CAT5 Motor Pulses to Joint Angles

Converts motor encoder counts to joint angles for the CRS Catalyst-5 robot.

CAT5 Joint Angles to World Coordinates

Converts joint angles to Cartesian world coordinates for the CRS Catalyst-5 robot.

CAT5 Forward Kinematics

Converts joint angles to Cartesian world coordinates and stance for the CRS Catalyst-5 robot.

CAT5 Inverse Kinematics

Converts Cartesian world coordinates to joint angles for the CRS Catalyst-5 robot.

CAT5 World Coordinates to Joint Angles

Converts Cartesian world coordinates to joint angles for the CRS Catalyst-5 robot.

CAT5 Joint Torques to Motor Inputs

Converts joint torques to motor inputs (voltages or currents) for the CRS Catalyst-5 robot.