PI / 180 );
/* center of end effector (correct for D6) */
xt = x - D6*cos(a3);
yt = y - D6*sin(a3);
xt1 = xt;
yt1 = yt;
/* horizontal distance (squared) from end effector centerline
to main column centerline */
rsq = xt*xt + yt*yt;
/* joint 1 angle needed to make arm length match sqrt(rsq) */
cc = (rsq - D2*D2 - D4*D4) / (2*D2*D4);
if(cc < -1) cc = -1;
if(cc > 1) cc = 1;
q1 = acos(cc);
if (*iflags)
q1 = -q1;
/* angle to end effector */
q0 = atan2(yt, xt);
/* end effector coords in inner arm coord system */
xt = D2 + D4*cos(q1);
yt = D4*sin(q1);
/* inner arm angle */
//q0 = q0 - atan2(yt, xt);
if((xt1<0) && (yt1>=0)){q0 = q0 - atan2(yt, xt) - 2*M_PI;}
else{q0 = q0 - atan2(yt, xt);}
/* q0 and q1 are still in radians. convert them to degrees */
q0 = q0 * (180 / PM_PI);
q1 = q1 * (180 / PM_PI);
joint[0] = q0;
joint[1] = q1;
joint[2] = D1 + D3 - D5 - z;
joint[3] = c - ( q0 + q1);
joint[4] = world->a;
joint[5] = world->b;
*fflags = 0;
return (0);
} // scaraKinematicsInverse()
not tested on real machine for now ... only on openGL test windows.
