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specifications:joint_assignment

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specifications:joint_assignment [2015/08/25 10:53]
guvalif 		specifications:joint_assignment [2021/04/01 13:51] (current)
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-左右の区別はすべてPLENを背中側から見た際のものです。 +The distinction between left and right is defined as seen from the PLEN's back. 
-また、回転軸は右ねじの進む方向を矢印で表現し、手前方向は"**・**"，奥方向は"**×**"で示しています。 +Rotation axis is expressed by an arrow-shaped and this is subject to [the right-hand rule](https://en.wikipedia.org/wiki/Right-hand_rule). 
- +"**・**" symbol means a vector from back to front. (as if this crosses your screen vertically.)
-(回転軸は初期姿勢におけるものを記述しています。親部品が回転した場合、相対的に子部品の回転軸も変化します。) +
- +
- +
-Define the distinction between left and right as seen from the PLEN's back. +
-Rotation axis is expressed by an arrow-shaped and this is subject to the right-handed screw rule. +
-"**・**" symbol means a vector from back to front. (This crosses your screen vertically.)+
 "**×**" symbol means a negative vector of a vector described previously. "**×**" symbol means a negative vector of a vector described previously.
 +(See also : [Frame of Reference of a Servo Motor](http://plen.jp/playground/wiki/specifications/frame_of_reference))
  
 (This is only available for just after PLEN was starting. If you rotated any parent joint, also child joints are rotating.) (This is only available for just after PLEN was starting. If you rotated any parent joint, also child joints are rotating.)
  
 </markdown> </markdown>
-{{ specifications/PLEN_body.png?350 | PLEN Body }}+{{ specifications/PLEN_body.png?nolink&350 | PLEN Body }}
 <markdown> <markdown>
-|No.|Name                |Name (Japanese)|Index (Old)|Index (New)|Rotation axis| +|No.|Name                |Index (Old)|Index (New)|Rotation axis| 
-|:-:|:-------------------|:--------------|:---------:|:---------:|:-----------:| +|:-:|:-------------------|:---------:|:---------:|:-----------:| 
-|1  |Left Shoulder Pitch |左肩ピッチ     |18         |0          |→           | +|1  |Left Shoulder Pitch |18         |0          |←           | 
-|2  |Left Thigh Yaw      |左腿ヨー       |12         |1          |↓           | +|2  |Left Thigh Yaw      |12         |1          |↑           | 
-|3  |Left Shoulder Roll  |左肩ロール     |19         |2          |・           | +|3  |Left Shoulder Roll  |19         |2          |×           | 
-|4  |Left Elbow Roll     |左肘ロール     |21         |3          |×           | +|4  |Left Elbow Roll     |21         |3          |・           | 
-|5  |Left Thigh Roll     |左腿ロール     |13         |4          |・           | +|5  |Left Thigh Roll     |13         |4          |×           | 
-|6  |Left Thigh Pitch    |左腿ピッチ     |14         |5          |→           | +|6  |Left Thigh Pitch    |14         |5          |←           | 
-|7  |Left Knee Pitch     |左膝ピッチ     |15         |6          |→           | +|7  |Left Knee Pitch     |15         |6          |←           | 
-|8  |Left Foot Pitch     |左足ピッチ     |17         |7          |←           | +|8  |Left Foot Pitch     |17         |7          |→           | 
-|9  |Left Foot Roll      |左足ロール     |16         |8          |×           | +|9  |Left Foot Roll      |16         |8          |・           | 
-|10 |Right Shoulder Pitch|右肩ピッチ     |6          |12         |←           | +|10 |Right Shoulder Pitch|6          |12         |→           | 
-|11 |Right Thigh Yaw     |右腿ヨー       |0          |13         |↓           | +|11 |Right Thigh Yaw     |0          |13         |↑           | 
-|12 |Right Shoulder Roll |右肩ロール     |7          |14         |・           | +|12 |Right Shoulder Roll |7          |14         |×           | 
-|13 |Right Elbow Roll    |右肘ロール     |9          |15         |×           | +|13 |Right Elbow Roll    |9          |15         |・           | 
-|14 |Right Thigh Roll    |右腿ロール     |1          |16         |・           | +|14 |Right Thigh Roll    |1          |16         |×           | 
-|15 |Right Thigh Pitch   |右腿ピッチ     |2          |17         |←           | +|15 |Right Thigh Pitch   |2          |17         |→           | 
-|16 |Right Knee Pitch    |右膝ピッチ     |3          |18         |←           | +|16 |Right Knee Pitch    |3          |18         |→           | 
-|17 |Right Foot Pitch    |右足ピッチ     |5          |19         |→           | +|17 |Right Foot Pitch    |5          |19         |←           | 
-|18 |Right Foot Roll     |右足ロール     |4          |20         |×           |+|18 |Right Foot Roll     |4          |20         |・           |
 </markdown> </markdown>
specifications/joint_assignment.1440500018.txt.gz · Last modified: 2021/04/01 13:50 (external edit)

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