Changes between Version 4 and Version 5 of WAM/KinematicsJointRangesConversionFactors


Ignore:
Timestamp:
Jan 16, 2017, 2:55:31 PM (2 years ago)
Author:
cv
Comment:

added note about error in joint resolution

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  • WAM/KinematicsJointRangesConversionFactors

    v4 v5  
    362362}}}
    363363
    364 == Joint Resolution ==
    365 {{{
    366 #!div class="center" align="center"
    367 '''Table 9: Joint resolution'''
     364== Calculated Joint Resolution (does not include error)==
     365{{{
     366#!div class="center" align="center"
    368367|| ||'''Motor Encoder[[BR]](ME) Cts/Rev'''||'''Motor/Joint[[BR]]Ratio'''||'''ME Cts/[[BR]]Joint Rev'''||'''Joint Encoder[[BR]](JE) Cts/Rev'''||'''Meters/[[BR]]Joint Rev'''||'''ME Position[[BR]]Resolution (m)'''||'''ME Orientation[[BR]]Resolution (rad)'''||'''JE Position[[BR]]Resolution (m)'''||'''JE Orientation[[BR]]Resolution (rad)'''||
    369368|| '''J1''' || 4096|| 42|| 172,032|| 1,578,399|| 6.28|| 36.5E-6|| 36.5E-6|| 4.0E-6|| 4.0E-6||
     
    374373|| '''J6''' || 4096|| 9.48|| 38,830|| N/A|| 376.8E-3|| 9.7E-6|| 161.7E-6|| N/A|| N/A||
    375374|| '''J7''' || 4096|| 14.93|| 61,153|| N/A|| 0|| N/A|| (backlash) 17.5E-3|| N/A|| N/A||
    376 }}}
     375'''Table 9: Joint resolution'''
     376}}}