Changes between Version 6 and Version 7 of Hand/280/KinematicsJointRangesConversionFactors


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Timestamp:
Oct 29, 2013, 5:16:01 PM (11 years ago)
Author:
bz
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  • Hand/280/KinematicsJointRangesConversionFactors

    v6 v7  
    161161The transforms from each axis to the next can be determined using the homogeneous transform in Equation 1 and finger link parameters in Table 9.  Each of the first three link parameters are fixed and the fourth one is configuration dependent on one of the position variables Θ,,k1,,, Θ,,k2,,, or Θ,,k3,, for the first three joints.
    162162
    163 It is useful to check that the multiplication of the four transformation matrices matches for a given finger and at least one hand configuration, such as the zero position.  The computed homogeneous transformation matrix from the wrist to tool frame for finger 1 is:
    164 
    165 {{{
    166 #!div class="center" align="center"
    167 '''Equation 3 - Forward Kinematics Matrix for Finger F1'''
     163It is useful to check that the multiplication of the four transformation matrices matches for a given finger and at least one hand configuration, such as the zero position.  The computed homogeneous transformation matrix from the wrist to tool frame for a finger is:
     164
     165{{{
     166#!div class="center" align="center"
     167'''Equation 3 - Forward Kinematics Matrix for a Finger'''
    168168
    169169{{{
     
    188188$c_{1}=cos(r\cdot\theta_{k1}-(\pi/2)\cdot j)$
    189189
    190 $s_{1}=cos(r\cdot\theta_{k1}-(\pi/2)\cdot j)$
     190$s_{1}=sin(r\cdot\theta_{k1}-(\pi/2)\cdot j)$
    191191
    192192$k=1$