Vizzy Denavit–Hartenberg parameters: Difference between revisions
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{| class="wikitable" | {| class="wikitable" | ||
| align="center" style="background:#d0d0d0;" colspan="6" | Head center | | align="center" style="background:#d0d0d0;" colspan="6" | Head center | ||
Revision as of 17:03, 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 |