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| Line 190: |
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| Matlab figures: | | Matlab figures: |
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| [[File:vizzy_torso_head.jpg]] | | <table border=0> |
| [[File:vizzy_right_arm.jpg]] | | <tr> |
| [[File:vizzy_left_arm.jpg]] | | <td colspan="2" align="center">[[File:vizzy_torso_head.jpg]]</td> |
| | | </tr> |
| | <tr> |
| | <td align="center">[[File:vizzy_right_arm.jpg]]</td> |
| | <td align="center">[[File:vizzy_left_arm.jpg]]</td> |
| | </tr> |
| | </table> |
|
| |
|
| [[Vizzy|<< Back to Vizzy wiki homepage]] | | [[Vizzy|<< Back to Vizzy wiki homepage]] |
Revision as of 13:44, 10 September 2012
| Head center
|
| Link
|
alpha
|
R
|
theta
|
D
|
min/max
|
|
| 0 |
Pi/2 |
0 |
0 |
0 |
0/0 |
virtual link
|
| 1 |
Pi/2 |
0 |
0 |
0 |
-20/20 |
M0 → M1
|
| 2 |
Pi/2 |
0 |
0 |
-0.37 |
-53/53 |
M1 → M2
|
| 3 |
Pi |
0.13221 |
19*Pi/17 |
0 |
-18/37 |
M2 → M3
|
| Inertial sensor
|
| Link
|
alpha
|
R
|
theta
|
D
|
min/max
|
|
| 0 |
Pi/2 |
0 |
0 |
0 |
0/0 |
virtual link
|
| 1 |
Pi/2 |
0 |
0 |
0 |
-20/20 |
M0 → M1
|
| 2 |
Pi/2 |
0 |
0 |
-0.37 |
-53/53 |
M1 → M2
|
| 3 |
Pi |
0.13221 |
-0.2611*Pi |
0 |
-18/37 |
M2 → Inertial sensor
|
| 4 |
Pi/2 |
0 |
0.7389*Pi |
0 |
0/0 |
Orientation correction
|
| Right eye
|
| Link
|
alpha
|
R
|
theta
|
D
|
min/max
|
|
| 0 |
Pi/2 |
0 |
0 |
0 |
0/0 |
virtual link
|
| 1 |
Pi/2 |
0 |
0 |
0 |
-20/20 |
M0 → M1
|
| 2 |
Pi/2 |
0 |
0 |
-0.37 |
-53/53 |
M1 → M2
|
| 3 |
Pi |
0.13221 |
19*Pi/17 |
0 |
-18/37 |
M2 → M3
|
| 4 |
Pi/2 |
0 |
2*Pi/17 + Pi |
-0.111 |
-38/38 |
M3 → M4
|
| 5 |
Pi/2 |
0 |
-Pi/2 |
0 |
-38/38 |
M5 → End-effector
|
|
| Left eye
|
| Link
|
alpha
|
R
|
theta
|
D
|
min/max
|
|
| 0 |
Pi/2 |
0 |
0 |
0 |
0/0 |
virtual link
|
| 1 |
Pi/2 |
0 |
0 |
0 |
-20/20 |
M0 → M1
|
| 2 |
Pi/2 |
0 |
0 |
-0.37 |
-53/53 |
M1 → M2
|
| 3 |
Pi |
0.13221 |
19*Pi/17 |
0 |
-18/37 |
M2 → M3
|
| 4 |
Pi/2 |
0 |
2*Pi/17 + Pi |
0.111 |
-38/38 |
M3 → M5
|
| 5 |
Pi/2 |
0 |
-Pi/2 |
0 |
-38/38 |
M5 → End-effector
|
|
| Right arm
|
| Link
|
alpha
|
R
|
theta
|
D
|
min/max
|
|
| 0 |
Pi/2 |
0 |
0 |
0 |
0/0 |
virtual link
|
| 1 |
-Pi/2 |
0 |
0 |
-0.0805 |
-20/20 |
M0 → M0R
|
| 2 |
-Pi/2 |
0 |
0 |
0.212 |
-18/18 |
M0R → M1R
|
| 3 |
Pi/2 |
0 |
Pi/2 |
0.10256 |
-75/135 |
M1R → M2R
|
| 4 |
-Pi/2 |
0 |
-7*Pi/18 |
0 |
0/75 |
M2R → M3R
|
| 5 |
-Pi/2 |
0 |
Pi/2 |
0.16296 |
-85/85 |
M3R → M4R
|
| 6 |
Pi/2 |
0 |
0 |
0 |
0/110 |
M4R → M5R
|
| 7 |
Pi/2 |
0 |
0 |
0.18925 |
-85/85 |
M5R → M6R
|
| 8 |
Pi/2 |
0 |
-Pi/2 |
0 |
-35/35 |
M6R → M7R
|
| 9 |
-Pi/2 |
-0.1 |
0 |
0 |
0/0 |
M7R → End-effector
|
|
| Left arm
|
| Link
|
alpha
|
R
|
theta
|
D
|
min/max
|
|
| 0 |
Pi/2 |
0 |
0 |
0 |
0/0 |
virtual link
|
| 1 |
-Pi/2 |
0 |
Pi |
0.0805 |
-20/20 |
M0 → M0L
|
| 2 |
-Pi/2 |
0 |
0 |
-0.212 |
-18/18 |
M0L → M1L
|
| 3 |
Pi/2 |
0 |
Pi/2 |
-0.10256 |
-75/135 |
M1L → M2L
|
| 4 |
-Pi/2 |
0 |
-7*Pi/18 |
0 |
0/75 |
M2L → M3L
|
| 5 |
-Pi/2 |
0 |
Pi/2 |
-0.16296 |
-85/85 |
M3L → M4L
|
| 6 |
Pi/2 |
0 |
0 |
0 |
0/110 |
M4L → M5L
|
| 7 |
Pi/2 |
0 |
0 |
-0.18925 |
-85/85 |
M5L → M6L
|
| 8 |
Pi/2 |
0 |
Pi/2 |
0 |
-35/35 |
M6L → M7L
|
| 9 |
-Pi/2 |
-0.1 |
0 |
0 |
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.
Matlab figures:
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