User Tools

Site Tools



This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revision Previous revision
Next revision
Previous revision
specifications:frame_of_reference [2015/08/29 07:52]
specifications:frame_of_reference [2021/04/01 13:51] (current)
Line 3: Line 3:
 =================================== ===================================
-サーボモータに関して、基準座標は次のように定義する。+## Basic Definitions
-- 歯車のついている側面に対する法線ベクトルを、y座標に関する正の向きと定める。 +Reference coordinates for servo motors is defined below.
-- 前述のベクトルに対して、右ねじの向きを回転の正の向きと定める。+
-PWM角度制御が可能なサーボモータに対して、角度を次のように定義する。+- A normal vector which extends from the side of adding a gear, is defined as a negative vector of y axis. 
 +- Rotation direction for a positive vector of y axis, is subject to the right-hand rule.
-最小幅PWM入力時における位置と、最大幅PWM入力時における位置の差から、5%を間引きした値を可動範囲と定める。 +An angle of a servo that is controllable by PWM, is defined below. 
 +Range of movement is defined as differences between an angle when input min PWM and an angle when input max PWM. 
 +The neutral angle of range of movement, is defined as 0 [deg]. 
 +## Specifications Each PLEN's Servos Have 
 +- **PLEN1.4**   
 +  Rotate clockwise by increasing PWM width. 
 +- **PLEN2**   
 +  Rotate counter clockwise by increasing PWM width.
 </markdown> </markdown>
specifications/frame_of_reference.1440834761.txt.gz · Last modified: 2021/04/01 13:51 (external edit)