ChK/appRobotHoming
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defer im index.html

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chk
2026-05-15 10:02:13 +02:00
parent 58837c646a
commit e406f18169
2 changed files with 16 additions and 13 deletions
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5
public/index.html
View File

@@ -87,10 +87,11 @@
</div>
<script src="/calculateActions.js"></script>
<script type="module" src="/calculateAnglesBrowser.js"></script>
<script src="/client.js"></script>
<script> window.calculateAngles.fetchAndCalculate(); </script>
<script defer> window.calculateAngles.fetchAndCalculate(); </script>
<script src="/calculateAngles.js"></script>
</body>
</html>

24
public/robot.json
View File

@@ -4,18 +4,20 @@
"ElementLength":{"Arm1":250, "Arm2":250, "Finger1":100, "Finger2":100},
"Joints":{
"jointA":{"name":"Slider", "type":"lninear", "axis":[1,0,0],"parent":"Board","child":"Base"},
"jointB":{"name":"Shoulder","type":"revolute","axis":[1,0,0],"parent":"Base","child":"Arm1","origin":[-89.5, 115, 53], "originSource":[null, "229_198_Foto_5_2026", "229_198_Foto_5_2026"]},
"jointB":{"name":"Shoulder","type":"revolute","axis":[1,0,0],"parent":"Base","child":"Arm1","origin":[-89.5, 115, 61], "originSource":[null, "229_198_Foto_5_2026", "Fuson"]},
"jointC":{"name":"EllbowLift","type":"revolute","axis":[1,0,0],"parent":"Arm1","child":"Joint1", "origin":[null, null, null]},
"jointD":{"name":"EllbowTwist","type":"revolute","axis":[0,1,0],"parent":"Joint1","child":"Arm2", "origin":[null, null, null]}
},
"MarkerType":"DICT_4X4_250",
"Marker":[
{"id":205,"on":"Board","position":[0.80, -0.090, 0.0]},
{"id":205,"on":"Board","position":[0.80, -0.090, 0.0]},
{"id":207,"on":"Board","position":[0.80, 0.0, 0.0]},
{"id":208,"on":"Board","position":[0.50, -0.090, 0.0]},
{"id":210,"on":"Board","position":[0.00, 0.0, 0.0]},
{"id":211,"on":"Board","position":[0.20, 0.0, 0.0]},
{"id":214,"on":"Board","position":[0.40, 0.0, 0.0]},
{"id":215,"on":"Board","position":[0.20, -0.090, 0.0]},
{"id":217,"on":"Board","position":[0.60, -0.090, 0.0]},
{"id":200,"on":"Base","relPos":[-163.8, 6.5, 55], "relPosSource":["226_FotoAverage_5_2026",null,null]},
{"id":201,"on":"Base","relPos":[-164.8, 97.5, 74.5], "relPosSource":["226_FotoAverage_5_2026",null,null]},
@@ -29,15 +31,15 @@
{"id":222,"on":"Joint1", "relPos":[0,0, -35]},
{"id":226,"on":"Joint1", "relPos":[0,0, 35]},
{"id":228,"on":"Arm2", "relPos":[-24.75, 112, 24.75], "relPosSource":["Fusion365","Fusion365","Fusion365"]},
{"id": 0,"on":"Arm2", "relPos":[-24.75, 182, 24.75], "relPosSource":["Fusion365","Fusion365","Fusion365"]},
{"id": 0,"on":"Arm2", "relPos":[-35,112,0], "relPosSource":["Fusion365","Fusion365","Fusion365"]},
{"id": 0,"on":"Arm2", "relPos":[-35,219,0], "relPosSource":["Fusion365","Fusion365","Fusion365"]},
{"id":223,"on":"Arm2", "relPos":[-28.67,112,-20.08], "relPosSource":["Fusion365","Fusion365","Fusion365"]},
{"id": 0,"on":"Arm2", "relPos":[0,182,-30], "relPosSource":["Fusion365","Fusion365","Fusion365"]},
{"id":218,"on":"Arm2", "relPos":[35,112,0], "relPosSource":["Fusion365","Fusion365","Fusion365"]},
{"id":219,"on":"Arm2", "relPos":[35,219,0], "relPosSource":["Fusion365","Fusion365","Fusion365"]},
{"id": 0,"on":"Arm2", "relPos":[24.75, 182, 24.75], "relPosSource":["Fusion365","Fusion365","Fusion365"]},
{"id":228,"on":"Arm2", "relPos":[-24.75, 112, 24.75], "relPosSource":["Fusion","Fusion","Fusion"]},
{"id": 0,"on":"Arm2", "relPos":[-24.75, 182, 24.75], "relPosSource":["Fusion","Fusion","Fusion"]},
{"id": 0,"on":"Arm2", "relPos":[-35,112,0], "relPosSource":["Fusion","Fusion","Fusion"]},
{"id": 0,"on":"Arm2", "relPos":[-35,219,0], "relPosSource":["Fusion","Fusion","Fusion"]},
{"id":223,"on":"Arm2", "relPos":[-28.67,112,-20.08], "relPosSource":["Fusion","Fusion","Fusion"]},
{"id": 0,"on":"Arm2", "relPos":[0,182,-30], "relPosSource":["Fusion","Fusion","Fusion"]},
{"id":218,"on":"Arm2", "relPos":[35,112,0], "relPosSource":["Fusion","Fusion","Fusion"]},
{"id":219,"on":"Arm2", "relPos":[35,219,0], "relPosSource":["Fusion","Fusion","Fusion"]},
{"id": 0,"on":"Arm2", "relPos":[24.75, 182, 24.75], "relPosSource":["Fusion","Fusion","Fusion"]},
{"id":218,"on":"Finger1","name":"A1","relPos":[-1.70,-25.14, 38.04]},
{"id":222,"on":"Finger1","name":"B1","relPos":[-14.55, 0.84, 74.79]}