Unterschiede

Hier werden die Unterschiede zwischen zwei Versionen angezeigt.

--- modellingcomponents:elements:robotics [2022/01/28 10:30] – [Generated trajectories] oliver
+++ modellingcomponents:elements:robotics [2022/01/28 10:39] – [Generated trajectories] oliver
@@ Zeile 103: / Zeile 103: @@
 ====Generated trajectories ====
 ^ Name ^ Type ^ Description ^
-^ <name> | MATRIX_3X3D| Representation of the three orthogonal orientation axes of the reference coordinate system (columns of the matrix) as defined with the attribe coordindinateSystem |
+^ <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 | COLUMN_VECTOR_3D| Origin of the reference coordinate system as defined with the attribute coordinateSystem |
+^ <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. |
-^ <name><index> | MATRIX_3X3D| Representation of the three orthogonal orientation axes of the determined local coordinate system (columns of the matrix) |
+The index starts with 1 because with the index 0 typically the reference system is called.
-^ <name>Position<index> | COLUMN_VECTOR_3D| Origin of the coordinate system |
 For the last coordinate system trajectories are created without the index as a suffix. This system can be accessed by further calcmodel elements.