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hdt_setup [2017/05/15 17:09] sangsinparkhdt_setup [2017/05/19 16:24] (current) – [Matlab Code] sangsinpark
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 \\ \\
 ===== Coordinate Frames of the HDT Arm ===== ===== Coordinate Frames of the HDT Arm =====
 +
 +First of all, I consider 10 DOFs except the hand's DOFs.
  
 {{ hdt_arm:hdt_fig1.jpg }} {{ hdt_arm:hdt_fig1.jpg }}
 \\ \\
  
-This tutorial's motivation is to <fill in the blank>. Readers of this tutorial assumes the reader has the following background and interests: +===== Standard DH parameters of the HDT Arm =====
  
-<fc blue>   +Standard DH parameters and link lengths are shown in tables. 
-  * Know how to <fill in the blank> +{{ hdt_arm:hdt_tab1_dh.jpg }}
 \\ \\
-  * Perhaps also know how to <fill in the blank>+{{ hdt_arm:hdt_tab2_length.jpg }}
 \\ \\
-  * Perhaps additional background needed may include <fill in the blank> 
-\\ 
-  * This tutorial may also attract readers who <fill in the blank> 
-</fc> 
-\\ 
-The rest of this tutorial is presented as follows: 
-  * [[tutorialTemplate#partsListAndSources|Parts List and Sources]] 
-  * [[tutorialTemplate#construction|Construction]] 
-  * Programming <!- delete this line if not applicable -> 
-  * Final Words 
  
-==== Parts List and Sources ====+===== Verification of the DH parameters =====
  
-US-based vendors to obtain material to complete this tutorial include <list relevant hyperlinks or phone numbers and addresses>+I verify the DH parameters with a Matlab robotics toolbox. We can download its toolbox from [[http://petercorke.com/wordpress/toolboxes/robotics-toolbox | this website]].
-\\ +
-To complete this tutorial, you'll need the following items <!-- in table below, replace ??? with relevant information and add additional lines if necessary --> +
- +
-<!-- Alternatively create(1) a Google XLS document that's publicly viewable and provide link; and (2) a PDF version of the Google XLS, store the PDF file in your site, and provide link to it -->+
  
 +{{ hdt_arm:hdt_fig2.jpg }}
 \\ \\
- +{{ hdt_arm:hdt_fig3.jpg }}
-^PART NAME/DESCRIPTION             ^VENDOR              ^VENDOR Number or URL       ^PRICE          ^QTY       ^ +
-| Smooth-on Silicone Mold Rubber   | Amazon.com         |http://www.amazon.com/Smooth-Silicone-Making-Rubber-Inc/dp/B004BNF3TK    |$23.86     | 1 | +
-| <???>        d                    | <???>              | <???>                     | <???>    <???>   | +
-| <???>                           | <???>              | <???>                     | <???>    <???>   | +
-| <???>                           | <???>              | <???>                     | <???>    <???>   | +
-| <???>                           | <???>              | <???>                     | <???>    <???>   | +
 \\ \\
-<!-- Replace the URL below for your Google doc --> 
-Here is the [[https://docs.google.com/spreadsheets/d/1stqow-CHNPdDxXLn5IzECWAmvXnUCEAAxjnDLSSKt2Q/edit?usp=sharing | list as a Google XLS document]] 
-\\ 
-<!-- Replace the filename with your PDF that you uploaded to your DASL Wiki tutorial page --> 
-Here is the {{:tutorialtemplategooglexlssamplepdf.pdf| list as a PDF file}} 
-\\ 
- 
-==== Construction ==== 
- 
-This section gives step-by-step instructions along with photos to <fill in the blank>. (If a circuit-building tutorial:) A schematic to construct <fill in the blank> is shown here <add image>. <Add hyperlink to PDF of schematic> is the Acrobat file of the same schematic. 
-\\ 
-\\ 
-**Step 1** 
-\\ 
-\\ 
-<Add photos to make step easier to understand> 
-\\ 
-\\ 
-**Step 2** 
-\\ 
-\\ 
-<Additional steps like **Step 3**, **Step 4**, etc> 
-\\ 
-==== Programming ==== 
- 
-A link to the source code can be found <provide URL to your code, probably saved in this DASL Wiki>. 
-\\ 
-The goal of the code is <brief explanation> It works in the following way 
-\\ 
----- 
-<!- Insert a snippet of your code here.  Try to keep to less than 0.5 page long --> 
----- 
-\\ 
-The snippet above serves to <fill in the blank>. It does this by <fill in the blank>. 
-\\ 
----- 
-<!- Insert another snippet of your code here.  Try to keep to less than 0.5 page long --> 
----- 
-Next, the code does <fill in the blank> It does this by <fill in the blank>.   
-<!-- Keep entering snippets of code and descriptions until you've given enough for a reader to understand how it works --> 
-// 
-// 
-==== Final Words ==== 
- 
-This tutorial's objective was to <fill in the blank>. Complete <choose: construction details, source code and program descriptions> for <fill in the blank>. Once the concepts were conveyed the reader could <fill in the blank>. 
-\\ 
-\\ 
-Speculating future work derived from this tutorial, includes <fill in the blank>. In the big picture, the problem of <fill in the blank> can be solved with this tutorial. 
-\\ 
-\\ 
-For questions, clarifications, etc, Email: <[email protected] 
- 
  
 +==== Matlab Code ====
 +<code java>
 +clear, close all
  
 +L1 = 0.1272;
 +L2 = 0.08;
 +L3 = 0.3638;
 +L4 = 0.2495;
 +L5 = 0.318;
 +L6 = 0.2244;
 +L7 = 0.0741;
 +L8 = 0.2;
  
 +% Standard DH %
 +L(1) = Link([0 L1 0 pi/2]); % L1
 +L(2) = Link([0 0 L2 -pi/2]); % L2
 +L(3) = Link([0 0 L3 pi/2]); % L3
 +L(4) = Link([0 L4 0 -pi/2]); % L4
 +L(5) = Link([0 0 0 pi/2]);
 +L(6) = Link([0 L5 0 -pi/2]); % L5
 +L(7) = Link([0 0 0 pi/2]);
 +L(8) = Link([0 L6 0 -pi/2]); % L6
 +L(9) = Link([0 0 L7 pi/2]); % L7
 +L(10) = Link([0 0 L8 0]); % L8
  
 +hdt_arm = SerialLink(L, 'name', 'HDT ARM');
 +hdt_arm.plot([pi pi/2 0 0 -pi/4 0 0 0 -pi/2 0]);
 +</code>
hdt_setup.1494893375.txt.gz · Last modified: 2017/05/15 17:09 by sangsinpark