Changes between Version 7 and Version 8 of Therapy/KinematicsJointRangesConversionFactors


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Timestamp:
Feb 6, 2018, 4:21:14 AM (4 months ago)
Author:
al
Comment:

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  • Therapy/KinematicsJointRangesConversionFactors

    v7 v8  
    3535#!div class="center" align="center"
    3636
    37 '''Table 1a: BURT D-H table (modified) for right-handedness configuration'''
     37'''Table 1: BURT D-H table'''
    3838
    3939{{{
     
    4141$\begin{tabular}{|c|c|c|c|c|} \hline
    4242i & $\alpha_{i}$ & $a_i$ & $d_i$ & $\theta_i$\\ \hline
    43 0 & -0.550 & $-\pi/2$ & 0 & 0\\ \hline
    44431 & 0 & $\pi/2$ & 0 & $\theta_1$\\ \hline
    45442 & 0.650 & 0 & 0.156 & $\theta_2$\\ \hline
     
    4948
    5049
    51 {{{
    52 #!div class="center" align="center"
    53 
    54 '''Table 1b: BURT D-H table (modified) for left-handedness configuration'''
    55 
    56 {{{
    57 #!latex
    58 $\begin{tabular}{|c|c|c|c|c|} \hline
    59 i & $\alpha_{i}$ & $a_i$ & $d_i$ & $\theta_i$\\ \hline
    60 0 & 0.550 & $-\pi/2$ & 0 & 0\\ \hline
    61 1 & 0 & $\pi/2$ & 0 & $\theta_1$\\ \hline
    62 2 & 0.650 & 0 & 0.156 & $\theta_2$\\ \hline
    63 3 & 0.435 & $\pi/2$ & 0.069 & $\theta_3$\\
    64 \hline\end{tabular}$
    65 }}}
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