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 ?
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 ?