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


Ignore:
Timestamp:
Jul 31, 2012, 9:38:27 PM (7 years ago)
Author:
dc
Comment:

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  • Hand/280/MassByJoint

    v8 v9  
    1818Since no one is likely to wish to attempt computed-torque control on the Hand axes (since the frictions in the Hand are very high), the backdriven, reflected drive inertias of the drives were not computed. Since backdriven drive inertias have no effect on gravity terms, the frame inertias should give you good results for controlling the WAM arm and wrist torques as functions of hand-finger positions.
    1919
     20You may also view mass properties of the entire hand in various configurations here: [http://web.barrett.com/support/BarrettHand_Documentation/BarrettHand280MassProp-2010Dec10.pdf]
    2021
    2122