Hi,
The robot is constructed facing to y axis, e.g. the x axis in figure
8.6(from Aldebaran) is y axis in SimSpark.
PS: It would be better to ask such questions in
sse...@li..., this list is for discussion
development.
--
Best Regards,
Xu, Yuan
On Thu, 2010-04-29 at 18:56 +0800, Huang Yaolong wrote:
> Hi, all.
>
> I'm confused about the joint configurations stated in the manual.
> In the manual, the axis description states the direction relative to
> the body that installed on. But there are some axis which are not
> consistent with the figure 8.6.
> For example of joint of the head, the axis direction stated in the
> table 8.3 is [1, 0, 0], but as shown in figure 8.6, the head joint
> axis should be in the direction [0, 1, 0] relative to the head( or the
> neck's axis).
> I'm not very clear why the [x, y, z] form of direction will be used in
> the axis description. Is there any default frame attached to the
> bodypart so that [x, y, z] is relative to the frame?
> If there is a default frame, how to figure it out? This is very
> important for me, because both of axis and anchor of the joint use the
> 3D coordinates to describe their position.
>
> --
> Best regards,
> Yaolong Huang(Curtis)
>
> Tianjin University, China
>
> Blog: http://blog.csdn.net/airekans/
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