Changes between Version 17 and Version 18 of UserGuideGit


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Timestamp:
Apr 6, 2016, 8:14:29 AM (10 years ago)
Author:
fma
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  • UserGuideGit

    v17 v18  
    3535=== Robot coordinates system ===
    3636
    37 This coordinates system is attached to the robot itself.
     37This coordinates system is attached to the robot itself:
    3838
    3939* the origin is at the center of the robot
    … …  
    4545=== Body coordinates system ===
    4646
    47 This coordinates system is attached to the body. It is defined from the ground coordinates system.
     47This coordinates system is attached to the body. It is defined from the ground coordinates system:
    4848
    4949* the origin is at the center of the body
    5050* X and Y axes define a plane parallel to the body, so that Y axis is the back-to-front axis of the body
    51 * Z axis is orthogonal to X/Y
     51* Z define the top side of the body
    5252
    5353This system is used to define the position of the body in the robot coordinates system, allowing it to move along the 6 DoF (3 translations, 3 rotations).
    … …  
    5555=== Legs coordinates systems ===
    5656
    57 This coordinates systems are attached to the legs, so each leg has its own coordinates system. They are defined in the body coordinates system.
     57This coordinates systems are attached to the legs, so each leg has its own coordinates system. They are defined from the body coordinates system:
    5858
    5959* the origin is at the origin of the leg (usually the coxa joint)
    … …  
    6262* Z axis is orthogonal to X/Y
    6363
    64 To summurize, from the body coordinate system, the legs coordinates systems are translated in the X/Y plane and rotated arround Z.
     64To summurize, from the body coordinate system, the legs coordinates systems are translated by '''(x, y)''' in the X/Y plane and rotated by '''gamma''' arround Z.
    6565
    66 The origin of a leg is defined as following, from the robot coordinates system:
     66The origin of a leg is defined as following, from the body coordinates system:
    6767
    6868[[Image(body_legs.png, 500px, nolink)]]
    … …  
    7474There is the last coordinates system, which is used by the gaits, to make to robot walk.
    7575
    76 This coordinate systems is defined from the body coordinates system, and also translated along body X/Y axes, but not rotated arround Z.
     76This coordinate systems is defined from the body coordinates system, and also translated along body X/Y axes, but not rotated arround Z:
     77
     78=== Misc notes ===
     79
     80* the center of the body is above the ground; its height is defined by the legs neutral position (z)
    7781
    7882=== Inverse Kinematic ===