modellingcomponents:elements:robotics
Unterschiede
Hier werden die Unterschiede zwischen zwei Versionen angezeigt.
Beide Seiten der vorigen RevisionVorhergehende ÜberarbeitungNächste Überarbeitung | Vorhergehende ÜberarbeitungNächste ÜberarbeitungBeide Seiten der Revision | ||
modellingcomponents:elements:robotics [2021/12/02 09:43] – [Generated trajectories] oliver | modellingcomponents:elements:robotics [2022/01/28 10:31] – [Generated trajectories] oliver | ||
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====Generated trajectories==== | ====Generated trajectories==== | ||
^ Name ^ Type ^ Description ^ | ^ Name ^ Type ^ Description ^ | ||
- | ^ < | + | ^ < |
+ | ^ < | ||
+ | ^ < | ||
^ < | ^ < | ||
^ < | ^ < | ||
Zeile 85: | Zeile 88: | ||
======FKDH====== | ======FKDH====== | ||
- | This element | + | This element |
==== Attributes ==== | ==== Attributes ==== | ||
Zeile 91: | Zeile 94: | ||
^ Attribute ^ Type ^ Description ^ Required ^ | ^ Attribute ^ Type ^ Description ^ Required ^ | ||
^ name | String | Name of the element | Yes | | ^ 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 theta | 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. | + | ^ deltaTheta | Comma seperated list of REAL values |
- | ^ theta | Comma seperated list of REAL value names | Denavit-Hartenberg parameter | Yes | | + | ^ theta | Comma seperated list of REAL value in [rad] variable |
- | ^ d | Comma seperated list of REAL values| Denavit-Hartenberg parameter | Yes | | + | ^ d | Comma seperated list of REAL values | Denavit-Hartenberg parameter | Yes | |
- | ^ r | Comma seperated list of REAL values| Denavit-Hartenberg parameter | Yes | | + | ^ r | Comma seperated list of REAL values | Denavit-Hartenberg parameter | Yes | |
====Generated trajectories ==== | ====Generated trajectories ==== | ||
^ Name ^ Type ^ Description ^ | ^ Name ^ Type ^ Description ^ | ||
- | ^ < | + | ^ < |
- | ^ < | + | ^ < |
+ | ^ < | ||
+ | ^ < | ||
For the last coordinate system trajectories are created without the index as a suffix. This system can be accessed by further calcmodel elements. | For the last coordinate system trajectories are created without the index as a suffix. This system can be accessed by further calcmodel elements. | ||
Zeile 108: | Zeile 113: | ||
<code xml> | <code xml> | ||
- | <FKDH name="BaseUR" | + | <FKDH name="DK" |
coordinateSystem=" | coordinateSystem=" | ||
- | alpha=" | + | alpha=" |
- | deltaTheta=" | + | deltaTheta=" |
d=" | d=" | ||
- | r=" | + | r=" |
+ | theta=" | ||
</ | </ | ||
- | An alternative | + | An alternative is to use corresponding function |
<code xml> | <code xml> | ||
Zeile 122: | Zeile 128: | ||
Pose=" | Pose=" | ||
</ | </ | ||
+ | |||
+ | for each joint in the sequence. This makes the sequence of transformations more transparent but also needs to write more xml. |
modellingcomponents/elements/robotics.txt · Zuletzt geändert: 2023/02/21 10:10 von oliver