ChK/appRobotDriver
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G92 sowie arctan2

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chk
2026-06-26 06:44:11 +02:00
parent 497d0fbc7b
commit 29b5f2ae4b
5 changed files with 445 additions and 236 deletions
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2
robot/kinematics/Arm3SegmentLinearX.js
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@@ -56,7 +56,7 @@ class Arm3SegmentLinearX extends RobotBase {
if (r > (this.l1 + this.l2)) { return; }
if (r == 0) { return; }
var gamma = Math.asin(pZ / r);
var gamma = Math.atan2(pZ, pY);
var delta = Math.acos((this.l1 * this.l1 + this.l2 * this.l2 - r * r) / (2 * this.l1 * this.l2));
this.alpha = Math.acos((this.l1 * this.l1 + r * r - this.l2 * this.l2) / (2 * r * this.l1)) + gamma;
this.beta = -Math.PI + (this.alpha + delta);