modellingcomponents:elements:kinematics
Unterschiede
Hier werden die Unterschiede zwischen zwei Versionen angezeigt.
Beide Seiten der vorigen RevisionVorhergehende ÜberarbeitungNächste Überarbeitung | Vorhergehende ÜberarbeitungLetzte ÜberarbeitungBeide Seiten der Revision | ||
modellingcomponents:elements:kinematics [2021/03/31 09:16] – [Attributes] oliver | modellingcomponents:elements:kinematics [2022/07/18 23:17] – [Created parameters] oliver | ||
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^ FirstAxis | | Defines the first axis of the frame. This can be used by the method 1 based on cross products or by the method 4 based on three independend axes to define a non orthogonal system | Yes | 1, 4 | | ^ FirstAxis | | Defines the first axis of the frame. This can be used by the method 1 based on cross products or by the method 4 based on three independend axes to define a non orthogonal system | Yes | 1, 4 | | ||
^ DefiningVector | | The crossproduct between this vector and FirstAxis defines the second axis. The third axis is defined by the crossproduct between FirstAxis and this second axis. | Yes | 1 | | ^ DefiningVector | | The crossproduct between this vector and FirstAxis defines the second axis. The third axis is defined by the crossproduct between FirstAxis and this second axis. | Yes | 1 | | ||
- | ^ orientation | xyz | Reihenfolge der Achsen. | No | 1 | | + | ^ orientation | xyz | Orientation of the axes. xyz: first axis is x , second is y, third is z. Be careful in all cases a right handed coordinate system ist constructed. That means zxy is righthaned corresponding to the definition but zyx defines a left handed coordinates system corresponding to its definition. In this case by automated sign changes a righthanded coordinaten system is build automatically. | No | 1 | |
^ Position | | Origin of the coordinate system defined in coordinates of the global laboratory cartesian system. If this coordinate system is defined by calibration or by rotation of a reference system this attribute is optional and overwrites the origin defined by calibration. | Yes | 1, 4 | | ^ Position | | Origin of the coordinate system defined in coordinates of the global laboratory cartesian system. If this coordinate system is defined by calibration or by rotation of a reference system this attribute is optional and overwrites the origin defined by calibration. | Yes | 1, 4 | | ||
^ Rotation | | Defines a 3x3 rotation matrix. Its colums defines the three axes of the coordinate system | No | 5 | | ^ Rotation | | Defines a 3x3 rotation matrix. Its colums defines the three axes of the coordinate system | No | 5 | | ||
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^ < | ^ < | ||
+ | If calibration is used the following parameters are created: | ||
+ | ====Generated parameters==== | ||
+ | ^ Name ^ Type ^ Description ^ | ||
+ | ^ < | ||
+ | ^ < | ||
- | ======GlobalCoordinateSystem====== | + | Simple example without usage of calibration: |
- | This element is used to define a cartesian coordinate system based on a given coordinate system in local coordinates | + | |
- | Not yet implemented! | + | <code xml> |
+ | < | ||
+ | referenceCoordinateSystem=" | ||
+ | coordinateSystem=" | ||
+ | includes=" | ||
+ | </ | ||
- | ==== Attributes ==== | + | the above code snipset defines a coordinate system by tranforming the given coordinate system " |
- | ^ Attribute ^ Description ^ Required ^ | ||
- | ^ name | Name of the element | Yes | | ||
- | ^ referenceCoordinateSystem | Defines the the reference coordinate system by its name. | Yes | | ||
- | ^ localCoordinateSystem | Defines a local coordinate system which is based on the given reference coordinate system. This is is transformed into the global system.| Yes | | ||
- | ====Generated trajectories ==== | + | |
- | ^ Name ^ Type ^ Description ^ | + | ======GlobalCoordinateSystem====== |
- | ^ < | + | This element |
- | ^ < | + | |
- | ======ForwardKinematicDH====== | + | |
- | This element | + | |
==== Attributes ==== | ==== Attributes ==== | ||
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^ name | Name of the element | Yes | | ^ name | Name of the element | Yes | | ||
^ referenceCoordinateSystem | Defines the the reference coordinate system by its name. | Yes | | ^ referenceCoordinateSystem | Defines the the reference coordinate system by its name. | Yes | | ||
- | ^ Alpha| Denavit-Hartenberg parameter | Yes | | + | ^ localCoordinateSystem |
- | ^ Theta| Denavit-Hartenberg parameter | Yes | | + | |
- | ^ D | Denavit-Hartenberg parameter | Yes | | + | |
- | ^ R | Denavit-Hartenberg parameter | + | |
====Generated trajectories ==== | ====Generated trajectories ==== | ||
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^ < | ^ < | ||
- | **Example** | ||
- | <code xml> | ||
- | < | ||
- | referenceCoordinateSystem=" | ||
- | Alpha=" | ||
- | Theta=" | ||
- | D=" | ||
- | R=" | ||
- | </ | ||
- | An alternative to use this element is to use the corresponding function: | ||
- | <code xml> | ||
- | < | ||
- | Pose=" | ||
- | </ | ||
- | ======ForwardKinematicEulerCardan====== | ||
- | ==== Attributes ==== | ||
- | |||
- | ^ Attribute ^ Description ^ Required ^ | ||
- | ^ name | Name of the element | Yes | | ||
- | ^ referenceCoordinateSystem | Defines the the reference coordinate system by its name. | Yes | | ||
- | ^ EulerCardanAngles| Formula that defines a 3-tuple e.g. vec(1.0, | ||
- | ^ rotationOrder | rotation order | No | | ||
- | ^ Position | Origin of result coordinate system | Yes | | ||
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^ localPoint | | Instead of defining the point by coordinates in the laboratory/ | ^ localPoint | | Instead of defining the point by coordinates in the laboratory/ | ||
^ coordinateSystem | | Name of the coordinate system element which is used in two cases: 1. If the point is defined in local coordinates with the attribut " | ^ coordinateSystem | | Name of the coordinate system element which is used in two cases: 1. If the point is defined in local coordinates with the attribut " | ||
- | ^ autodetectStaticFrames | + | ^ phase | | If the calibration is used, but the trial is no static-only |
- | ^ autodetectStaticFramesThreshold | | Used only in combination with the attribute autodetectStaticFrames | + | |
==== Generic Attributes ==== | ==== Generic Attributes ==== | ||
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^ coordinateSystem | | Name of the coordinate system element which is used in two cases: 1. If the point is defined in local coordinates with the attribut " | ^ coordinateSystem | | Name of the coordinate system element which is used in two cases: 1. If the point is defined in local coordinates with the attribut " | ||
- | **Note:** The Parameter < | + | **Note:** The Parameter < |
**Examples** | **Examples** | ||
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<code xml> | <code xml> | ||
<Vector name=" | <Vector name=" | ||
- | coordinateSystem=" | + | |
- | | + | calibrateIncludes=" |
</ | </ | ||
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</ | </ | ||
- | In the case the two timeseries (TCPUR5e and TCPP) are not perfectly sychronized, | + | In the case the two timeseries (TCPUR5e and TCPP) are not perfectly sychronized, |
<code xml> | <code xml> | ||
Zeile 425: | Zeile 400: | ||
^ < | ^ < | ||
^ < | ^ < | ||
+ | |||
+ | These parameters are created for non calibration files to make them availble in furher formula, e.g.: | ||
+ | |||
+ | <xml> | ||
+ | < | ||
+ | Position=" | ||
+ | Rotation=" | ||
+ | excludes=" | ||
+ | </ |
modellingcomponents/elements/kinematics.txt · Zuletzt geändert: 2022/07/18 23:18 von oliver