nery
New Member
Posts: 4

Post by nery on Dec 7, 2017 4:12:36 GMT 7
Hey max, first of all thanks for your work! I'm new around here and I'am trying to use this to control a 3d printed robot with 3 rotational joints.
My question would be: is the reference frame correct?
I was checking the foward kinematics function
radius = lengthRearArm * math.cos(rearArmAngle) + lengthFrontArm * math.cos(frontArmAngle) + distanceTool
x = radius * math.cos(baseAngle)
y = radius * math.sin(baseAngle)
z = heightFromGround  lengthFrontArm * math.sin(frontArmAngle) + lengthRearArm * math.sin(rearArmAngle)
And i think the joint angle is not described correctly according to the image on docs folder. By these equations i guess joint 2 angle should start parallel to the ground and increase clockwise direction is that right ?


nery
New Member
Posts: 4

Post by nery on Dec 7, 2017 4:36:54 GMT 7
I was using foward and inverse kinematics to check if the functions worked out properly.
And i figured out the reference frame is correct but the kinematic foward function was wrong. So i chanced my DobotKinematics.py not sure if it will affect other functions but here is how the foward kinematics should be to match the reference frame.
radius = lengthRearArm * math.sin(rearArmAngle) + lengthFrontArm * math.cos(frontArmAngle) + distanceTool x = radius * math.cos(baseAngle) y = radius * math.sin(baseAngle) z = heightFromGround  lengthFrontArm * math.sin(frontArmAngle) + lengthRearArm * math.cos(rearArmAngle)

