Difference between revisions of "TEO Diagrams"

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Line 24: Line 24:
 
|- align="center"
 
|- align="center"
 
| style="width:50%" | [[File:DH.png|300px]]
 
| style="width:50%" | [[File:DH.png|300px]]
−
| style="width:50%" | [[File:DH_parameters.png|400px]]
+
| style="width:50%;font-size:xx-small;align:center" |
 +
<table cellspacing="0" border="0">
 +
<tr>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #000000; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#99CCFF"><b>Limb</b></td>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #000000; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=bottom bgcolor="#99CCFF"><b>Link</b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#99FF99"><b>θ</b></td>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #000000; border-left: 1px solid #7f7f7f" align="center" valign=bottom bgcolor="#99FF99"><b>D</b></td>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #000000; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=bottom bgcolor="#99FF99"><b>A</b></td>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #000000; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=bottom bgcolor="#99FF99"><b>α</b></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" rowspan=6 height="110" align="center" valign=middle bgcolor="#CFE7F5"><b><font color="#000000">Left leg</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#CFE7F5" sdval="1" sdnum="1033;"><b><font color="#000000">1</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#CFE7F5" sdnum="1033;0;@">q7</td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom bgcolor="#CFE7F5" sdval="0" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#CFE7F5" sdval="0" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#CFE7F5" sdnum="1033;0;@"><font color="#000000">-90</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom sdval="2" sdnum="1033;"><b><font color="#000000">2</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom sdnum="1033;0;@"><font color="#000000">-90+q8</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom sdval="0" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom sdval="0" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom sdnum="1033;0;@"><font color="#000000">-90</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#CFE7F5" sdval="3" sdnum="1033;"><b><font color="#000000">3</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#CFE7F5" sdnum="1033;0;@"><font color="#000000">q9</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom bgcolor="#CFE7F5" sdval="0" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#CFE7F5" sdnum="1033;0;@"><font color="#000000">-l10</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#CFE7F5" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom sdval="4" sdnum="1033;"><b><font color="#000000">4</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom sdnum="1033;0;@"><font color="#000000">q10</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom sdnum="1033;0;@"><font color="#000000">-l16</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom sdnum="1033;0;@"><font color="#000000">-l11</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#CFE7F5" sdval="5" sdnum="1033;"><b><font color="#000000">5</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#CFE7F5" sdnum="1033;0;@"><font color="#000000">q11</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom bgcolor="#CFE7F5" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#CFE7F5" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#CFE7F5" sdnum="1033;0;@"><font color="#000000">90</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom sdval="6" sdnum="1033;"><b><font color="#000000">6</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom sdnum="1033;0;@"><font color="#000000">q12</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom sdnum="1033;0;@"><font color="#000000">-l12</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" rowspan=6 height="110" align="center" valign=middle bgcolor="#FF8080"><b>Right leg</b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdval="1" sdnum="1033;"><b><font color="#000000">1</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">q6</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">90</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FF8080" sdval="2" sdnum="1033;"><b><font color="#000000">2</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FF8080" sdnum="1033;0;@"><font color="#000000">90+q5</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom bgcolor="#FF8080" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FF8080" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FF8080" sdnum="1033;0;@"><font color="#000000">90</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdval="3" sdnum="1033;"><b><font color="#000000">3</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">q4</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">l10</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FF8080" sdval="4" sdnum="1033;"><b><font color="#000000">4</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FF8080" sdnum="1033;0;@"><font color="#000000">q3</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom bgcolor="#FF8080" sdnum="1033;0;@"><font color="#000000">l16</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom bgcolor="#FF8080" sdnum="1033;0;@"><font color="#000000">l11</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FF8080" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdval="5" sdnum="1033;"><b><font color="#000000">5</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">q2</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">-90</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FF8080" sdval="6" sdnum="1033;"><b><font color="#000000">6</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FF8080" sdnum="1033;0;@"><font color="#000000">q1</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom bgcolor="#FF8080" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FF8080" sdnum="1033;0;@"><font color="#000000">l12</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FF8080" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" rowspan=6 height="110" align="center" valign=middle bgcolor="#FFCC99"><b><font color="#000000">Right arm</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFCC99" sdval="1" sdnum="1033;"><b><font color="#000000">1</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFCC99" sdnum="1033;0;@"><font color="#000000">q15</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom bgcolor="#FFCC99" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFCC99" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFCC99" sdnum="1033;0;@"><font color="#000000">90</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom sdval="2" sdnum="1033;"><b><font color="#000000">2</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom sdnum="1033;0;@"><font color="#000000">-90+q16</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom sdnum="1033;0;@"><font color="#000000">90</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFCC99" sdval="3" sdnum="1033;"><b><font color="#000000">3</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFCC99" sdnum="1033;0;@"><font color="#000000">-90+q17</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom bgcolor="#FFCC99" sdnum="1033;0;@"><font color="#000000">l6</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFCC99" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFCC99" sdnum="1033;0;@"><font color="#000000">90</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdval="4" sdnum="1033;"><b><font