Vizzy Denavit–Hartenberg parameters: Difference between revisions
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| align="center" style="background:#f0f0f0;"|'''theta''' | | align="center" style="background:#f0f0f0;"|'''theta''' | ||
| align="center" style="background:#f0f0f0;"|'''D''' | | align="center" style="background:#f0f0f0;"|'''D''' | ||
| align="center" style="background:#f0f0f0;"|'''''' | | 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"|0||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|virtual link | ||
Revision as of 17:10, 26 December 2011
| Head center | |||||
| Link | alpha | R | theta | D | |
| 0 | Pi/2 | 0 | 0 | 0 | virtual link |
| 1 | Pi/2 | 0 | 0 | 0 | M0 → M1 |
| 2 | Pi/2 | 0 | 0 | -370 | M1 → M2 |
| 3 | Pi | 132.21 | 0 | 0 | M2 → M3 |
| Left eye | |||||
| Link | alpha | R | theta | D | |
| 1 | Pi/2 | 0 | 0 | 0 | virtual link |
| 1 | Pi/2 | 0 | 0 | 0 | M0 → M1 |
| 2 | Pi/2 | 0 | 0 | -370 | M1 → M2 |
| 3 | Pi | 132.21 | 0 | 0 | M2 → M3 |
| 4 | -Pi/2 | 0 | 111 | 0 | M3 → M5 |
| Right eye | |||||
| Link | alpha | R | theta | D | |
| 0 | Pi/2 | 0 | 0 | 0 | virtual link |
| 1 | Pi/2 | 0 | 0 | 0 | M0 → M1 |
| 2 | Pi/2 | 0 | 0 | -370 | M1 → M2 |
| 3 | Pi | 132.21 | 0 | 0 | M2 → M3 |
| 4 | -Pi/2 | 0 | -111 | 0 | M3 → M4 |