Manipulator_Geometry_Settings Class Reference

This class contains geometrical properties and dimensional settings of a chained-link manipulator. More...

Inheritance diagram for Manipulator_Geometry_Settings:

Public Member Functions
def	__init__
	The Class Constructor: More...

Public Attributes
	name
	nlink
	A positive integer containing the number of links of the manipulator. More...
	theta
	A numpy vector containing the \( \theta \) values of the DH parameters If the proximal joint of the link is revoulte, the value of theta[i] is added to q[i] in the transformation matrix. More...
	alpha
	A numpy vector containing the \( \alpha \) values of the DH parameters. More...
	a
	A numpy vector containing the \( a \) values of the DH parameters. More...
	d
	A numpy vector containing the \( d \) values of the DH parameters If the joint is prismatic, the value of d[i] is added to q[i] in the transformation matrix. More...

Detailed Description

This class contains geometrical properties and dimensional settings of a chained-link manipulator.

These settings mainly include the standard DH parameters by which the geometry of the manipulator is specified. These values are based on Denavit Hartenberg standrad representation. The transformation matrices are calculated based on this standard. If the joint is revoulte, the value of theta[i] is added to q[i] in the transformation matrix If the joint is prismatic, the value of d[i] is added by q[i] in the transformation matrix

Definition at line 42 of file manipulator_geometry.py.

Constructor & Destructor Documentation

def __init__	(		self,
			nlink,
			manip_name
	)

The Class Constructor:

Parameters

nlink	A positive integer specifying the number of links of the manipulator
manip_name	A character string specifying the name of a manipulator. Examples: PR2ARM or PA10

Definition at line 46 of file manipulator_geometry.py.

Member Data Documentation

a

A numpy vector containing the \( a \) values of the DH parameters.

Definition at line 59 of file manipulator_geometry.py.

alpha

A numpy vector containing the \( \alpha \) values of the DH parameters.

Definition at line 56 of file manipulator_geometry.py.

d

A numpy vector containing the \( d \) values of the DH parameters If the joint is prismatic, the value of d[i] is added to q[i] in the transformation matrix.

Definition at line 63 of file manipulator_geometry.py.

name

Definition at line 47 of file manipulator_geometry.py.

nlink

A positive integer containing the number of links of the manipulator.

Definition at line 49 of file manipulator_geometry.py.

theta

A numpy vector containing the \( \theta \) values of the DH parameters If the proximal joint of the link is revoulte, the value of theta[i] is added to q[i] in the transformation matrix.

Definition at line 53 of file manipulator_geometry.py.

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The documentation for this class was generated from the following file:

• manipulator_geometry.py