Figure 4
The block diagram illustrates a robotic positioning workflow using inverse kinematic and direct kinematic models. The process begins with a target position, x, y, z, which is sent to a Solve I K M block. Calculated values z subscript i p, z subscript i, and z subscript i n are processed before moving motor i to a new position. The system then reads laser distance values r subscript i p, r subscript i, and r subscript i n. A calculation block computes d z subscript i n using a mathematical expression involving squared distance terms and cosine beta. A feedback loop updates motor positions and measurement corrections before passing the values to a Solve D K M block, which produces the output position, x, y, z. Additional instructions within the dashed control section define motor controller operations for i equals a, b, and c.Diagram of the movement control module