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A robot used in MASH project. Room number is A420 and a phone number is +420 224 357 245 (local line 7245).
joint
α
a
Θ
d
parameter range
1
-90
85
parameter
350
< -170; 170 >
2
0
380
-90 + parameter
< -92; 135 >
3
100
< -129; 166 >
4
90
425
< -160; 160 >
5
< -120; 120 >
6
< -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.
Robot currently set using parameter MEPAR to work above plane with the z coordinate 100 mm.
Images , top view and oblique view, of cubes placed on the TV screen, which projects “wild water”.