Tekkotsu CVS Log
Commited Thu. March 20, 2008 at 11:36:57 PM EDT
from Ethan Tira-Thompson
Fixing Pan/Tilt kinematics...
Origin is front/center of robot (for convenience of pushing objects)
So positive x points forward, positive y points left and is aligned with front edge, and positive z points up. z=0 (i.e. the xy plane) is the ground plane. (so the kinematics parameters depend on wheel height here -- as convenient a way to define ground plane/wheel height interaction as any...)
Origin is front/center of robot (for convenience of pushing objects)
So positive x points forward, positive y points left and is aligned with front edge, and positive z points up. z=0 (i.e. the xy plane) is the ground plane. (so the kinematics parameters depend on wheel height here -- as convenient a way to define ground plane/wheel height interaction as any...)
