Changes between Version 7 and Version 8 of Therapy/KinematicsJointRangesConversionFactors
 Timestamp:
 Feb 6, 2018, 4:21:14 AM (4 months ago)
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Therapy/KinematicsJointRangesConversionFactors
v7 v8 35 35 #!div class="center" align="center" 36 36 37 '''Table 1 a: BURT DH table (modified) for righthandedness configuration'''37 '''Table 1: BURT DH table''' 38 38 39 39 {{{ … … 41 41 $\begin{tabular}{ccccc} \hline 42 42 i & $\alpha_{i}$ & $a_i$ & $d_i$ & $\theta_i$\\ \hline 43 0 & 0.550 & $\pi/2$ & 0 & 0\\ \hline44 43 1 & 0 & $\pi/2$ & 0 & $\theta_1$\\ \hline 45 44 2 & 0.650 & 0 & 0.156 & $\theta_2$\\ \hline … … 49 48 50 49 51 {{{52 #!div class="center" align="center"53 54 '''Table 1b: BURT DH table (modified) for lefthandedness configuration'''55 56 {{{57 #!latex58 $\begin{tabular}{ccccc} \hline59 i & $\alpha_{i}$ & $a_i$ & $d_i$ & $\theta_i$\\ \hline60 0 & 0.550 & $\pi/2$ & 0 & 0\\ \hline61 1 & 0 & $\pi/2$ & 0 & $\theta_1$\\ \hline62 2 & 0.650 & 0 & 0.156 & $\theta_2$\\ \hline63 3 & 0.435 & $\pi/2$ & 0.069 & $\theta_3$\\64 \hline\end{tabular}$65 }}}66 50 67 51