Koordinatentransformation nach Denavit-Hartenberg am Beispiel eines KUKA KR16

Mit diesem Blog-Post möchte ich ein altes Paper von mir erneut veröffentlichen, das sich mit Koordinatentransformationen nach Denavit-Hartenberg beschäftigt. Ursprünglich habe ich es als zusätzliches Lernmaterial für die Steuerungstechnikvorlesung verfasst. Es nutzt einen KUKA-KR16-Roboter als Beispiel, um die Theorie zu erläutern. Damals hatte ich solch einen Industrieroboter für mein Institut beschafft. Ich habe bemerkt, dass … Continue reading

FotoPreProcessor v20151104

FotoPreProcessor v20151104

And here is another update to FotoPreProcessor, dealing with an orientation bug. The last version suffered from a coding typo that resulted in a wrong Orientation tag value. This in turn prevented FPP to apply all changes, so no harm would have been done to the image files. Version 20151104 fixes this bug. In addition, … Continue reading

FotoPreProcessor v20151101

FotoPreProcessor v20151101

Since June I’ve updated FotoPreProcessor on GitHub. Here is my changelog: many small fixes, including corrected auto-rotating of preview images (Qt auto-rotates images if EXIF information is available, thus FotoPreProcessor would apply this orientation again) update to Python 3 and the new Qt signal/slot mechanism improved argument handling new: search option for locations new: changes … Continue reading

OSMImageMap

Recently I needed a printable map. There are ways to exploit the Google Maps service (share -> embed -> modify width/height -> use browser screenshot addon). But with OpenStreetMap, such exploits are not needed. OpenStreetMap constructs its (Slippy) Maps from tiles — small 256×256 pixel images. It is possible to calculate the tile coordinates and … Continue reading

Camera Strap

Camera Strap

Ever heard of Blackrapid or Sun Sniper? That are two brands of advanced camera straps which allow carrying a camera cross-body instead of ’round-the-neck. This is really handy, since your camera is dangling at your side and not in front of you. Of course, this comes at a cost – money aside, these straps are … Continue reading

ThunderSync 2.3

ThunderSync 2.3

I found some time to update ThunderSync. The new version 2.3 is a release of the latest beta. It features a Spanish translation (provided by Laura Arjona; thanks for the work!) and fixes a bug when dealing with UTF-8 inside a quoted-printable/base64 encoding.

(B)Locking a Cabinet

Since junior is exploring his environment, some things have to be secured. For example, doors and drawers of furniture. What follows is a simple solution…