Vizzy Denavit–Hartenberg parameters: Difference between revisions

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<table><tr><td>
{| class="wikitable"
| align="center" style="background:#d0d0d0;" colspan="6" | Head center
|-
| align="center" style="background:#f0f0f0;"|'''Link'''
| align="center" style="background:#f0f0f0;"|'''alpha'''
| align="center" style="background:#f0f0f0;"|'''R'''
| align="center" style="background:#f0f0f0;"|'''theta'''
| align="center" style="background:#f0f0f0;"|'''D'''
| align="center" style="background:#f0f0f0;"|''' '''
|-
| align="center"|0||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|virtual link
|-
| align="center"|1||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|M0 → M1
|-
| align="center"|2||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|-370||align="center"|M1 → M2
|-
| align="center"|3||align="center"|Pi||align="center"|132.21||align="center"|0||align="center"|0||align="center"|M2 → M3
|}
<table><tr><td>
{| class="wikitable"
| align="center" style="background:#d0d0d0;" colspan="6" | Right eye
|-
| align="center" style="background:#f0f0f0;"|'''Link'''
| align="center" style="background:#f0f0f0;"|'''alpha'''
| align="center" style="background:#f0f0f0;"|'''R'''
| align="center" style="background:#f0f0f0;"|'''theta'''
| align="center" style="background:#f0f0f0;"|'''D'''
| align="center" style="background:#f0f0f0;"|''' '''
|-
| align="center"|0||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|virtual link
|-
| align="center"|1||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|M0 → M1
|-
| align="center"|2||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|-370||align="center"|M1 → M2
|-
| align="center"|3||align="center"|Pi||align="center"|132.21||align="center"|0||align="center"|0||align="center"|M2 → M3
|-
| align="center"|4||align="center"|-Pi/2||align="center"|0||align="center"|0||align="center"|-111||align="center"|M3 → M4
|}
</td><td>
{| class="wikitable"
| align="center" style="background:#d0d0d0;" colspan="6" | Left eye
|-
| align="center" style="background:#f0f0f0;"|'''Link'''
| align="center" style="background:#f0f0f0;"|'''alpha'''
| align="center" style="background:#f0f0f0;"|'''R'''
| align="center" style="background:#f0f0f0;"|'''theta'''
| align="center" style="background:#f0f0f0;"|'''D'''
| align="center" style="background:#f0f0f0;"|''' '''
|-
| align="center"|1||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|virtual link
|-
| align="center"|1||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|M0 → M1
|-
| align="center"|2||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|-370||align="center"|M1 → M2
|-
| align="center"|3||align="center"|Pi||align="center"|132.21||align="center"|0||align="center"|0||align="center"|M2 → M3
|-
| align="center"|4||align="center"|-Pi/2||align="center"|0||align="center"|0||align="center"|111||align="center"|M3 → M5
|}
</td></tr></table>
<table><tr><td>
{| class="wikitable"
| align="center" style="background:#d0d0d0;" colspan="6" | Right arm
|-
| align="center" style="background:#f0f0f0;"|'''Link'''
| align="center" style="background:#f0f0f0;"|'''alpha'''
| align="center" style="background:#f0f0f0;"|'''R'''
| align="center" style="background:#f0f0f0;"|'''theta'''
| align="center" style="background:#f0f0f0;"|'''D'''
| align="center" style="background:#f0f0f0;"|''' '''
|-
| 0||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|virtual link
|-
| 1||align="center"|-Pi/2||align="center"|0||align="center"|0||align="center"|-0.0805||align="center"|M0 → M0R
|-
| 2||align="center"|-Pi/2||align="center"|0||align="center"|0||align="center"|0.212||align="center"|M0R → M1R
|-
| 3||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0.10256||align="center"|M1R → M2R
|-
| 4||align="center"|-Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|M2R → M3R
|-
| 5||align="center"|-Pi/2||align="center"|0||align="center"|0||align="center"|0.16296||align="center"|M3R → M4R
|-
| 6||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|M4R → M5R
|-
| 7||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0.18925||align="center"|M5R → M6R
|-
| 8||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|M6R → M7R
|-
| 9||align="center"|-Pi/2||align="center"|-0.1||align="center"|0||align="center"|0||align="center"|M7R → End-effector
|}
</td><td>
{| class="wikitable"
| align="center" style="background:#d0d0d0;" colspan="6" | Left arm
|-
| align="center" style="background:#f0f0f0;"|'''Link'''
| align="center" style="background:#f0f0f0;"|'''alpha'''
| align="center" style="background:#f0f0f0;"|'''R'''
| align="center" style="background:#f0f0f0;"|'''theta'''
| align="center" style="background:#f0f0f0;"|'''D'''
| align="center" style="background:#f0f0f0;"|''' '''
|-
| 0||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|virtual link
|-
| 1||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0.0805||align="center"|M0 → M0L
|-
| 2||align="center"|-Pi/2||align="center"|0||align="center"|0||align="center"|-0.212||align="center"|M0L → M1L
|-
| 3||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0.10256||align="center"|M1L → M2L
|-
| 4||align="center"|-Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|M2L → M3L
|-
| 5||align="center"|-Pi/2||align="center"|0||align="center"|0||align="center"|-0.16296||align="center"|M3L → M4L
|-
| 6||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|M4L → M5L
|-
| 7||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|-0.18925||align="center"|M5L → M6L
|-
| 8||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|M6L → M7L
|-
| 9||align="center"|-Pi/2||align="center"|-0.1||align="center"|0||align="center"|0||align="center"|M7L → End-effector
|}
</td></tr></table>
</td><td>
[[File:Vizzymmotorsnumber.jpg]]
</td></table>
{{math|<VAR>&alpha;</VAR>}}
<math>
\begin{bmatrix}
1.0 & 0.0 & 0.0 & 0.0\\
0.0 & 0.0 & -1.0 & 0.0\\
0.0 & 1.0 & 0.0 & 0.0\\
0.0 & 0.0 & 0.0 & 1.0
\end{bmatrix}
</math>
//H0 (1.0 0.0 0.0 0.0  0.0 0.0 -1.0 0.0  0.0 1.0 0.0 0.0  0.0 0.0 0.0 1.0)    // given per rows (Very precise MATLAB Matrix)
    Matrix H0(4,4);
    H0.zero();
    H0(0,0)=1.0;
    H0(1,2)=-1.0;
    H0(2,1)=1.0;
    H0(3,3)=1.0;
''Parameters by Nuno Conraria.''

Latest revision as of 14:05, 22 July 2016

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