Changes between Version 28 and Version 29 of Hand/280/KinematicsJointRangesConversionFactors


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Timestamp:
Apr 13, 2021, 4:11:05 PM (3 years ago)
Author:
bz
Comment:

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  • Hand/280/KinematicsJointRangesConversionFactors

    v28 v29  
    191191
    192192$_{T}^{w}T=\begin{array}{cccc}
    193 c_{1}c_{ab} & -s_{1} & -c_{1}s_{ab} & A_{3}c_{1}c_{ab}-D_{3}c_{1}s_{ab}+A_{2}c_{1}c_{a}+A_{1}c_{1}+jA_{w}\\
     193c_{1}c_{ab} & -s_{1} & -c_{1}s_{ab} & A_{3}c_{1}c_{ab}-D_{3}c_{1}s_{ab}+A_{2}c_{1}c_{a}+A_{1}c_{1}+rA_{w}\\
    194194s_{1}c_{ab} & c_{1} & -s_{1}s_{ab} & A_{3}s_{1}c_{ab}-D_{3}s_{1}s_{ab}+A_{2}s_{1}c_{a}+A_{1}s_{1}\\
    195195s_{ab} & 0 & c_{ab} & A_{3}s_{ab}+D_{3}c_{ab}+s_{a}A_{2}+D_{w}\\