Changes between Version 9 and Version 10 of Burt-Research/KinematicsJointRangesConversionFactors


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Timestamp:
Apr 16, 2018, 10:18:37 PM (17 months ago)
Author:
al
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  • Burt-Research/KinematicsJointRangesConversionFactors

    v9 v10  
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     75For example, to generate the transform from coordinate Frame 2 to coordinate Frame 1 (i.e. the position and orientation of Frame 2 described in terms of Frame 1 which is also a rotation about joint 2), use the parameters in the second row of Table 1 as follows:
     76
     77{{{
     78#!div class="center" align="center"
     79{{{
     80#!latex
     81$^{0}T_{3}=\left[\begin{array}{cccc}
     82c1c2c3-c1s2s3 & -s1 & -c1c2s3-c1s2c3 & 0.435c1c2c3-0.435c1s2s3+0.069s1+0.650c1c2+0.156s1)\\
     83\sin(\theta_{2}) & \cos(\theta_{2})\cos(0) & -\cos(\theta_{2})\sin(0) & 0.650\sin(\theta_{2})\\
     840 & \sin(0) & \cos(0) & (0.156)\\
     850 & 0 & 0 & 1\end{array}\right]$
     86 
     87'''Equation 3: D-H Matrix Example'''
     88}}}
    7589
    7690The forward kinematics of BURT are used to determine the end tip location and orientation. These transformations are generated using the parameters in Table 1 and the matrix in Equation 1.