color="#000000">4</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">q18</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">-90</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFCC99" sdval="5" sdnum="1033;"><b><font color="#000000">5</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFCC99" sdnum="1033;0;@"><font color="#000000">q19</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom bgcolor="#FFCC99" sdnum="1033;0;@"><font color="#000000">l7</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFCC99" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFCC99" sdnum="1033;0;@"><font color="#000000">90</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdval="6" sdnum="1033;"><b><font color="#000000">6</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">90+q20</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">l8</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" rowspan=6 height="110" align="center" valign=middle bgcolor="#CC99FF"><b>Left arm</b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdval="1" sdnum="1033;"><b><font color="#000000">1</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">q21</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">90</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#CC99FF" sdval="2" sdnum="1033;"><b><font color="#000000">2</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#CC99FF" sdnum="1033;0;@"><font color="#000000">90+q22</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom bgcolor="#CC99FF" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#CC99FF" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#CC99FF" sdnum="1033;0;@"><font color="#000000">90</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdval="3" sdnum="1033;"><b><font color="#000000">3</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">90+q23</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">l6</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">90</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#CC99FF" sdval="4" sdnum="1033;"><b><font color="#000000">4</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#CC99FF" sdnum="1033;0;@"><font color="#000000">q24</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom bgcolor="#CC99FF" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#CC99FF" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#CC99FF" sdnum="1033;0;@"><font color="#000000">-90</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdval="5" sdnum="1033;"><b><font color="#000000">5</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">q25</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">l7</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">90</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#CC99FF" sdval="6" sdnum="1033;"><b><font color="#000000">6</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#CC99FF" sdnum="1033;0;@"><font color="#000000">90+q26</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom bgcolor="#CC99FF" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#CC99FF" sdnum="1033;0;@"><font color="#000000">l8</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#CC99FF" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" rowspan=2 height="37" align="center" valign=middle bgcolor="#CCFF99"><b>Trunk</b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#CCFF99" sdval="1" sdnum="1033;"><b><font color="#000000">1</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#CCFF99" sdnum="1033;0;@"><font color="#000000">q13</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom bgcolor="#CCFF99" sdnum="1033;0;@"><font color="#000000">l0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#CCFF99" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#CCFF99" sdnum="1033;0;@"><font color="#000000">-90</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdval="2" sdnum="1033;"><b><font color="#000000">2</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">q14</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" rowspan=2 height="37" align="center" valign=middle bgcolor="#FFCCFF"><b>Head</b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFCCFF" sdval="1" sdnum="1033;"><b><font color="#000000">1</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFCCFF" sdnum="1033;0;@"><font color="#000000">q27</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom bgcolor="#FFCCFF" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFCCFF" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFCCFF" sdnum="1033;0;@"><font color="#000000">90</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdval="2" sdnum="1033;"><b><font color="#000000">2</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">q28</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">0</font></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" align="center" valign=bottom bgcolor="#FFFFFF" sdnum="1033;0;@"><font color="#000000">-90</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" height="18" align="left" valign=bottom bgcolor="#E6E6FF"><b><font color="#000000">H_head_rgb</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" colspan=5 align="center" valign=middle bgcolor="#FFFFFF"><font color="#000000">TrasZ(-l14) * TrasY(l3) * RotY(90) * RotZ(180)</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" height="18" align="left" valign=bottom bgcolor="#E6E6FF"><b><font color="#000000">H_head_depth</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" colspan=5 align="center" valign=middle bgcolor="#E6E6FF"><font color="#000000">TrasZ(-l14-l15) * TrasY(l3) * RotY(90) * RotZ(180)</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" height="18" align="left" valign=bottom bgcolor="#E6E6FF"><b><font color="#000000">H_head_flea</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" colspan=5 align="center" valign=middle bgcolor="#FFFFFF"><font color="#000000">TrasY(l3+l4) * RotY(90) * RotZ(180)</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" height="18" align="left" valign=bottom bgcolor="#E6E6FF"><b><font color="#000000">H_hip_neck</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" colspan=5 align="center" valign=middle bgcolor="#E6E6FF"><font color="#000000">RotX(90) * TrasZ(l1+l2)</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" height="18" align="left" valign=bottom bgcolor="#E6E6FF"><b><font color="#000000">H_hip_leftArm</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" colspan=5 align="center" valign=middle><font color="#000000">TrasY(-l1) * TrasZ(l5) * RotZ(90)</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" height="18" align="left" valign=bottom bgcolor="#E6E6FF"><b><font color="#000000">H_hip_rightArm</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" colspan=5 align="center" valign=middle bgcolor="#E6E6FF"><font color="#000000">TrasY(-l1) * TrasZ(-l5) * RotZ(-90) * RotX(180)</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" height="18" align="left" valign=bottom bgcolor="#E6E6FF"><b><font color="#000000">H_root_leftLeg</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" colspan=5 align="center" valign=middle><font color="#000000">TrasY(l13) * TrasZ(-l9) * RotZ(90)</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" height="18" align="left" valign=bottom bgcolor="#E6E6FF"><b><font color="#000000">H_root_rightLeg</font></b></td>
 +
<td style="border-top: 1px solid #000000; border-bottom: 1px solid #000000; border-left: 1px solid #000000; border-right: 1px solid #000000" colspan=5 align="center" valign=middle bgcolor="#E6E6FF"><font color="#000000">TrasY(-l13) * TrasZ(-l9) * RotZ(90) * RotX(180)</font></td>
 +
</tr>
 +
</table>
 
