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Highlights from
Kinematic Control of 3PRR - Articulated form of Hexapod

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from Kinematic Control of 3PRR - Articulated form of Hexapod by Hrishi Shah
A Hexapod is modeled as a 3PRR by taking top view projection and controlled Kinematically.

[x]=myfunc(bx, by, phi) 
function [x]=myfunc(bx, by, phi)
global l;
% l=3;
% bx=2;
% by=4;
% phi=35;
% th=45*3.1416/180;
d2r=pi/180;
phi=phi*d2r;
dx=l/2;
dy1=l/2*tan(pi/6);
dy2=l/2/cos(pi/6);
x=[-dx -dy1 1;
    dx -dy1 1;
     0  dy2 1]';
R=[cos(phi) -sin(phi) bx;
   sin(phi)  cos(phi) by;
          0         0  1];
x=R*x;
% plot(x(1,:),x(2,:),'ro');
% return

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