Difference between revisions of "TEO Diagrams"

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= DH Coordinate Systems and Parameter Table =
 
= DH Coordinate Systems and Parameter Table =
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{| style="width:100%" class="greentable"
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|- align="center"
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Content moved to https://github.com/roboticslab-uc3m/teo-software-manual/blob/master/appendix/a-teo-diagrams.md
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! DH Coordinate Systems
 
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! DH Parameter Table
 
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|- align="center"
 
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| style="width:50%" | [[File:DH.png|400px]]
 
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| style="width:50%;font-size:xx-small;align:center" |
 
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<table cellspacing="0" border="0">
 
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<tr>
 
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<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>
 
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<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>
 
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<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>
 
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<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>
 
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<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>
 
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</tr>
 
−
<tr>
 
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<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>
 
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</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>
 
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</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">-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" 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">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" 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>
 
−
|}
 
  
 
= Link Lengths =
 
= Link Lengths =

Revision as of 10:31, 7 December 2017

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

Content moved to https://github.com/roboticslab-uc3m/teo-software-manual/blob/master/appendix/a-teo-diagrams.md

Link Lengths

Link Lengths
Lengths.png TEO by links.JPG
lengths distance [mm]
l0 193.2
l1 305
l2 162.5
l3 59.742
l4 37.508
l5 346.92
l6 329.01
l7 202
l8 187.496 Con F/T, a 2 cm debajo chapa final mano.
l9 92
l10 330
l11 300
l12 123.005
l13 146
l14 18
l15 26
l16 17.5

COGs

COGs
Masses.png


F-T sensors

F-T sensors
Ftsensors.png

JR3 wrists drawings

F-T sensors
File:Jr3 50M31 corregido.pdf

Sources for Develop

Migrating to: https://github.com/roboticslab-uc3m/teo-software-manual

Retrieved from "https://apps-robots.uc3m.es/robots/w/index.php?title=TEO_Diagrams&oldid=2780"