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Fixed bug in Model Function for Direct Kinematics #1

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Fixed bug in Model Function for Direct Kinematics #1

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a8602a1
Fixed Bug with dh parameters in 02-direct-kinematics "Model Function …
ThomSpencer Apr 17, 2024
485f6e4
Left outputs in
ThomSpencer Apr 17, 2024
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8 changes: 4 additions & 4 deletions 3-kinematics/02-direct-kinematics.ipynb
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Original file line number Diff line number Diff line change
Expand Up @@ -227,8 +227,8 @@
"\n",
" # Denavit-Hartenberg parameters for the 3 DOF robot\n",
" # end effector: H10 * H21\n",
" H10 = dh(t1 + 40, 1000, 0, 0)\n",
" H21 = dh(t2 + 10, 1000, 0, 0)\n",
" H10 = dh(t1,0, 1, 0)\n",
" H21 = dh(t2,0, 1, 0)\n",
" # the tool has a length of 100 mm\n",
" Htool3 = dh(0, 100, 0, 0)\n",
"\n",
Expand Down Expand Up @@ -272,7 +272,7 @@
"outputs": [],
"source": [
"# Test of the function dk(t1, t2)\n",
"pose = dk(0, 0)\n",
"pose = dk(40, 10)\n",
"\n",
"# print the end effector pose\n",
"print(pose)\n",
Expand Down Expand Up @@ -421,7 +421,7 @@
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.10.6"
"version": "3.8.10"
}
},
"nbformat": 4,
Expand Down