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


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

--

Legend:

Unmodified
Added
Removed
Modified
  • Hand/280/KinematicsJointRangesConversionFactors

    v25 v26  
    255255
    256256{{{
    257 #!latex
    258 $$InnerLinkJointAngle_{wrtPalm} = JP_{cts@worm} * \frac{1_{Rev@worm}}{4096_{cts@worm}} * \frac{1_{Rev@joint}}{50_{Rev@worm}} * \frac{2\pi_{rad}}{1_{Rev@joint}}$$
    259 
    260 $$OuterLinkJointAngle_{wrtPalm} = P_{cts@motor} * \frac{1_{Rev@motor}}{4096_{cts@motor}} * \frac{16_{teeth}}{1_{Rev@motor}} * \frac{1_{Rev@worm}}{30_{teeth}} * \frac{1_{Rev@joint}}{50_{Rev@worm}} * \frac{2\pi_{rad}}{1_{Rev@joint}} + InnerLinkJointAngle + \frac{2\pi}{9}$$
     257#!div class="center" align="center"
     258{{{
     259#!latex
     260$InnerLinkJointAngle_{wrtPalm} = JP_{cts@worm} * \frac{1_{Rev@worm}}{4096_{cts@worm}} * \frac{1_{Rev@joint}}{50_{Rev@worm}} * \frac{2\pi_{rad}}{1_{Rev@joint}}$
     261
     262$OuterLinkJointAngle_{wrtPalm} = P_{cts@motor} * \frac{1_{Rev@motor}}{4096_{cts@motor}} * \frac{16_{teeth}}{1_{Rev@motor}} * \frac{1_{Rev@worm}}{30_{teeth}} * \frac{1_{Rev@joint}}{50_{Rev@worm}} * \frac{2\pi_{rad}}{1_{Rev@joint}} + InnerLinkJointAngle + \frac{2\pi}{9}$
     263}}}
    261264}}}
    262265