hdt_setup
Differences
This shows you the differences between two versions of the page.
Both sides previous revisionPrevious revisionNext revision | Previous revision | ||
hdt_setup [2017/05/15 17:09] – sangsinpark | hdt_setup [2017/05/19 16:24] (current) – [Matlab Code] sangsinpark | ||
---|---|---|---|
Line 26: | Line 26: | ||
\\ | \\ | ||
===== 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_arm: | ||
\\ | \\ | ||
- | This tutorial' | + | ===== Standard DH parameters |
- | <fc blue> | + | Standard DH parameters and link lengths are shown in tables. |
- | * Know how to < | + | {{ hdt_arm: |
\\ | \\ | ||
- | * Perhaps also know how to <fill in the blank> | + | {{ hdt_arm: |
\\ | \\ | ||
- | * 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# | ||
- | * [[tutorialTemplate# | ||
- | * 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 |
- | \\ | + | |
- | 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_arm:hdt_fig3.jpg }} | |
- | ^PART NAME/ | + | |
- | | Smooth-on Silicone Mold Rubber | + | |
- | | <???> | + | |
- | | <???> | + | |
- | | <???> | + | |
- | | <???> | + | |
\\ | \\ | ||
- | <!-- Replace the URL below for your Google doc --> | ||
- | Here is the [[https:// | ||
- | \\ | ||
- | <!-- Replace the filename with your PDF that you uploaded to your DASL Wiki tutorial page --> | ||
- | Here is the {{: | ||
- | \\ | ||
- | |||
- | ==== 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> | ||
- | \\ | ||
- | \\ | ||
- | **Step 1** | ||
- | \\ | ||
- | \\ | ||
- | <Add photos to make step easier to understand> | ||
- | \\ | ||
- | \\ | ||
- | **Step 2** | ||
- | \\ | ||
- | \\ | ||
- | < | ||
- | \\ | ||
- | ==== 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> | ||
- | \\ | ||
- | ---- | ||
- | <!- 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> | ||
- | <!-- Keep entering snippets of code and descriptions until you've given enough for a reader to understand how it works --> | ||
- | // | ||
- | // | ||
- | ==== Final Words ==== | ||
- | |||
- | This tutorial' | ||
- | \\ | ||
- | \\ | ||
- | 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, | ||
- | |||
+ | ==== 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, | ||
+ | hdt_arm.plot([pi pi/2 0 0 -pi/4 0 0 0 -pi/2 0]); | ||
+ | </ |
hdt_setup.1494893375.txt.gz · Last modified: 2017/05/15 17:09 by sangsinpark