Robot coordinate system
Adam Lite
Adam Standard
Adam SP
Coordinate system, joint rotation axis and joint zero point
When each joint is at zero degrees, the coordinate systems are as follows. Red is the x-axis, green is the y-axis, and blue is the z-axis.
Ankle Forward Kinematic
| Parameter Table | |||
|---|---|---|---|
| θ1 = 0.51 rad | r1 = 40.00mm | h1 = 15.00mm | d1 = 37.10mm |
| θ2 = 1.83 rad | r2 = 40.00mm | h2 = 33.00mm | d2 = 35.00mm |
| θ3 = 0.57 rad | l1 = 280.00mm | h3 = 31.50mm | d3 = 47.00mm |
| θ4 = 1.92 rad | l2 = 208.00mm |