Unterschiede

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--- modellingcomponents:elements:robotics [2022/01/28 10:30] – [Generated trajectories] oliver
+++ modellingcomponents:elements:robotics [2022/01/28 12:43] – [Attributes] oliver
@@ Zeile 95: / Zeile 95: @@
 ^ 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|
-^ alpha | Comma seperated list of REAL values in [rad]. | 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 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 in [rad] variable 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> | 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><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>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.