modellingcomponents:elements:kinematics
Unterschiede
Hier werden die Unterschiede zwischen zwei Versionen angezeigt.
Beide Seiten der vorigen RevisionVorhergehende ÜberarbeitungNächste Überarbeitung | Vorhergehende Überarbeitung | ||
modellingcomponents:elements:kinematics [2021/04/30 16:40] – [Generated trajectories] oliver | modellingcomponents:elements:kinematics [2022/07/18 23:18] (aktuell) – [Created parameters] oliver | ||
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^ < | ^ < | ||
^ < | ^ < | ||
+ | |||
+ | If calibration is used the following parameters are created: | ||
+ | |||
+ | ====Generated parameters==== | ||
+ | ^ Name ^ Type ^ Description ^ | ||
+ | ^ < | ||
+ | ^ < | ||
Simple example without usage of calibration: | Simple example without usage of calibration: | ||
Zeile 123: | Zeile 130: | ||
======GlobalCoordinateSystem====== | ======GlobalCoordinateSystem====== | ||
This element is used to define a cartesian coordinate system based on a given coordinate system in local coordinates of a given reference coordinate system. | This element is used to define a cartesian coordinate system based on a given coordinate system in local coordinates of a given reference coordinate system. | ||
- | |||
- | Not yet implemented! | ||
==== Attributes ==== | ==== Attributes ==== | ||
Zeile 137: | Zeile 142: | ||
^ < | ^ < | ||
^ < | ^ < | ||
- | ======ForwardKinematicDH====== | ||
- | This element defines a cartesian coordinate system based on a parent coordinate system and Denavit-Hartenberg parameters. | ||
- | ==== Attributes ==== | ||
- | ^ Attribute ^ Description ^ Required ^ | ||
- | ^ name | Name of the element | Yes | | ||
- | ^ referenceCoordinateSystem | Defines the the reference coordinate system by its name. | Yes | | ||
- | ^ Alpha| Denavit-Hartenberg parameter | Yes | | ||
- | ^ Theta| Denavit-Hartenberg parameter | Yes | | ||
- | ^ D | Denavit-Hartenberg parameter | Yes | | ||
- | ^ R | Denavit-Hartenberg parameter | Yes | | ||
- | ====Generated trajectories ==== | ||
- | ^ Name ^ Type ^ Description ^ | ||
- | ^ < | ||
- | ^ < | ||
- | **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 | | ||
Zeile 276: | Zeile 241: | ||
^ 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** | ||
Zeile 282: | Zeile 247: | ||
<code xml> | <code xml> | ||
<Vector name=" | <Vector name=" | ||
- | coordinateSystem=" | + | |
- | | + | calibrateIncludes=" |
</ | </ | ||
Zeile 407: | Zeile 372: | ||
</ | </ | ||
- | 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 435: | Zeile 400: | ||
^ < | ^ < | ||
^ < | ^ < | ||
+ | |||
+ | These parameters are created for non calibration files to make them availble in furher formula, e.g.: | ||
+ | |||
+ | <code xml> | ||
+ | < | ||
+ | Position=" | ||
+ | Rotation=" | ||
+ | excludes=" | ||
+ | </ |
modellingcomponents/elements/kinematics.txt · Zuletzt geändert: 2022/07/18 23:18 von oliver