Редактирование: Manipulator model

==Description==
This is the page of a project related to [[Проект "Фехтование"|project "Fencing"]]. 

==Developers==
[[Dzenushko Dainis]]

==Global Task==
The main aim of this project is development of a program which will be useful for recording and calculation of manipulator's movement.

==Current task ==
Current task is development of fencer's hand model. That means to create mathematical model, that finds the position of a hand and comes to this position from any previous position with visualization on C# language, using parameters (changes of angles in joints and coordinates of a shoulder)

==Some information about programm==

===Degrees of freedom===
This model has 9 degrees of freedom:<br>
�2 — translation movement of a shoulder (front/back; up/down)<br>
�3 — shoulder joint as a ball joint�<br>
1 — elbow joint <br>
�1 — rotation of wrist round it’s axis�<br>
2 — wrist (2 perpendicular cylindrical joints)<br>

===Hand rotation===