Changes between Version 11 and Version 12 of Burt-Research/KinematicsJointRangesConversionFactors


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Timestamp:
Apr 16, 2018, 10:23:03 PM (7 years ago)
Author:
al
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  • Burt-Research/KinematicsJointRangesConversionFactors

    v11 v12  
    33=== D-H parameters ===
    44
    5 D-H frames are defined roughly as shown in Figure 1 when the robot is in its zero position (NOT the robot’s home position). Note that the joint range of Joint 3 (Table 2) prevents BURT from actually reaching this position. Frames 0 and 1 are located at the intersection of the J1 and J2 axes. Frame 2 is coincident to the J3 axis. The frame 3 origin is coincident to the center of the haptic ball when it points straight up. The D-H parameters do not change between left- and right-handed configurations. However, the configuration files do contain separate world-to-base transforms for each configuration. These transforms define the origin of the world frame to be at the user’s sternum, 550 mm from the X1-Z1 plane along Z0. The diagram shows the locations of the world origin in left-handed and right-handed robot configurations. A positive joint motion is based on the right hand rule for each axis.
     5D-H frames are defined roughly as shown in Figure 1 when the robot is in its zero position (NOT the robot’s home position). Note that the joint range of Joint 3 (Table 2) prevents BURT from actually reaching this position. Frames 0 and 1 are located at the intersection of the J1 and J2 axes. Frame 2 is coincident to the J3 axis. The frame 3 origin is coincident to the center of the haptic ball when it points straight up. The D-H parameters do not change between left- and right-handed configurations. However, the configuration files do contain separate world-to-base transforms for each configuration. These transforms define the origin of the world frame to be at the user’s sternum, 550 mm from the X1-Z1 plane along Z0. The diagram shows the locations of the world origin in left-handed and right-handed robot configurations. A positive joint motion is based on the right-hand rule for each axis.
    66
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