Denavit Hartenberg revision for legs

roboticslab-uc3m / teo-main

TEO full-sized humanoid robot: super/meta repository.

http://roboticslab.uc3m.es/roboticslab/robot/teo-humanoid

GNU Lesser General Public License v2.1

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Denavit Hartenberg revision for legs #18

Closed PeterBowman closed 6 years ago

PeterBowman commented 7 years ago

From @munozyanez on March 9, 2017 14:17

Recent merge (https://github.com/roboticslab-uc3m/kinematics-dynamics/pull/83) has uploaded a revised DH parameters configuration in the following folder:

https://github.com/roboticslab-uc3m/kinematics-dynamics/tree/develop/share/kinematics To be more specific, files
https://github.com/roboticslab-uc3m/kinematics-dynamics/blob/develop/share/kinematics/leftLegKinematics.ini
https://github.com/roboticslab-uc3m/kinematics-dynamics/blob/develop/share/kinematics/rightLegKinematics.ini Have changed according DH Parameter Table published in http://robots.uc3m.es/index.php/TEO_Diagrams .

Copied from original issue: roboticslab-uc3m/kinematics-dynamics#87

PeterBowman commented 7 years ago

From @jgvictores on March 9, 2017 14:18

@munozyanez Thanks a lot for this info. It will be very helpful in the future, and also in the present debugging issues such as roboticslab-uc3m/kinematics-dynamics#86.

PeterBowman commented 7 years ago

From @munozyanez on March 9, 2017 14:25

By the way, I would like to propose to put all this files and ( https://github.com/roboticslab-uc3m/teo-openrave-models ) under specific teo-config repo. I mean, following the idea of teo-openrave-models, put all configuration files together can be useful for code cleanliness, and reuse with other robots.

PeterBowman commented 7 years ago

From @jgvictores on March 9, 2017 14:31

By the way, I would like to propose to put all this files and ( https://github.com/roboticslab-uc3m/teo-openrave-models ) under specific teo-config repo. I mean, following the idea of teo-openrave-models, put all configuration files together can be useful for code cleanliness, and reuse with other robots.

Yes, this is definitely a good idea. The only consideration is putting config files directly in teo-main, or in a new teo-config or teo-configuration-files etc, which will then be YCM'ed into teo-main. I'll be working on this tomorrow and will probably take a look at how it works directly in teo-main, without discarding the option of a new repo.

PeterBowman commented 7 years ago

From @munozyanez on March 24, 2017 16:16

I can do it, but I am very busy at the moment. I can take if this is a long term assignment.

PeterBowman commented 7 years ago

From @munozyanez on March 24, 2017 16:56

As you asked, the minimum knee angle for static gait for the robot is asin(0.1285/0.845) = 8.7 deg. This angle sets the foot just under the root point. Angle must be a bit bigger.

PeterBowman commented 7 years ago

DH parameters now go to /share/kinematics at our new repository https://github.com/roboticslab-uc3m/teo-configuration-files.

munozyanez commented 7 years ago

Great! Fully agree with that approach.

jgvictores commented 6 years ago

Update: Current dh-table and dh-drawing at https://github.com/roboticslab-uc3m/teo-software-manual/tree/master/assets

@munozyanez Are we happy with the leg kinematic model as of https://github.com/roboticslab-uc3m/teo-configuration-files/commit/3054b2e44dc66bca33d6f33f3671cfb62e7a0203 (current develop) to close this issue?

munozyanez commented 6 years ago

Yes, it is working ok afaik. Closing.

jgvictores commented 6 years ago

@munozyanez Thanks!