Changes between Version 4 and Version 5 of GuardianWAM/Kinematics


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Timestamp:
May 31, 2012, 10:46:32 PM (13 years ago)
Author:
dc
Comment:

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  • GuardianWAM/Kinematics

    v4 v5  
    1 = Kinematics =
     1= Kinematics and Base Dimensions =
    22
    33The following images show the offsets between the origin of the Guardian system and the WAM origin as defined on the [/WAM/KinematicsJointRangesConversionFactors| WAM Kinematics, Transmission Ratios, and Joint Ranges] page. The WAM software package follows the convention defined on that page and the ROS model contains separate nodes for the Guardian and WAM, so it makes sense to fully define the system geometry in this way.
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    1818
    1919[[Image(topWithWheels.png)]] \\
    20 '''Figure 3: Front view and profile of GWAM with wheels.''' The contact patches are now 673 mm apart left to right instead of 448. The wheel contact points are 600 mm apart.
     20'''Figure 4: Top view of GWAM with wheels.''' The contact patches are now 673 mm apart left to right instead of 448. The wheel contact points are 600 mm apart.
     21
     22Because the origin is located equidistant from all points of contact with the ground, its center of rotation when performing in-place rotations is the Z-axis, assuming equal conditions for each wheel/tread (traction, tire pressure, contact area, etc.).
     23