# Changes between Version 25 and Version 26 of Hand/280/KinematicsJointRangesConversionFactors

Ignore:
Timestamp:
Mar 18, 2016, 2:15:14 PM (3 years ago)
Comment:

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### Legend:

Unmodified
 v25 {{{ #!latex $$InnerLinkJointAngle_{wrtPalm} = JP_{cts@worm} * \frac{1_{Rev@worm}}{4096_{cts@worm}} * \frac{1_{Rev@joint}}{50_{Rev@worm}} * \frac{2\pi_{rad}}{1_{Rev@joint}}$$ $$OuterLinkJointAngle_{wrtPalm} = P_{cts@motor} * \frac{1_{Rev@motor}}{4096_{cts@motor}} * \frac{16_{teeth}}{1_{Rev@motor}} * \frac{1_{Rev@worm}}{30_{teeth}} * \frac{1_{Rev@joint}}{50_{Rev@worm}} * \frac{2\pi_{rad}}{1_{Rev@joint}} + InnerLinkJointAngle + \frac{2\pi}{9}$$ #!div class="center" align="center" {{{ #!latex $InnerLinkJointAngle_{wrtPalm} = JP_{cts@worm} * \frac{1_{Rev@worm}}{4096_{cts@worm}} * \frac{1_{Rev@joint}}{50_{Rev@worm}} * \frac{2\pi_{rad}}{1_{Rev@joint}}$ $OuterLinkJointAngle_{wrtPalm} = P_{cts@motor} * \frac{1_{Rev@motor}}{4096_{cts@motor}} * \frac{16_{teeth}}{1_{Rev@motor}} * \frac{1_{Rev@worm}}{30_{teeth}} * \frac{1_{Rev@joint}}{50_{Rev@worm}} * \frac{2\pi_{rad}}{1_{Rev@joint}} + InnerLinkJointAngle + \frac{2\pi}{9}$ }}} }}}