Chrono help for example file

Comments on CHRONO example robot_p3d.r3d

Test the IK/FK algorithms for the PM3D robot.

What to do: load the file and press the "|<" goto-beginning button on the animation timeline (this to force reloading of javascript programs).
Now, select the 'controls0' object and press 'Open panel' button to open the control panel of this robot.
Then, play with the 'rotate A1 /A2 /..' sliders, to move robot in space. The control panel has also a 'IK' tab with "+" and "-" buttons, for inverse-kinematics jog mode.

This is the PM3D (TM) robot, which can be controlled with a panel and javascript programs.

Note that this example has been developed to test (with a 3D virtual model) all the inverse-kinematics and forward-kinematics formulas which will be implemented in the embedded CPU of this robot. In fact, the IK and FK formulas con be found in the javascript programs called by the 'control0' object.

When you go to the 'FK' tab of the panel, you can set the joint rotation (to test forward kinematics).
Also, if you go to the 'IK' tab, you find the +/- buttons to move the gripper along world X,Y,Z axes, with specified step. Hence, each time you press the + or - buttons, a Javascript formula computes the joint rotations needed for that X or Y or Z step, and this formula (including many analytical math computations) is the IK formula whose correctness we want to prove. In fact, the formula proved to be correct and now can be implemented in the real-life CPU of this robot.

Note: this example is not made for animation. You do not need to press the 'play' button on animation timeline.