Usually in D-H, joint are always rotate alone Z axis. Does it mean all joints are RotX type?
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Can anybody give me a example of generating a segment of a single joint robot from D-H parameters? Thanks.
Usually in D-H, joint are always rotate alone Z axis. Does it mean all joints are RotX type? |
Can anybody give me a example
I got it. Yes, all joints are RotZ type. And for the original D-H definition, the rotation is EulerZYX(0,0,alpha);
Now I can use two methods:
(1) Segment segment_test1 = Segment(Joint(Joint::RotZ),Frame(Rotation::EulerZYX(0,0,alpha),
(2) Segment segment_test2 = Segment(Joint(Joint::RotZ),Frame::DH(a,alpha,d,theta));Then I will try the modified D-H method.
Can anybody give me a example
Oh, no. The results are different. The first one is not correct. The vector is not correct. What's wrong with it?
Thanks.