tool.h

日本V01机器人运动学算法

/********************************/
/* WFMC Tool Coordinate Define	*/
/*	Author:	QiuTao				*/
/*  Date: 1999-10-26			*/
/********************************/

/* welding torch matrix (Positive) */

// plane
const TransMatrix TOOL={    0.066216111118,   0.997804099695,   -0.001550889956,    0.8,
						   -0.966580772228,   0.063758129027,   -0.248307292969,   -5.0,
						   -0.247663153067,   0.017941003714,    0.968680072572,   -448.9	};

const TransMatrix TOOLINV={ 0.066216111118,  -0.966580772228,   -0.247663153067,   -116.061866161752,
							0.997804099695,   0.063758129027,    0.017941003714,    7.574263932614,
						   -0.001550889956,  -0.248307292969,    0.968680072572,    433.600188824833	};


/*
// space
const TransMatrix TOOL={    0.066216111118,   0.997804099695,   -0.001550889956,    0.8,
						   -0.966580772228,   0.063758129027,   -0.248307292969,   -5.0,
						   -0.247663153067,   0.017941003714,    0.968680072572,   -459.3	};

const TransMatrix TOOLINV={ 0.066216111118,  -0.966580772228,   -0.247663153067,   -118.627,
							0.997804099695,   0.063758129027,    0.017941003714,    7.78,
						   -0.001550889956,  -0.248307292969,    0.968680072572,    443.663	};
*/