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specifications:frame_of_reference [2015/08/29 07:52]
specifications:frame_of_reference [2015/11/16 04:57]
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-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.
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specifications/frame_of_reference.txt · Last modified: 2021/04/01 13:51 (external edit)