# Changes between Version 6 and Version 7 of Therapy/KinematicsJointRangesConversionFactors

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Timestamp:
Jan 26, 2018, 5:18:01 PM (11 months ago)
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• ## Therapy/KinematicsJointRangesConversionFactors

 v6 }}} '''Equation 1: D-H generalized transform matrix''' '''Table 1: BURT frame parameters''' ||i||a,,i,,||α,,i,,||d,,i,,||θ,,i,,|| ||1||0||π/2||0||θ,,1,,|| ||2||0.650||0||0.156||θ,,2,,|| ||3||0.435||−π/2||0.069||θ,,3,,|| }}} {{{ #!div class="center" align="center" '''Table 1a: BURT D-H table (modified) for right-handedness configuration''' {{{ #!latex $\begin{tabular}{|c|c|c|c|c|} \hline i &$\alpha_{i}$&$a_i$&$d_i$&$\theta_i$\\ \hline 0 & -0.550 &$-\pi/2$& 0 & 0\\ \hline 1 & 0 &$\pi/2$& 0 &$\theta_1$\\ \hline 2 & 0.650 & 0 & 0.156 &$\theta_2$\\ \hline 3 & 0.435 &$\pi/2$& 0.069 &$\theta_3$\\ \hline\end{tabular}$ }}} {{{ #!div class="center" align="center" '''Table 1b: BURT D-H table (modified) for left-handedness configuration''' {{{ #!latex $\begin{tabular}{|c|c|c|c|c|} \hline i &$\alpha_{i}$&$a_i$&$d_i$&$\theta_i$\\ \hline 0 & 0.550 &$-\pi/2$& 0 & 0\\ \hline 1 & 0 &$\pi/2$& 0 &$\theta_1$\\ \hline 2 & 0.650 & 0 & 0.156 &$\theta_2$\\ \hline 3 & 0.435 &$\pi/2$& 0.069 &$\theta_3$\\ \hline\end{tabular}$ }}} For example, to generate the transform from coordinate Frame 2 to coordinate Frame 1 (i.e. the position and orientation of Frame 2 described in terms of Frame 1 which is also a rotation about joint 2), use the parameters in the second row of Table 1 as follows: