Vizzy Denavit–Hartenberg parameters: Difference between revisions

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Line 140: Line 140:
| 0||Pi/2||0||0||0||0/0||virtual link
| 0||Pi/2||0||0||0||0/0||virtual link
|-
|-
| 1||-Pi/2||0||0||0.0805||-20/20||M0 → M0L
| 1||-Pi/2||0||Pi||0.0805||-20/20||M0 → M0L
|-
|-
| 2||Pi/2||0||Pi||0.212||-18/18||M0L → M1L
| 2||-Pi/2||0||0||-0.212||-18/18||M0L → M1L
|-
|-
| 3||Pi/2||0||Pi/2||-0.10256||-75/135||M1L → M2L
| 3||Pi/2||0||Pi/2||-0.10256||-75/135||M1L → M2L
Line 152: Line 152:
| 6||Pi/2||0||0||0||0/110||M4L → M5L
| 6||Pi/2||0||0||0||0/110||M4L → M5L
|-
|-
| 7||Pi/2||0||Pi||-0.18925||-85/85||M5L → M6L
| 7||Pi/2||0||0||-0.18925||-85/85||M5L → M6L
|-
|-
| 8||Pi/2||0||Pi/2||0||-35/35||M6L → M7L
| 8||Pi/2||0||Pi/2||0||-35/35||M6L → M7L

Revision as of 14:45, 7 September 2012


Head center
Link alpha R theta D min/max
0 Pi/2 0 0 0 0/0 virtual link
1 Pi/2 0 0 0 -20/20 M0 → M1
2 Pi/2 0 0 -0.37 -53/53 M1 → M2
3 Pi 0.13221 19*Pi/17 0 -18/37 M2 → M3
Inertial sensor
Link alpha R theta D min/max
0 Pi/2 0 0 0 0/0 virtual link
1 Pi/2 0 0 0 -20/20 M0 → M1
2 Pi/2 0 0 -0.37 -53/53 M1 → M2
3 Pi 0.13221 -0.2611*Pi 0 -18/37 M2 → Inertial sensor
4 Pi/2 0 0.7389*Pi 0 0/0 Orientation correction
Right eye
Link alpha R theta D min/max
0 Pi/2 0 0 0 0/0 virtual link
1 Pi/2 0 0 0 -20/20 M0 → M1
2 Pi/2 0 0 -0.37 -53/53 M1 → M2
3 Pi 0.13221 19*Pi/17 0 -18/37 M2 → M3
4 Pi/2 0 2*Pi/17 + Pi -0.111 -38/38 M3 → M4
5 Pi/2 0 -Pi/2 0 -38/38 M5 → End-effector
Left eye
Link alpha R theta D min/max
0 Pi/2 0 0 0 0/0 virtual link
1 Pi/2 0 0 0 -20/20 M0 → M1
2 Pi/2 0 0 -0.37 -53/53 M1 → M2
3 Pi 0.13221 19*Pi/17 0 -18/37 M2 → M3
4 Pi/2 0 2*Pi/17 + Pi 0.111 -38/38 M3 → M5
5 Pi/2 0 -Pi/2 0 -38/38 M5 → End-effector
Right arm
Link alpha R theta D min/max
0 Pi/2 0 0 0 0/0 virtual link
1 -Pi/2 0 0 -0.0805 -20/20 M0 → M0R
2 -Pi/2 0 0 0.212 -18/18 M0R → M1R
3 Pi/2 0 Pi/2 0.10256 -75/135 M1R → M2R
4 -Pi/2 0 -7*Pi/18 0 0/75 M2R → M3R
5 -Pi/2 0 Pi/2 0.16296 -85/85 M3R → M4R
6 Pi/2 0 0 0 0/110 M4R → M5R
7 Pi/2 0 0 0.18925 -85/85 M5R → M6R
8 Pi/2 0 -Pi/2 0 -35/35 M6R → M7R
9 -Pi/2 -0.1 0 0 0/0 M7R → End-effector
Left arm
Link alpha R theta D min/max
0 Pi/2 0 0 0 0/0 virtual link
1 -Pi/2 0 Pi 0.0805 -20/20 M0 → M0L
2 -Pi/2 0 0 -0.212 -18/18 M0L → M1L
3 Pi/2 0 Pi/2 -0.10256 -75/135 M1L → M2L
4 -Pi/2 0 -7*Pi/18 0 0/75 M2L → M3L
5 -Pi/2 0 Pi/2 -0.16296 -85/85 M3L → M4L
6 Pi/2 0 0 0 0/110 M4L → M5L
7 Pi/2 0 0 -0.18925 -85/85 M5L → M6L
8 Pi/2 0 Pi/2 0 -35/35 M6L → M7L
9 -Pi/2 -0.1 0 0 0/0 M7L → End-effector

Virtual link corresponds to:

<math> H_0= \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>

or if you prefer code: 

 //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.


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