Merge branch 'dh-chop' into 54-reorg, #54

roboticslab-uc3m · Apr 8, 2019 · fb63091 · fb63091
2 parents 54dbe33 + 676a323
commit fb63091
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diff --git a/csv/dh-head.csv b/csv/dh-head.csv
@@ -0,0 +1,3 @@
+Link,θ,D,A,α
+1,q27,0,0,90
+2,q28,0,0,-90
diff --git a/csv/dh-leftArm.csv b/csv/dh-leftArm.csv
@@ -0,0 +1,7 @@
+Link,θ,D,A,α
+1,q21,0,0,90
+2,90+q22,0,0,90
+3,90+q23,l6,0,90
+4,q24,0,0,-90
+5,q25,l7,0,90
+6,90+q26,0,l8,0
diff --git a/csv/dh-leftLeg.csv b/csv/dh-leftLeg.csv
@@ -0,0 +1,7 @@
+Link,θ,D,A,α
+1,q7,0,0,90
+2,-90+q8,0,0,-90
+3,q9,0,-l10,0
+4,q10,-l16,-l11,0
+5,q11,0,0,-90
+6,q12,0,-l12,0
diff --git a/csv/dh-rightArm.csv b/csv/dh-rightArm.csv
@@ -0,0 +1,7 @@
+Link,θ,D,A,α
+1,q15,0,0,90
+2,-90+q16,0,0,90
+3,-90+q17,l6,0,90
+4,q18,0,0,-90
+5,q19,l7,0,90
+6,90+q20,0,l8,0
diff --git a/csv/dh-rightLeg.csv b/csv/dh-rightLeg.csv
@@ -0,0 +1,7 @@
+Link,θ,D,A,α
+1,q6,0,0,-90
+2,90+q5,0,0,-90
+3,q4,0,l10,0
+4,q3,l16,l11,0
+5,q2,0,0,-90
+6,q1,0,l12,0
diff --git a/csv/dh-table.csv b/csv/dh-table.csv
diff --git a/csv/dh-transformations.csv b/csv/dh-transformations.csv
@@ -0,0 +1,8 @@
+H_head_rgb,TrasZ(-l14) * TrasY(l3) * RotY(90) * RotZ(180)
+H_head_depth,TrasZ(-l14-l15) * TrasY(l3) * RotY(90) * RotZ(180)
+H_head_flea,TrasY(l3+l4) * RotY(90) * RotZ(180)
+H_hip_neck,RotX(90) * TrasZ(l1+l2)
+H_hip_leftArm,TrasY(-l1) * TrasZ(l5) * RotZ(90)
+H_hip_rightArm,TrasY(-l1) * TrasZ(-l5) * RotZ(-90) * RotX(180)
+H_root_leftLeg,TrasY(l13) * TrasZ(-l9) * RotZ(90) * RotX(180)
+H_root_rightLeg,TrasY(-l13) * TrasZ(-l9) * RotZ(-90)
diff --git a/csv/dh-trunk.csv b/csv/dh-trunk.csv
@@ -0,0 +1,3 @@
+Link,θ,D,A,α
+1,q13,l0,0,-90
+2,q14,0,0,0
diff --git a/tables.md b/tables.md
@@ -1,6 +1,6 @@
 # Tables
 - [Joint Limits](#joint-limits)
-- [DH Parameter Table](#dh-parameter-table)
+- [DH Parameters](#dh-parameters)
 - [Link Lengths](#link-lengths)
 - [Bill of materials (BOM)](#bill-of-materials-bom)
 - [Motores: motores](#motores-motores)
@@ -11,10 +11,31 @@
 ## Joint Limits
 Can be found at [Motores: motores](#motores-motores)
 
-## DH Parameter Table
+## DH Parameters
 
-- Github: [dh-table.csv](csv/dh-table.csv)
-- Gitbook: {% includeCsv src="csv/dh-table.csv", useHeader="true" %}{% endincludeCsv %}
+### Head
+- Github: [dh-head.csv](csv/dh-head.csv)
+- Gitbook: {% includeCsv src="csv/dh-head.csv", useHeader="true" %}{% endincludeCsv %}
+
+### Right Arm
+- Github: [dh-rightArm.csv](csv/dh-rightArm.csv)
+- Gitbook: {% includeCsv src="csv/dh-rightArm.csv", useHeader="true" %}{% endincludeCsv %}
+
+### Left Arm
+- Github: [dh-leftArm.csv](csv/dh-leftArm.csv)
+- Gitbook: {% includeCsv src="csv/dh-leftArm.csv", useHeader="true" %}{% endincludeCsv %}
+
+### Trunk
+- Github: [dh-trunk.csv](csv/dh-trunk.csv)
+- Gitbook: {% includeCsv src="csv/dh-trunk.csv", useHeader="true" %}{% endincludeCsv %}
+
+### Right Leg
+- Github: [dh-rightLeg.csv](csv/dh-rightLeg.csv)
+- Gitbook: {% includeCsv src="csv/dh-rightLeg.csv", useHeader="true" %}{% endincludeCsv %}
+
+### Left Leg
+- Github: [dh-leftLeg.csv](csv/dh-leftLeg.csv)
+- Gitbook: {% includeCsv src="csv/dh-leftLeg.csv", useHeader="true" %}{% endincludeCsv %}
 
 ## Link Lengths
 - Github: [lengths.csv](csv/lengths.csv)