Unterschiede

Hier werden die Unterschiede zwischen zwei Versionen angezeigt.

--- modellingcomponents:elements:robotics [2021/11/15 18:37] – [Generated parameters] oliver
+++ modellingcomponents:elements:robotics [2022/01/28 12:43] – [Attributes] oliver
@@ Zeile 23: / Zeile 23: @@
 ====Generated trajectories====
 ^ Name ^ Type ^ Description ^
+^ <name>X0Axis | Vector3d | The direction of the X-axis of the base coordinate system, as defined by the attribute X0Axis (expression)". |
+^ <name>Origin | Vector3d | The Origin of the base coordinate system, as defined by the attribute Origin (expression)". |
 ^ <name>XAxis<Index> | Vector3d | X-axes directions, as defined by the attribute (expression) "xAxisDirections". |
 ^ <name>Alpha<Index> | Double| alpha (twist angle) in [deg] |
 ^ <name>Theta<Index> | Double | theta (joint angle) in [deg] |
@@ Zeile 33: / Zeile 36: @@
 ====Generated parameters====
-If the attribute "calibrateIncludes" is used, the following parameters are determined as mean values over the complete trial which is assumed as a static trial.
+If the attribute "calibrateIncludes" is used, the following parameters are determined as mean/std values over the complete trial, which is assumed to be a static trial.
 ^ Name ^ Type ^ Description ^
+^ <name>P<Index>Mean | Vector3d | Position on the joint axis, where the x-axis of the previous joint ends,  in local coordinates of the CS to the correspoinding joint axis. |
+^ <name>O<Index>Mean | Vector3d | Origin of the DH-coordindate system in local coordinates of the CS to the corresponding joint axis. |
 ^ <name>Alpha<Index>Mean | Double| alpha (twist angle) in [deg] |
 ^ <name>Theta<Index>Mean | Double | theta (joint angle) in [deg] |
@@ Zeile 83: / Zeile 88: @@
 ======FKDH======
-This element defines a cartesian coordinate system based on a parent coordinate system and by Denavit-Hartenberg convention.
+This element determines forward (direct) kinematics. A cartesian coordinate system based on a parent coordinate system and by a sequence of screw motions defined by Denavit-Hartenberg convention is determined.
 ==== Attributes ====
@@ Zeile 89: / Zeile 94: @@
 ^ Attribute ^ Type ^ Description ^ Required ^
 ^ name | String | Name of the element | Yes |
-^ coordinateSystem | String | Defines the the reference coordinate system by its name. | Yes |
+^ coordinateSystem | String | Defines the the reference coordinate system by its name. If it is not set than (0,0,0) ist used as the origin and e1, e2, e3 are used as its axes. | No|
-^ alpha | Comma seperated list of REAL variable (trajectorie) names. | Denavit-Hartenberg parameter theta | Yes |
+^ alpha | Comma seperated list of REAL values in [rad]. | Denavit-Hartenberg parameter alpha between the joint axes. | Yes |
-^ deltaTheta | Comma seperated list of REAL values | Angle in static neutral pose between Denavit Hartenberg x-axis (r) and the corresponding joint angle measurement by the robot.  | Yes |
+^ deltaTheta | Comma seperated list of REAL values in [rad]. | Angle in static neutral pose between Denavit Hartenberg x-axis (r) and the corresponding joint angle measurement by the robot.  | Yes |
-^ theta | Comma seperated list of REAL value names | Denavit-Hartenberg parameter | Yes |
+^ theta | Comma seperated list of REAL value in [rad] variable names. | Denavit-Hartenberg parameter theta around the joint axes.| Yes |
-^ d | Comma seperated list of REAL values| Denavit-Hartenberg parameter | Yes |
+^ d | Comma seperated list of REAL values in [mm] | Denavit-Hartenberg parameter d along the joint axes. | Yes |
-^ r | Comma seperated list of REAL values| Denavit-Hartenberg parameter | Yes |
+^ r | Comma seperated list of REAL values in [mm] | Denavit-Hartenberg parameter r (equivalent to a) between the joint axes. | Yes |
 ====Generated trajectories ====
 ^ Name ^ Type ^ Description ^
-^ <name><index> | MATRIX_3X3D| Representation of the three orthogonal orientation axes of the determined local coordinate system (columns of the matrix) |
+^ <name> | MATRIX_3X3D| Representation of the three orthogonal orientation axes of the result coordinate system (columns of the matrix). This is the last in the DH sequence, often called TCP frame.|
-^ <name>Position<index> | COLUMN_VECTOR_3D| Origin of the coordinate system |
+^ <name>Position | COLUMN_VECTOR_3D| Origin of the result coordinate system. |
+^ <name><index> | MATRIX_3X3D| Representation of the three orthogonal orientation axes of the determined local coordinate system (columns of the matrix). |
+^ <name>Position<index> | COLUMN_VECTOR_3D| Origin of the coordinate system. |
+The index starts with 1 because with the index 0 typically the reference system is called.
 For the last coordinate system trajectories are created without the index as a suffix. This system can be accessed by further calcmodel elements.
@@ Zeile 106: / Zeile 115: @@
 <code xml>
-<FKDH name="BaseUR"
+<FKDH name="DK"
       coordinateSystem="GLOBE"
-      alpha="0.5,90,0,0"
+      alpha="0.5,90,0.0,0.0"
-      deltaTheta="1.0,3.4,2"
+      deltaTheta="1.0,3.4,2.0,0.5"
       d="0.145,7089234,0892734"
-      r="0.234,5123,123"/>
+      r="0.234,5123,123,765"
+      theta="Angle0,Angle1,Angle2,Angle3"/>
 </code>
-An alternative to use this element is to use the corresponding function:
+An alternative is to use corresponding function
 <code xml>
@@ Zeile 120: / Zeile 130: @@
                   Pose="dhm(Angle0, DH_alpha0, DH_d0, DH_r0)"/>
 </code>
+for each joint in the sequence. This makes the sequence of transformations more transparent but also needs to write more xml.