hdt_setup
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hdt_setup [2017/05/15 15:58] – sangsinpark | hdt_setup [2017/05/19 16:24] (current) – [Matlab Code] sangsinpark | ||
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<!-- Add a representative photo of your tutorial below. | <!-- Add a representative photo of your tutorial below. | ||
- | {{ hdt_arm: | + | {{ hdt_arm: |
\\ | \\ | ||
- | The photo above depicts <fill in the blank> which allows you to <fill in the blank>. The big picture problem is <fill in the blank>. Solving this partially or completely is important because <fill in the blank>. This tutorial shows you how to <fill in the blank> | + | The HDT arm has 14 degrees of freedom (DOF). Especially, 3 DOFs, 3 DOFs, 1 DOFs, 3 DOFs, and 4 DOFs are located |
- | \\ | + | |
- | ===== Motivation | + | |
- | + | ||
- | This tutorial' | + | |
- | <fc blue> | + | ^BODY PART ^DOFs ^ |
- | * Know how to <fill in the blank> | + | | Torso | 3 | |
+ | | Shoulder | 3 | | ||
+ | | Elbow | 1 | | ||
+ | | Wrist | 3 | | ||
+ | | Hand | 4 | | ||
+ | | Total | 14 | | ||
\\ | \\ | ||
- | * Perhaps also know how to <fill in the blank> | + | ===== Coordinate Frames of the HDT Arm ===== |
- | \\ | + | |
- | * Perhaps additional background needed may include <fill in the blank> | + | |
- | \\ | + | |
- | * This tutorial may also attract readers who <fill in the blank> | + | |
- | </ | + | |
- | \\ | + | |
- | The rest of this tutorial is presented as follows: | + | |
- | * [[tutorialTemplate# | + | |
- | * [[tutorialTemplate# | + | |
- | * Programming <!- delete this line if not applicable -> | + | |
- | * Final Words | + | |
- | ==== Parts List and Sources ==== | + | First of all, I consider 10 DOFs except the hand's DOFs. |
- | US-based vendors to obtain material to complete this tutorial include <list relevant hyperlinks or phone numbers and addresses> | + | {{ hdt_arm: |
\\ | \\ | ||
- | To complete this tutorial, you'll need the following items <!-- in table below, replace ??? with relevant information and add additional lines if necessary --> | ||
- | <!-- Alternatively create: (1) a Google XLS document that's publicly viewable and provide link; and (2) a PDF version | + | ===== Standard DH parameters |
+ | Standard DH parameters and link lengths are shown in tables. | ||
+ | {{ hdt_arm: | ||
\\ | \\ | ||
- | + | {{ hdt_arm:hdt_tab2_length.jpg }} | |
- | ^PART NAME/ | + | |
- | | Smooth-on Silicone Mold Rubber | + | |
- | | <???> | + | |
- | | <???> | + | |
- | | <???> | + | |
- | | <???> | + | |
- | + | ||
- | \\ | + | |
- | <!-- Replace the URL below for your Google doc --> | + | |
- | Here is the [[https:// | + | |
- | \\ | + | |
- | <!-- Replace the filename with your PDF that you uploaded to your DASL Wiki tutorial page --> | + | |
- | Here is the {{:tutorialtemplategooglexlssamplepdf.pdf| list as a PDF file}} | + | |
\\ | \\ | ||
- | ==== Construction | + | ===== Verification of the DH parameters ===== |
- | This section gives step-by-step instructions along with photos to <fill in the blank>. (If a circuit-building tutorial:) A schematic to construct <fill in the blank> is shown here <add image>. <Add hyperlink to PDF of schematic> | + | I verify the DH parameters |
- | \\ | + | |
- | \\ | + | |
- | **Step 1** | + | |
- | \\ | + | |
- | \\ | + | |
- | <Add photos to make step easier to understand> | + | |
- | \\ | + | |
- | \\ | + | |
- | **Step 2** | + | |
- | \\ | + | |
- | \\ | + | |
- | < | + | |
- | \\ | + | |
- | ==== Programming ==== | + | |
- | A link to the source code can be found <provide URL to your code, probably saved in this DASL Wiki>. | + | {{ hdt_arm: |
\\ | \\ | ||
- | The goal of the code is <brief explanation> | + | {{ hdt_arm: |
\\ | \\ | ||
- | ---- | ||
- | <!- Insert a snippet of your code here. Try to keep to less than 0.5 page long --> | ||
- | ---- | ||
- | \\ | ||
- | The snippet above serves to <fill in the blank>. It does this by <fill in the blank>. | ||
- | \\ | ||
- | ---- | ||
- | <!- Insert another snippet of your code here. Try to keep to less than 0.5 page long --> | ||
- | ---- | ||
- | Next, the code does <fill in the blank> | ||
- | <!-- Keep entering snippets of code and descriptions until you've given enough for a reader to understand how it works --> | ||
- | // | ||
- | // | ||
- | ==== Final Words ==== | ||
- | |||
- | This tutorial' | ||
- | \\ | ||
- | \\ | ||
- | Speculating future work derived from this tutorial, includes <fill in the blank>. In the big picture, the problem of <fill in the blank> can be solved with this tutorial. | ||
- | \\ | ||
- | \\ | ||
- | For questions, clarifications, | ||
- | |||
+ | ==== Matlab Code ==== | ||
+ | <code java> | ||
+ | clear, close all | ||
+ | L1 = 0.1272; | ||
+ | L2 = 0.08; | ||
+ | L3 = 0.3638; | ||
+ | L4 = 0.2495; | ||
+ | L5 = 0.318; | ||
+ | L6 = 0.2244; | ||
+ | L7 = 0.0741; | ||
+ | L8 = 0.2; | ||
+ | % Standard DH % | ||
+ | L(1) = Link([0 L1 0 pi/2]); % L1 | ||
+ | L(2) = Link([0 0 L2 -pi/2]); % L2 | ||
+ | L(3) = Link([0 0 L3 pi/2]); % L3 | ||
+ | L(4) = Link([0 L4 0 -pi/2]); % L4 | ||
+ | L(5) = Link([0 0 0 pi/2]); | ||
+ | L(6) = Link([0 L5 0 -pi/2]); % L5 | ||
+ | L(7) = Link([0 0 0 pi/2]); | ||
+ | L(8) = Link([0 L6 0 -pi/2]); % L6 | ||
+ | L(9) = Link([0 0 L7 pi/2]); % L7 | ||
+ | L(10) = Link([0 0 L8 0]); % L8 | ||
+ | hdt_arm = SerialLink(L, | ||
+ | hdt_arm.plot([pi pi/2 0 0 -pi/4 0 0 0 -pi/2 0]); | ||
+ | </ |
hdt_setup.1494889096.txt.gz · Last modified: 2017/05/15 15:58 by sangsinpark