FA-88095 / Inverse kinematics solvers / Member archive

Delta towers are placed at 0, 120 and 240 degrees · case 05

Carriage heights belong to a rotated tower layout, so moves in y tilt the effector.

Member previewVariant 5 · 3 implementations · 7 checks per implementation

Case contract

Input [R,e,L,x,y,z,hmax]: linear delta printer, towers at 90, 210 and 330 degrees (in that output order) on radius R, effector joints offset e toward the centre so the effective radius is R-e, diagonal rods of length L. Carriage height is z+sqrt(L^2-dx^2-dy^2); a negative radicand returns "unreachable", a carriage above hmax returns "out-of-travel". Return heights rounded to 4.

Why this case matters

Inverse kinematics code turns task-space goals into joint commands; a wrong branch, sign, limit or update order sends a real arm to the wrong pose.

One recorded failure

Sample boundary fixture

This sample comes from the broken implementation of a controlled reproducer.

Boundary fixture	Actual	Expected	Outcome
off centre	`[14.9499, 8.071, 14.6213]`	`[9.3589, 12.9553, 15.8955]`	Failed

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