Unterschiede

Hier werden die Unterschiede zwischen zwei Versionen angezeigt.

--- modellingcomponents:elements:robotics [2022/02/02 16:21] – [Generated trajectories] 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 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 |