Update head DH

- Also introduces meny fixes on DH diagram - #40 (comment) - roboticslab-uc3m/teo-main#38
roboticslab-uc3m · Apr 12, 2019 · ad023dd · ad023dd
1 parent 97d2bd9
commit ad023dd
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Showing 5 changed files with 629 additions and 450 deletions.
diff --git a/csv/dh-head.csv b/csv/dh-head.csv
@@ -1,3 +1,3 @@
 Link,θ,D,A,α
-1,q27,0,0,90
+1,q27,l1+l2,0,90
 2,q28,0,0,-90
diff --git a/csv/dh-root-head.csv b/csv/dh-root-head.csv
@@ -0,0 +1,3 @@
+Link,θ,D,A,α
+1,q13,l0,0,-90
+2,q14,0,0,90
diff --git a/csv/dh-transformations.csv b/csv/dh-transformations.csv
@@ -1,8 +1,8 @@
 Name,Transformation
-H_head_rgb,TrasZ(-l14) * TrasY(l3) * RotY(90) * RotZ(180)
-H_head_depth,TrasZ(-l14-l15) * TrasY(l3) * RotY(90) * RotZ(180)
-H_head_flea,TrasY(l3+l4) * RotY(90) * RotZ(180)
-H_hip_neck,RotX(90) * TrasZ(l1+l2)
+H_head_rgb,TrasZ(l3) * RotX(-90) * TrasX(-l14)
+H_head_depth,TrasZ(l3) * RotX(-90) * TrasX(-l14-l15)
+H_head_flea,TrasZ(l3+l4) * RotX(-90)
+H_hip_neck,RotX(90)
 H_hip_leftArm,TrasZ(l5) * RotZ(-90) * TrasX(l1)
 H_hip_rightArm,TrasZ(-l5) * RotZ(-90) * TrasX(l1)
 H_root_leftLeg,TrasZ(-l19) * RotZ(90) * TrasX(l13)

diff --git a/fig/dh-drawing.png b/fig/dh-drawing.png