//define the robot here, e.g. Puma cap[0]="Waist"; about[0]=2; //z axis - rotate about waist disp[0]=[0,.1,0]; //sideways to shoulder, y cap[1]="Shoulder"; about[1]=1; //raise and lower upper arm, y disp[1]=[.5,0,0]; //along upper arm, x cap[2]="Elbow"; about[2]=1; //elbow about y axis disp[2]=[.5,0,0]; //forearm, x cap[3]="Wrist twist"; about[3]=0; //rotate wrist about x axis disp[3]=[0,0,0]; cap[4]="Wrist flap"; about[4]=1; //flap wrist about y disp[4]=[.1,0,0]; //to tooltip along x cap[5]="Screw"; about[5]=0; //screwdriver 'twiddle' about x disp[5]=[0,0,.05]; //blob to show screwdriver angle
The black ball represents the origin
Define the axes of the robot below, then 'reload' if you have edited them.
