Conventions
Last updated
Last updated
Lets start with our used conventions across bysense!
Laptop, Computer which runs your OS. For C++ we recommend Linux
Ethernet cable or a Router
Optionally a debug cage depending on low level development
Front-Right
FR
Front-Left
FL
Hind-Right
HR
Hind-Left
HL
HAA
hip abduction/adduction
HFE
hip flexion extension
KFE
knee flexion/extension
FL-HAA
1
FL-HFE
2
FL-KFE
3
FR-HAA
4
FR-HFE
5
FR-KFE
6
HR-HAA
7
HR-HFE
8
HR-KFE
9
HL-HAA
10
HL-HFE
11
HL-KFE
12
Within this page you will find the overview for all used Dimensions within the SDK
Description
Dimension
length
m
velocity
rad/s
position
rad or deg
torque
Nm
The links describe the physical parts between the axis and are named like following:
All axis have a mechanical limit. Those limits are within the software embeded. In case of a uncontrolled fall down scenario the limits are there to prevent any damange on the cables between the axis.
HAA is limited by the U-shaped bumper which is at the same the carrier for the front and back payload and supports the wiring for it. Currently the max range is aroun 60 degree on all sides.
The KFE axis is limited by the upper link of the leg. Currently it has 130 degree of freedom. The HFE axis is made to be folded at the back. During operation of the robot we have 150 degree of freedom for that axis.
See in the following the Link dimensions for the use case of a inverse kinematic:
