User Tools

Site Tools


Sidebar

Translations of this page:

====== Menu ====== ===== Introductions ===== * [[concept]] * [[about]] * [[laws]] * [[license]] ===== Documents ===== * [[tutorials/index.html]] * [[specifications/index.html]] * [[api_guides/index.html]] * [[faq/index.html]] * [[https://github.com/plenprojectcompany|Resources on the GitHub]] ===== Social Accounts ===== * [[https://ja-jp.facebook.com/PlenProjectCommittee|Facebook Page]] * [[https://twitter.com/plen_project|Twitter]] * [[https://www.instagram.com/plenproject/|Instagram]] * [[https://www.youtube.com/channel/UCoKNQe4Vb5Fa0D00bYLEFJQ|Youtube Channel]] ===== Etc ===== * [[sitepolicy]] * [[editing]] * [[https://www.dokuwiki.org/wiki:syntax|Syntax]]

specifications:joint_assignment

This is an old revision of the document!


Joint No. Assignment

左右の区別はすべてPLENを背中側から見た際のものです。 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。 (詳細定義:Frame of Reference of a Servo Motor)

(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. (See also : Frame of Reference of a Servo Motor)

(This is only available for just after PLEN was starting. If you rotated any parent joint, also child joints are rotating.)

 PLEN Body

No. Name Name (Japanese) Index (Old) Index (New) Rotation axis
1 Left Shoulder Pitch 左肩ピッチ 18 0
2 Left Thigh Yaw 左腿ヨー 12 1
3 Left Shoulder Roll 左肩ロール 19 2
4 Left Elbow Roll 左肘ロール 21 3 ×
5 Left Thigh Roll 左腿ロール 13 4
6 Left Thigh Pitch 左腿ピッチ 14 5
7 Left Knee Pitch 左膝ピッチ 15 6
8 Left Foot Pitch 左足ピッチ 17 7
9 Left Foot Roll 左足ロール 16 8 ×
10 Right Shoulder Pitch 右肩ピッチ 6 12
11 Right Thigh Yaw 右腿ヨー 0 13
12 Right Shoulder Roll 右肩ロール 7 14
13 Right Elbow Roll 右肘ロール 9 15 ×
14 Right Thigh Roll 右腿ロール 1 16
15 Right Thigh Pitch 右腿ピッチ 2 17
16 Right Knee Pitch 右膝ピッチ 3 18
17 Right Foot Pitch 右足ピッチ 5 19
18 Right Foot Roll 右足ロール 4 20 ×
specifications/joint_assignment.1440566146.txt.gz · Last modified: 2021/04/01 13:50 (external edit)