Changes between Version 6 and Version 7 of Burt-Research/KinematicsJointRangesConversionFactors

Timestamp:

Jan 26, 2018, 5:18:01 PM (6 years ago)

Author:

al

Comment:

--

Burt-Research/KinematicsJointRangesConversionFactors

@@ -31 +31 @@
 }}}
 
-'''Equation 1: D-H generalized transform matrix'''
-
-'''Table 1: BURT frame parameters'''
-||i||a,,i,,||α,,i,,||d,,i,,||θ,,i,,||
-||1||0||π/2||0||θ,,1,,||
-||2||0.650||0||0.156||θ,,2,,||
-||3||0.435||−π/2||0.069||θ,,3,,||
-}}}
+
+{{{
+#!div class="center" align="center"
+
+'''Table 1a: BURT D-H table (modified) for right-handedness configuration'''
+
+{{{
+#!latex
+$\begin{tabular}{|c|c|c|c|c|} \hline
+i & $\alpha_{i}$ & $a_i$ & $d_i$ & $\theta_i$\\ \hline
+0 & -0.550 & $-\pi/2$ & 0 & 0\\ \hline
+1 & 0 & $\pi/2$ & 0 & $\theta_1$\\ \hline
+2 & 0.650 & 0 & 0.156 & $\theta_2$\\ \hline
+3 & 0.435 & $\pi/2$ & 0.069 & $\theta_3$\\
+\hline\end{tabular}$
+}}}
+
+
+{{{
+#!div class="center" align="center"
+
+'''Table 1b: BURT D-H table (modified) for left-handedness configuration'''
+
+{{{
+#!latex
+$\begin{tabular}{|c|c|c|c|c|} \hline
+i & $\alpha_{i}$ & $a_i$ & $d_i$ & $\theta_i$\\ \hline
+0 & 0.550 & $-\pi/2$ & 0 & 0\\ \hline
+1 & 0 & $\pi/2$ & 0 & $\theta_1$\\ \hline
+2 & 0.650 & 0 & 0.156 & $\theta_2$\\ \hline
+3 & 0.435 & $\pi/2$ & 0.069 & $\theta_3$\\
+\hline\end{tabular}$
+}}}
+
 
 For 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: