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Input: 
r1 : LREAL;
r2 : LREAL;
r3 : LREAL;

Output:

trilaterate : ARRAY [0..1] OF ARRAY [0..2] OF LREAL;

Type: Function

Responsible: Magnus


This function used a various of other mathematical functions to estimate the coordinate position of the end-effector with a trilateration method in 3D-Space. The gist of the method comes down to using 3 of the systems rope lengths and their initialposition to create 3 spheres from that radius and initial point, and from there find the intersection point between the 3 spheres. The implementation of the code is a translation of the code found at stackoverflow.

What positions did we use?

We tried different motor initial positions into this method and found best results in motors 1,2 and 5. Description of the system can be found 24_7 System Description

Things we had to keep in mind

As we use this method for our forward kinematic, we have to run all 8 motors at all times, atleast motor 1,2 and 5 has to run to get an accurate estimate of the position of the end-effector. We also get two possible solutions, most of the time this is not a problem because we counteract this by choosing the solution that fits our bounds.


(MORE TO BE WRITTEN HERE. IMAGES ETC. ARE ON THE WAY)



Concept taken from wikipedia, code taken from stackoverflow.

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