Unterschiede

Hier werden die Unterschiede zwischen zwei Versionen angezeigt.

--- modellingcomponents:elements:kinematics [2021/10/12 10:02] – [GlobalCoordinateSystem] oliver
+++ modellingcomponents:elements:kinematics [2022/07/13 10:24] – [Examples] oliver
@@ Zeile 142: / Zeile 142: @@
 ^ <name> | Matrix3d | Representation of the three orthogonal orientation axes of the determined local coordinate system (columns of the matrix) |
 ^ <name>Position | Vector3d | Origin of the coordinate system |
-======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 |
@@ Zeile 383: / Zeile 372: @@
 </code>
-In the case the two timeseries (TCPUR5e and TCPP) are not perfectly sychronized, especially a delay is between them the following expamples implements the usage of phases seperately defined for each timeeries. The phases are used only if in a trial the cound of phases for each of the two timeseries contains the same count.
+In the case the two timeseries (TCPUR5e and TCPP) are not perfectly sychronized, especially a delay is between them the following expamples implements the usage of phases seperately defined for each timeeries. The phases are used only, if in a trial the count of phases for each of the two timeseries is equal.
 <code xml>