Changes between Version 6 and Version 7 of Therapy/KinematicsJointRangesConversionFactors


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Timestamp:
Jan 26, 2018, 5:18:01 PM (7 months ago)
Author:
al
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  • Therapy/KinematicsJointRangesConversionFactors

    v6 v7  
    3131}}}
    3232
    33 '''Equation 1: D-H generalized transform matrix'''
    34 
    35 '''Table 1: BURT frame parameters'''
    36 ||i||a,,i,,||α,,i,,||d,,i,,||θ,,i,,||
    37 ||1||0||π/2||0||θ,,1,,||
    38 ||2||0.650||0||0.156||θ,,2,,||
    39 ||3||0.435||−π/2||0.069||θ,,3,,||
    40 }}}
     33
     34{{{
     35#!div class="center" align="center"
     36
     37'''Table 1a: BURT D-H table (modified) for right-handedness configuration'''
     38
     39{{{
     40#!latex
     41$\begin{tabular}{|c|c|c|c|c|} \hline
     42i & $\alpha_{i}$ & $a_i$ & $d_i$ & $\theta_i$\\ \hline
     430 & -0.550 & $-\pi/2$ & 0 & 0\\ \hline
     441 & 0 & $\pi/2$ & 0 & $\theta_1$\\ \hline
     452 & 0.650 & 0 & 0.156 & $\theta_2$\\ \hline
     463 & 0.435 & $\pi/2$ & 0.069 & $\theta_3$\\
     47\hline\end{tabular}$
     48}}}
     49
     50
     51{{{
     52#!div class="center" align="center"
     53
     54'''Table 1b: BURT D-H table (modified) for left-handedness configuration'''
     55
     56{{{
     57#!latex
     58$\begin{tabular}{|c|c|c|c|c|} \hline
     59i & $\alpha_{i}$ & $a_i$ & $d_i$ & $\theta_i$\\ \hline
     600 & 0.550 & $-\pi/2$ & 0 & 0\\ \hline
     611 & 0 & $\pi/2$ & 0 & $\theta_1$\\ \hline
     622 & 0.650 & 0 & 0.156 & $\theta_2$\\ \hline
     633 & 0.435 & $\pi/2$ & 0.069 & $\theta_3$\\
     64\hline\end{tabular}$
     65}}}
     66
    4167
    4268For 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: