Unterschiede

Hier werden die Unterschiede zwischen zwei Versionen angezeigt.

--- modellingcomponents:elements:robotics [2022/01/28 12:43] – [Attributes] oliver
+++ modellingcomponents:elements:robotics [2023/02/21 10:10] (aktuell) – [Attributes] oliver
@@ Zeile 9: / Zeile 9: @@
 ^ name | String | name of the element | No |
 ^ method | String | Different variants of Denavit Hartenberg parameterisation exists. The most used one named "distal" and defines the coordinate systems at the distal end of the segments. The x-axes of the the corresponding coordinate systems are upright to both adjusting joint axes. An importend variant is named as "modified". Its x-axes are upright only to one of the two adjoining joint axes. The default method is "distal" and is used if to method is explicitly defined by usage this attribute. | Yes |
-^ xAxesDirections | Comma separated list of Strings | List of x-axis direction expressions. | No |
+^ xAxesDirections | Comma separated list of Strings | List of x-axis direction names. Typically these axes are determined by calibration from a static trial, with all theata angles equal zero, the zero-pose of the robot. | No |
 ^ jointAxes | Comma seperated List of Strings | List of joint axes element names with an optional "-" as an prefix which indicates the the direction of the axis should be negated. Die position of the first axis is used as origin of the base coordinate system. | No |
 ^ calibrateIncludes | name of a switch | Name of a switch to define the static calibration trial with the normal pose of the robot arm | Yes |
-^ nominalD | Comma seperated list of double values >=0, NaN included | Used for method="modified" only. List of nominal values useful to set to values >=0 for nearly parallel joint axes. There exist no d0-value. In consequence the list has minus one elements compared with the count of joint-axes. Set values to "NaN" if the corresponding axes are not nearly parallel which allows automated determination of the d-value. | Yes |
+^ nominalD | Comma seperated list of double values >=0, NaN included | Used for method="modified" only. List of nominal values useful to set to values >=0 for nearly parallel joint axes. There exist no d0-value but the TCP system is in line with the previous axis and in a fixed length distance. So set the last values in the list to that value explicitly. Set values to "NaN" if the corresponding axes are not nearly parallel which allows automated determination of the d-value. | Yes |
 ^ lastD | REAL| Used for classical Denavit Hartenberg method only. Defines the last d parameter in [mm]. This parameter can not be estimated. It is assumed that the last coordinate system (the CS of the TCP) has the same z-direction as the last joint axis (r==0, alpha==0). The parameter d is the translation of the origin of the last joint axis in direction of this axis. If the parameter is not set it is automatically set to (0d,0d,0d) which results in a TCP coordinate system identical to the wrist2 CS, but a warning is written into the log. | Yes |
 ^ signR | Comma seperated list of boolean values "true" or "false" | This allows to switch the sign of r-vector, default should be false. Especially in the case of DH-classical the calculation of the theta angles is based on a flipped r-vector/x-axis if the signR attribute is set to "true". | Yes |
@@ Zeile 23: / Zeile 23: @@
 ====Generated trajectories====
 ^ Name ^ Type ^ Description ^
-^ <name>X0Axis | Vector3d | The direction of the X-axis of the base coordinate system, as defined by the attribute X0Axis (expression)". |
+^ <name>X0Axis | Vector3d | The direction of the X-axis of the base coordinate system, as defined by the attribute X0Axis (expression). |
 ^ <name>Origin | Vector3d | The Origin of the base coordinate system, as defined by the attribute Origin (expression)". |
 ^ <name>XAxis<Index> | Vector3d | X-axes directions, as defined by the attribute (expression) "xAxisDirections". |
 ^ <name>Alpha<Index> | Double| alpha (twist angle) in [deg] |
 ^ <name>Theta<Index> | Double | theta (joint angle) in [deg] |
@@ Zeile 34: / Zeile 33: @@
 ^ <name>P<Index> | Vector3d | Endpoint of the previous x-axis on the z-axis.|
+If the method is "modified" than the index starts for "R" and "Alpha" with one and for "Theta" and "D" with zero, else all of them start with one.
 ====Generated parameters====
@@ Zeile 94: / Zeile 94: @@
 ^ Attribute ^ Type ^ Description ^ Required ^
 ^ name | String | Name of the element | Yes |
+^ method | String | Name of the method: default="classical" or "distal", "modified" | No |
 ^ 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 alpha between the joint axes. | Yes |