|
|
| Line 45: |
Line 45: |
| |} | | |} |
| </td><td> | | </td><td> |
| {| class="wikitable" | | {| class="wikitable" style="text-align: center" |
| | align="center" style="background:#d0d0d0;" colspan="6" | Left eye
| | | style="background:#d0d0d0;" colspan="6" | Left eye |
| |- | | |- |
| | align="center" style="background:#f0f0f0;"|'''Link''' | | | style="background:#f0f0f0;"|'''Link''' |
| | align="center" style="background:#f0f0f0;"|'''alpha''' | | | style="background:#f0f0f0;"|'''alpha''' |
| | align="center" style="background:#f0f0f0;"|'''R''' | | | style="background:#f0f0f0;"|'''R''' |
| | align="center" style="background:#f0f0f0;"|'''theta''' | | | style="background:#f0f0f0;"|'''theta''' |
| | align="center" style="background:#f0f0f0;"|'''D''' | | | style="background:#f0f0f0;"|'''D''' |
| | align="center" style="background:#f0f0f0;"|''' ''' | | | style="background:#f0f0f0;"|''' ''' |
| |- | | |- |
| | align="center"|1||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|virtual link | | | 0||Pi/2||0||0||0||virtual link |
| |- | | |- |
| | align="center"|1||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|M0 → M1
| | | 1||Pi/2||0||0||0||M0 → M1 |
| |- | | |- |
| | align="center"|2||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|-370||align="center"|M1 → M2
| | | 2||Pi/2||0||0||-0.37||M1 → M2 |
| |- | | |- |
| | align="center"|3||align="center"|Pi||align="center"|132.21||align="center"|0||align="center"|0||align="center"|M2 → M3
| | | 3||Pi||0.13221||19*Pi/17||0||M2 → M3 |
| |- | | |- |
| | align="center"|4||align="center"|-Pi/2||align="center"|0||align="center"|0||align="center"|111||align="center"|M3 → M5
| | | 4||-Pi/2||0||2*Pi/17||0.111||M3 → M5 |
| | |- |
| | | 5||0||0.05||0||0||M5 → End-effector |
| |} | | |} |
| </td></tr></table> | | </td></tr></table> |
Revision as of 11:35, 3 January 2012
| 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 |
-0.37 |
M1 → M2
|
| 3 |
Pi |
0.13221 |
19*Pi/17 |
0 |
M2 → M3
|
| 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 |
-0.37 |
M1 → M2
|
| 3 |
Pi |
0.13221 |
19*Pi/17 |
0 |
M2 → M3
|
| 4 |
-Pi/2 |
0 |
2*Pi/17 |
-0.111 |
M3 → M4
|
| 5 |
0 |
0.05 |
0 |
0 |
M5 → End-effector
|
|
| Left 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 |
-0.37 |
M1 → M2
|
| 3 |
Pi |
0.13221 |
19*Pi/17 |
0 |
M2 → M3
|
| 4 |
-Pi/2 |
0 |
2*Pi/17 |
0.111 |
M3 → M5
|
| 5 |
0 |
0.05 |
0 |
0 |
M5 → End-effector
|
|
| 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
|
|
|
|
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.
