Vizzy Denavit–Hartenberg parameters: Difference between revisions
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{| class="wikitable" | {| class="wikitable" | ||
| align="center" style="background:#d0d0d0;" colspan="6" | Left eye | | align="center" style="background:#d0d0d0;" colspan="6" | Left eye | ||
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| align="center"|4||align="center"|-Pi/2||align="center"|0||align="center"|111||align="center"|0||align="center"|M3 → M5 | | align="center"|4||align="center"|-Pi/2||align="center"|0||align="center"|111||align="center"|0||align="center"|M3 → M5 | ||
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{| class="wikitable" | {| class="wikitable" | ||
| align="center" style="background:#d0d0d0;" colspan="6" | Right eye | | align="center" style="background:#d0d0d0;" colspan="6" | Right eye | ||
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| align="center"|4||align="center"|-Pi/2||align="center"|0||align="center"|-111||align="center"|0||align="center"|M3 → M4 | | align="center"|4||align="center"|-Pi/2||align="center"|0||align="center"|-111||align="center"|0||align="center"|M3 → M4 | ||
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Revision as of 17:21, 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 |
| Right arm | |||||
| Link | alpha | R | theta | D | |
| 0 | Pi/2 | 0 | 0 | 0 | virtual link |
| 1 | -Pi/2 | 0 | 0 | -0.0805 | M0 → M0R |
| 2 | -Pi/2 | 0 | 0 | 0.212 | M0R → M1R |
| 3 | Pi/2 | 0 | 0 | 0.10256 | M1R → M2R |
| 4 | -Pi/2 | 0 | 0 | 0 | M2R → M3R |
| 5 | -Pi/2 | 0 | 0 | 0.16296 | M3R → M4R |
| 6 | Pi/2 | 0 | 0 | 0 | M4R → M5R |
| 7 | Pi/2 | 0 | 0 | 0.18925 | M5R → M6R |
| 8 | Pi/2 | 0 | 0 | 0 | M6R → M7R |
| 9 | -Pi/2 | -0.1 | 0 | 0 | M7R → End-effector |
| Left arm | |||||
| Link | alpha | R | theta | D | |
| 0 | Pi/2 | 0 | 0 | 0 | virtual link |
| 1 | Pi/2 | 0 | 0 | 0.0805 | M0 → M0L |
| 2 | -Pi/2 | 0 | 0 | -0.212 | M0L → M1L |
| 3 | Pi/2 | 0 | 0 | 0.10256 | M1L → M2L |
| 4 | -Pi/2 | 0 | 0 | 0 | M2L → M3L |
| 5 | -Pi/2 | 0 | 0 | -0.16296 | M3L → M4L |
| 6 | Pi/2 | 0 | 0 | 0 | M4L → M5L |
| 7 | Pi/2 | 0 | 0 | -0.18925 | M5L → M6L |
| 8 | Pi/2 | 0 | 0 | 0 | M6L → M7L |
| 9 | -Pi/2 | -0.1 | 0 | 0 | M7L → End-effector |