|}
 
|}
  

Revision as of 11:57, 9 April 2016

Joint Indexes

Joint Indexes (CAN bus) Joint Indexes (YARP ports)
Joints (can).png Joints (yarp).png

Joint Directions of Rotation

Joint Directions of Rotation
Directions.png

DH Coordinate Systems and Parameter Table

DH Coordinate Systems DH Parameter Table
DH.png
Limb Link θ D A α
Left leg 1 q7 0 0 -90
2 -90+q8 0 0 -90
3 q9 0 -l10 0
4 q10 -l16 -l11 0
5 q11 0 0 90
6 q12 0 -l12 0
Right leg 1 q6 0 0 90
2 90+q5 0 0 90
3 q4 0 l10 0
4 q3 l16 l11 0
5 q2 0 0 -90
6 q1 0 l12 0
Right arm 1 q15 0 0 90
2 -90+q16 0 0 90
3 -90+q17 l6 0 90
4 q18 0 0 -90
5 q19 l7 0 90
6 90+q20 0 l8 0
Left arm 1 q21 0 0 90
2 90+q22 0 0 90
3 90+q23 l6 0 90
4 q24 0 0 -90
5 q25 l7 0 90
6 90+q26 0 l8 0
Trunk 1 q13 l0 0 -90
2 q14 0 0 0
Head 1 q27 0 0 90
2 q28 0 0 -90
H_head_rgb TrasZ(-l14) * TrasY(l3) * RotY(90) * RotZ(180)
H_head_depth TrasZ(-l14-l15) * TrasY(l3) * RotY(90) * RotZ(180)
H_head_flea TrasY(l3+l4) * RotY(90) * RotZ(180)
H_hip_neck RotX(90) * TrasZ(l1+l2)
H_hip_leftArm TrasY(-l1) * TrasZ(l5) * RotZ(90)
H_hip_rightArm TrasY(-l1) * TrasZ(-l5) * RotZ(-90) * RotX(180)
H_root_leftLeg TrasY(l13) * TrasZ(-l9) * RotZ(90)
H_root_rightLeg TrasY(-l13) * TrasZ(-l9) * RotZ(90) * RotX(180)

Link Lengths

Link Lengths
Lengths.png TEO by links.JPG
600px

COGs

COGs
Masses.png

Sources for Develop

Sources of all diagrams can be found at: http://robots.uc3m.es/svn/TEOrepo/modelling/diagrams/.

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