Difference between revisions of "TEO Diagrams"

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| style="width:50%" | [[File:TEO_by_links.JPG|400px]]
 
| style="width:50%" | [[File:TEO_by_links.JPG|400px]]
 
|- align="center"
 
|- align="center"
−
| colspan=2 | [[File:Measurements.png|600px]]
+
| colspan=2 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 #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#FFCC99"><font color="#3F3F76">lengths</font></td>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=bottom bgcolor="#FFCC99"><font color="#3F3F76">distance [mm]</font></td>
 +
<td align="left" valign=bottom><font color="#000000"><br></font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="20" align="center" valign=bottom bgcolor="#D9D9D9"><font color="#000000">l0</font></td>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#D9D9D9" sdval="191.7" sdnum="1033;"><font color="#000000">191.7</font></td>
 +
<td align="left" valign=bottom><font color="#000000"><br></font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#FFFFFF"><font color="#000000">l1</font></td>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#FFFFFF" sdval="305" sdnum="1033;"><font color="#000000">305</font></td>
 +
<td align="left" valign=bottom><font color="#000000"><br></font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#D9D9D9"><font color="#000000">l2</font></td>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#D9D9D9" sdval="161.3" sdnum="1033;"><font color="#000000">161.3</font></td>
 +
<td align="left" valign=bottom><font color="#000000"><br></font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#FFFFFF"><font color="#000000">l3</font></td>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#FFFFFF" sdval="59.742" sdnum="1033;"><font color="#000000">59.742</font></td>
 +
<td align="left" valign=bottom><font color="#000000"><br></font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#D9D9D9"><font color="#000000">l4</font></td>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#D9D9D9" sdval="37.508" sdnum="1033;"><font color="#000000">37.508</font></td>
 +
<td align="left" valign=bottom><font color="#000000"><br></font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#FFFFFF"><font color="#000000">l5</font></td>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#FFFFFF" sdval="346.92" sdnum="1033;"><font color="#000000">346.92</font></td>
 +
<td align="left" valign=bottom><font color="#000000"><br></font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#D9D9D9"><font color="#000000">l6</font></td>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#D9D9D9" sdval="329.01" sdnum="1033;"><font color="#000000">329.01</font></td>
 +
<td align="left" valign=bottom><font color="#000000"><br></font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#FFFFFF"><font color="#000000">l7</font></td>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#FFFFFF" sdval="202" sdnum="1033;">202</td>
 +
<td align="left" valign=bottom><font color="#000000"><br></font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="20" align="center" valign=bottom bgcolor="#D9D9D9"><font color="#000000">l8</font></td>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#DDDDDD" sdval="187.496" sdnum="1033;">187.496</td>
 +
<td colspan=2 rowspan=2 align="right" valign=bottom><font color="#000000">A 2 cm de chapa final<br>mano, con FT.</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#FFFFFF"><font color="#000000">l9</font></td>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#FFFFFF" sdval="92" sdnum="1033;">92</td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#D9D9D9"><font color="#000000">l10</font></td>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#DDDDDD" sdval="330" sdnum="1033;">330</td>
 +
<td align="right" valign=bottom><font color="#000000"><br></font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#FFFFFF"><font color="#000000">l11</font></td>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#FFFFFF" sdval="299.897" sdnum="1033;">299.897</td>
 +
<td align="left" valign=bottom><font color="#000000"><br></font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#D9D9D9"><font color="#000000">l12</font></td>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#DDDDDD" sdval="123.005" sdnum="1033;">123.005</td>
 +
<td align="left" valign=bottom><font color="#000000"><br></font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#FFFFFF"><font color="#000000">l13</font></td>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#FFFFFF" sdval="146" sdnum="1033;">146</td>
 +
<td align="left" valign=bottom><font color="#000000"><br></font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#D9D9D9"><font color="#000000">l14</font></td>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#D9D9D9" sdval="18" sdnum="1033;"><font color="#000000">18</font></td>
 +
<td align="left" valign=bottom><font color="#000000">Aprox</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#FFFFFF"><font color="#000000">l15</font></td>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#FFFFFF" sdval="26" sdnum="1033;"><font color="#000000">26</font></td>
 +
<td align="left" valign=bottom><font color="#000000">Aprox</font></td>
 +
</tr>
 +
<tr>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#D9D9D9"><font color="#000000">l16</font></td>
 +
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#D9D9D9" sdval="17.52" sdnum="1033;"><font color="#000000">17.52</font></td>
 +
<td align="left" valign=bottom><font color="#000000"><br></font></td>
 +
</tr>
 +
</table>
 +
 
 
|}
 
|}
  

Revision as of 12:06, 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
lengths distance [mm]
l0 191.7
l1 305
l2 161.3
l3 59.742
l4 37.508
l5 346.92
l6 329.01
l7 202
l8 187.496 A 2 cm de chapa final
mano, con FT.
l9 92
l10 330
l11 299.897
l12 123.005
l13 146
l14 18 Aprox
l15 26 Aprox
l16 17.52

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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