Link_Point Class Reference

Public Member Functions
def	__init__

Public Attributes
	ln
	pv
	w

Detailed Description

A Link point is a point defined on a link or frame of any moving mechanism.
only a position reference

This record should be defined in association with a Reference_Position

Definition at line 24 of file link_point.py.

Constructor & Destructor Documentation

def __init__	(		self,
			link_number,
			weight,
			position_vector
	)

@param "ln" represents the number of link in a model on which the point is located
@param "pv" represents the position vector of the refered point in the local coordinate system of the specified link.
    The local coordinates system is specified by DH standard:
    Axis z (k): is the rotation axis of the proximal joint center.
    Axis x (i) : is in the direction of the vector moving from proximal towards distal joint center
    Axis y (j) : is generated by: j = k X i
    The origin of the frame is located on the distal joint center
    
    i.e: For introducing the proximal joint center select: pv = [-a_i*cos(teta_i) , -a_i*sin(teta_i), -d_i]
    where: "a_i" and "d_i" are read from DH parameters of link i, and "teta_i" is the initial joint angle of the proximal joint
    i.e: For introducing the distal joint center, select: pv = [0, 0, 0]
    
@param "w" is a weight coefficient. It is used when a reference position is defined as a linear combination of some link points

Definition at line 31 of file link_point.py.

Member Data Documentation

ln

Definition at line 47 of file link_point.py.

pv

Definition at line 48 of file link_point.py.

w

Definition at line 49 of file link_point.py.

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

• link_point.py