2011/4/20 andy pugh <[email protected]>: > On 19 April 2011 20:10, Viesturs Lācis <[email protected]> wrote: > >> I feel that we have misunderstanding here... >> Alpha rotates around X (X stays, Z (and Y) are moved), theta - around >> Z (Z stays, X (and Y) are moved). And theta goes first, alpha is >> second. >> So theta should move X to where Y was and then with alpha (by turning >> around the "new" - already displace - X axis) Z would be placed, where >> was X. >> Please, take a look - I drew small sketch, how it is done in 2 steps: >> http://www.cutting.lv/fileadmin/user_upload/DH.JPG > > After a few minutes of rotating my digital coordinate system I have > concluded you are correct, it is easy to rotate your thumb to the > index finger initial position with the two rotations. Also, all > alignments appear to be possible, which you would rather expect,
I am hoping for a free weekend somewhere in a near future to sit down and test this module by creating a single-joint virtual machine and then trying to get the linear joint working correctly. I will report my results back, when I will have something done. Viesturs ------------------------------------------------------------------------------ Fulfilling the Lean Software Promise Lean software platforms are now widely adopted and the benefits have been demonstrated beyond question. Learn why your peers are replacing JEE containers with lightweight application servers - and what you can gain from the move. http://p.sf.net/sfu/vmware-sfemails _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
