what do you mean by the offset-parameter of KDL::Joint?
-> The offset between joint input and actual geometric input, default: 0
Can you give me an example for a case in which this offset is not zero?
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Joint-Offset
On Mon, 20 Oct 2008, manuelbirlo [..] ... wrote:
> what do you mean by the offset-parameter of KDL::Joint?
>
> -> The offset between joint input and actual geometric input, default: 0
>
> Can you give me an example for a case in which this offset is not zero?
It is not zero in most practical cases, since the zero of your joint
encoders lies typically not at the same place as the zero of your kinematic
model. These offsets are to be calibrated for each robot individually.
Herman
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Joint-Offset
>It is not zero in most practical cases, since the zero of >your joint
>encoders lies typically not at the same place as the zero of >your kinematic
>model. These offsets are to be calibrated for each robot >individually.
I'm not sure if I have understand the word "zero position" wihin this context. Is it the position of the frame-origin or the position in with the joint has joint angle zero?
Joint-Offset
On Mon, 20 Oct 2008, manuelbirlo [..] ... wrote:
>> It is not zero in most practical cases, since the zero of >your joint
>> encoders lies typically not at the same place as the zero of >your kinematic
>> model. These offsets are to be calibrated for each robot >individually.
>
> I'm not sure if I have understand the word "zero position" wihin this
> context. Is it the position of the frame-origin or the position in with
> the joint has joint angle zero?
>
The latter.
Herman