Biomedical Engineering Reference
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Q
FIGURE 2.22
A simple 4-DOF model of the lower limb.
z
0
z
1
x
0
x
1
9
z
2
x
2
11
Q
x
4
3
z
3
z
4
x
3
FIGURE 2.23
Establishing coordinate systems on a 4-DOF model of the lower limb.
90
o
,
q
3
52
90
o
, and
q
4
5
e.
If the lower limb has moved to
q
1
5
0,
calculate the final orientation of the foot, and the final coordinates of the point
Q
located at the tip of the foot.
0,
q
2
5
Results for (a) to (e) above:
a.
Coordinate systems are established as shown in
Figure 2.23
.
b.
The DH parameters are shown in
Table 2.1
.
c.
Substituting each row of the DH table into
Equation (2.50)
yields the four
transformation matrices as follows:
2
3
cos
q
1
0
sin
q
1
0
4
5
sin
q
1
cos
q
1
0
01 00
00 01
0
2
0
T
1
5
(2.56)
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