Unterschiede

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--- modellingcomponents:elements:robotics [2022/02/01 16:57] – [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 |
@@ 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 |