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help:common:robot_mitsubishi_rv-6s [2010/07/13 11:55]
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127.0.0.1
external edit
Line 46:
Line 46:
^ ''Joint'' ^ ''α'' ^ ''a'' ^ ''Θ'' ^ ''d'' ^ ''parameter range'' ^
^ ''Joint'' ^ ''α'' ^ ''a'' ^ ''Θ'' ^ ''d'' ^ ''parameter range'' ^
| ''1'' | ''-90'' | ''85'' | ''parameter'' | ''350'' | ''< -170; 170 >'' |
| ''1'' | ''-90'' | ''85'' | ''parameter'' | ''350'' | ''< -170; 170 >'' |
-
| ''2'' | ''0'' | ''280'' | ''90 + parameter''
| ''0'' | ''< -92; 135 >'' |
+
| ''2'' | ''0'' | ''280'' | ''
-
90 + parameter''
| ''0'' | ''< -92; 135 >'' |
-
| ''3'' | ''90''
|
''
0
''
| ''parameter''
| ''0'' | ''< -107; 166 >'' |
+
| ''3'' | ''
-
90''
|
''
100
''
| ''
-90 +
parameter''
| ''0'' | ''< -107; 166 >'' |
-
| ''4'' | ''
-
90
+ parameter
''
|
''
315
''
| ''
0
''
| ''
100
'' | ''< -160; 160 >'' |
+
| ''4'' | ''90''
|
''
0
''
| ''
parameter
''
| ''
315
'' | ''< -160; 160 >'' |
-
| ''5'' | ''90''
| ''0'' | ''
90 +
parameter''
| ''0'' | ''< -120; 120 >'' |
+
| ''5'' | ''
-
90''
| ''0'' | ''parameter''
| ''0'' | ''< -120; 120 >'' |
-
| ''6'' | ''0'' | ''0'' | ''parameter''
| ''85'' | ''< -360; 360 >'' |
+
| ''6'' | ''0'' | ''0'' | ''
180 +
parameter''
| ''85'' | ''< -360; 360 >'' |
The parameters ''α'' (rotation around new X axis) ''Θ'' (rotation around Z axis) are in degress and the parameters ''a'' (translation in new X axis) and ''d'' (translation in Z axis) are in milimeters. The Base is eye matrix and there is no Tool installed. The parameter range is in degrees and is the maximum possible range.
The parameters ''α'' (rotation around new X axis) ''Θ'' (rotation around Z axis) are in degress and the parameters ''a'' (translation in new X axis) and ''d'' (translation in Z axis) are in milimeters. The Base is eye matrix and there is no Tool installed. The parameter range is in degrees and is the maximum possible range.
help/common/robot_mitsubishi_rv-6s.txt
· Last modified: 2021/10/20 13:26 by
krsek