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make_drc-hubo_wave_its_hands_non-whole_body_kinematics

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make_drc-hubo_wave_its_hands_non-whole_body_kinematics [2016/08/11 00:32]
santiagoricoy
make_drc-hubo_wave_its_hands_non-whole_body_kinematics [2016/08/11 01:05]
santiagoricoy
Line 92: Line 92:
 First is the joint, then the reference degree, the time to make the change, and the movement mode. Commands for different joints can be executed at the same time. First is the joint, then the reference degree, the time to make the change, and the movement mode. Commands for different joints can be executed at the same time.
  
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 The joint names are actually sets of numbers, but have been enumerated for convenience. That set can be found in "​JointInformation.h"​ as seen above. Hubo's joint angle directions are decided via the right hand rule. The X-axis points forward, the Y-axis points left, and the Z-axis points upward. You can decide which direction is negative or positive by using the right hand rule on the axis that the joint aligns with (assuming the robot is in home position). Please keep in mind that too little time for a large movement can break a joint in DRC-Hubo. Lastly, your movement mode is either MOVE_ABSOLUTE (move to an absolute angle based on encoder pulses from the joint home position) or MOVE_RELATIVE (move to a certain angular distance from the current position). The joint names are actually sets of numbers, but have been enumerated for convenience. That set can be found in "​JointInformation.h"​ as seen above. Hubo's joint angle directions are decided via the right hand rule. The X-axis points forward, the Y-axis points left, and the Z-axis points upward. You can decide which direction is negative or positive by using the right hand rule on the axis that the joint aligns with (assuming the robot is in home position). Please keep in mind that too little time for a large movement can break a joint in DRC-Hubo. Lastly, your movement mode is either MOVE_ABSOLUTE (move to an absolute angle based on encoder pulses from the joint home position) or MOVE_RELATIVE (move to a certain angular distance from the current position).
make_drc-hubo_wave_its_hands_non-whole_body_kinematics.txt ยท Last modified: 2016/08/30 19:11 by santiagoricoy