Vizzy Denavit–Hartenberg parameters: Difference between revisions
Jump to navigation
Jump to search
No edit summary |
No edit summary |
||
| Line 19: | Line 19: | ||
| align="center"|3||align="center"|Pi||align="center"|132.21||align="center"|0||align="center"|0||align="center"|M2 → M3 | | align="center"|3||align="center"|Pi||align="center"|132.21||align="center"|0||align="center"|0||align="center"|M2 → M3 | ||
|} | |} | ||
<table style="background-color: #fafeff"><tr> | |||
<table style="background-color: #fafeff"><tr><td> | |||
{| class="wikitable" | {| class="wikitable" | ||
| align="center" style="background:#d0d0d0;" colspan="6" | Left eye | | align="center" style="background:#d0d0d0;" colspan="6" | Left eye | ||
| Line 40: | Line 41: | ||
| 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 | ||
|} | |} | ||
</td><td | </td><td> | ||
{| class="wikitable" | {| class="wikitable" | ||
| align="center" style="background:#d0d0d0;" colspan="6" | Right eye | | align="center" style="background:#d0d0d0;" colspan="6" | Right eye | ||
| Line 61: | Line 62: | ||
| 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 | ||
|} | |} | ||
</td></table> | |||
{| class="wikitable" | {| class="wikitable" | ||
| align="center" style="background:#d0d0d0;" colspan="6" | Right arm | | align="center" style="background:#d0d0d0;" colspan="6" | Right arm | ||
Revision as of 17:24, 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 |
|
| ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 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 |