modellingcomponents:elements:kinematics
Unterschiede
Hier werden die Unterschiede zwischen zwei Versionen angezeigt.
Beide Seiten der vorigen RevisionVorhergehende ÜberarbeitungNächste Überarbeitung | Vorhergehende Überarbeitung | ||
modellingcomponents:elements:kinematics [2021/03/31 09:33] – [Attributes] oliver | modellingcomponents:elements:kinematics [2022/07/18 23:18] (aktuell) – [Created parameters] oliver | ||
---|---|---|---|
Zeile 50: | Zeile 50: | ||
^ 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 | | ||
Zeile 108: | Zeile 108: | ||
^ < | ^ < | ||
+ | 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 ==== | ||
Zeile 134: | Zeile 136: | ||
^ 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 ==== | ||
Zeile 144: | Zeile 143: | ||
^ < | ^ < | ||
- | **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 183: | Zeile 159: | ||
^ 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 to define a threshold. Only frames with values less than this threshold are used as static frames. The threshold is given in percent of the maximum value of the derivative of each timeserie. The timeserie of the point and the coordinate system are used. | No | | + | |
==== Generic Attributes ==== | ==== Generic Attributes ==== | ||
Zeile 266: | 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 272: | Zeile 247: | ||
<code xml> | <code xml> | ||
<Vector name=" | <Vector name=" | ||
- | coordinateSystem=" | + | |
- | | + | calibrateIncludes=" |
</ | </ | ||
Zeile 397: | 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 425: | 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.1617176015.txt.gz · Zuletzt geändert: 2021/03/31 09:33 von oliver