Unterschiede

Hier werden die Unterschiede zwischen zwei Versionen angezeigt.

--- modellingcomponents:elements:robotics [2022/01/18 16:29] – [Attributes] oliver
+++ modellingcomponents:elements:robotics [2022/01/19 08:59] – [Generated trajectories] oliver
@@ Zeile 111: / Zeile 111: @@
 <code xml>
-<FKDH name="BaseUR"
+<FKDH name="DK"
       coordinateSystem="GLOBE"
-      alpha="0.5,90,0,0"
+      alpha="0.5,90,0.0,0.0"
-      deltaTheta="1.0,3.4,2"
+      deltaTheta="1.0,3.4,2.0,0.5"
       d="0.145,7089234,0892734"
-      r="0.234,5123,123"/>
+      r="0.234,5123,123,765"
+      theta="Angle0,Angle1,Angle2,Angle3"/>
 </code>
-An alternative to use this element is to use the corresponding function:
+An alternative is to use corresponding function
 <code xml>
@@ Zeile 125: / Zeile 126: @@
                   Pose="dhm(Angle0, DH_alpha0, DH_d0, DH_r0)"/>
 </code>
+for each joint in the sequence. This makes the sequence of transformations more transparent but also needs to write more xml.