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| Line 70: |
Line 70: |
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| <table><tr><td> | | <table><tr><td> |
| {| class="wikitable" | | {| class="wikitable" style="text-align: center" |
| | align="center" style="background:#d0d0d0;" colspan="6" | Right arm
| | | style="background:#d0d0d0;" colspan="6" | Right arm |
| |- | | |- |
| | 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;"|''' '''' |
| |- | | |- |
| | 0||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 |
| |- | | |- |
| | 1||align="center"|-Pi/2||align="center"|0||align="center"|0||align="center"|-0.0805||align="center"|M0 → M0R | | | 1||-Pi/2||0||0||-0.0805||M0 → M0R |
| |- | | |- |
| | 2||align="center"|-Pi/2||align="center"|0||align="center"|0||align="center"|0.212||align="center"|M0R → M1R | | | 2||-Pi/2||0||0||0.212||M0R → M1R |
| |- | | |- |
| | 3||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0.10256||align="center"|M1R → M2R | | | 3||Pi/2||0||Pi/2||0.10256||M1R → M2R |
| |- | | |- |
| | 4||align="center"|-Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|M2R → M3R | | | 4||-Pi/2||0||-7*Pi/18||0||M2R → M3R |
| |- | | |- |
| | 5||align="center"|-Pi/2||align="center"|0||align="center"|0||align="center"|0.16296||align="center"|M3R → M4R | | | 5||-Pi/2||0||Pi/2||0.16296||M3R → M4R |
| |- | | |- |
| | 6||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|M4R → M5R | | | 6||Pi/2||0||0||0||M4R → M5R |
| |- | | |- |
| | 7||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0.18925||align="center"|M5R → M6R | | | 7||Pi/2||0||0||0.18925||M5R → M6R |
| |- | | |- |
| | 8||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|M6R → M7R | | | 8||Pi/2||0||-Pi/2||0||M6R → M7R |
| |- | | |- |
| | 9||align="center"|-Pi/2||align="center"|-0.1||align="center"|0||align="center"|0||align="center"|M7R → End-effector | | | 9||-Pi/2||-0.1||0||0||M7R → End-effector |
| |} | | |} |
| </td><td> | | </td><td> |
| 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 |
Pi/2 |
0.10256 |
M1R → M2R
|
| 4 |
-Pi/2 |
0 |
-7*Pi/18 |
0 |
M2R → M3R
|
| 5 |
-Pi/2 |
0 |
Pi/2 |
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 |
-Pi/2 |
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.
