Changes between Version 15 and Version 16 of UserGuideGit

Timestamp:

Apr 5, 2016, 3:23:16 PM (10 years ago)

Author:

fma

Comment:

--

UserGuideGit

@@ -72 +72 @@
 === Inverse Kinematic ===
 
+The Inverse kinematic is the the kinematic equations of a robot to determine the joints parameters that provide a desired position of leg (foot).
+
+Here are the angles involved.
+
 ==== 3 DoF legs ====
+
+* '''gamma''': angle of the leg in the the body X/Y plane (angle between body X axis and leg X axis)
+* '''alpha''': angle of the femur in the leg X/Z plane (angle between coxa and femur)
+* '''beta''': angle of the tibia in the leg X/Z plan (angle between femur and tibia)
 
 [[Image(IK3DoF.png, 500px, nolink)]]
 
 ==== 4 DoF leg ====
+
+* '''tars''':  angle of the tars in the leg X/Z plan (angle between tibia and tars)
 
 [[Image(IK4DoF.png, 500px, nolink)]]