Changes between Version 8 and Version 9 of Hand/280/KinematicsJointRangesConversionFactors


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Timestamp:
Feb 17, 2015, 9:43:15 PM (5 years ago)
Author:
bz
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  • Hand/280/KinematicsJointRangesConversionFactors

    v8 v9  
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    38 To control how much force is applied to an object being grasped, the command TorqueClose and TorqueOpen must be used.   These commands use the Velocity Control Law with the properties MCV and MOV.  To determine the amount of desired force at the fingertip use Figure 32 to select proper velocities.
     38To control how much force is applied to an object being grasped without sensor feedback such as finger-tip torque sensors (strain gauges) or tactile sensors, the MT property must be used. Please see this graph to understand how MT and finger torque are related:
     39http://web.barrett.com/support/BarrettHand_Documentation/MotorTorque280.png
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     42{{{#!comment
     43These commands use the Velocity Control Law with the properties MCV and MOV.  To determine the amount of desired force at the fingertip use Figure 32 to select proper velocities.
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    4045{{{
     
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    4449'''Figure 32 – Stalled FingerTip Force Vs. Commanded Velocity (measured before breakaway).'''
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