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 [2022/01/19 12:44] – [Attributes] oliver | modellingcomponents:elements:robotics [2022/01/28 12:43] – [Attributes] oliver | ||
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Zeile 95: | Zeile 95: | ||
^ 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. If it is not set than (0,0,0) ist used as the origin and e1, e2, e3 are used as its axes. | No| | ^ 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 values in [rad]. | Denavit-Hartenberg parameter | + | ^ alpha | Comma seperated list of REAL values in [rad]. | Denavit-Hartenberg parameter |
^ 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. | ^ 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. | ||
- | ^ theta | Comma seperated list of REAL value in [rad] variable names. | Denavit-Hartenberg parameter | Yes | | + | ^ theta | Comma seperated list of REAL value in [rad] variable names. | Denavit-Hartenberg parameter |
- | ^ d | Comma seperated list of REAL values | Denavit-Hartenberg parameter | Yes | | + | ^ d | Comma seperated list of REAL values |
- | ^ r | Comma seperated list of REAL values | Denavit-Hartenberg parameter | Yes | | + | ^ r | Comma seperated list of REAL values |
====Generated trajectories ==== | ====Generated trajectories ==== | ||
^ Name ^ Type ^ Description ^ | ^ Name ^ Type ^ Description ^ | ||
- | ^ < | + | ^ < |
- | ^ < | + | ^ < |
+ | ^ < | ||
+ | ^ < | ||
+ | |||
+ | 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. | For the last coordinate system trajectories are created without the index as a suffix. This system can be accessed by further calcmodel elements. |
modellingcomponents/elements/robotics.txt · Zuletzt geändert: 2023/02/21 10:10 von oliver