Changes between Version 1 and Version 2 of WAM/KinematicsJointRangesConversionFactors
 Timestamp:
 Jan 20, 2012, 12:20:56 AM (11 years ago)
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WAM/KinematicsJointRangesConversionFactors
v1 v2 11 11 }}} 12 12 13 Figure 35 shows the 4DOF WAM system in the zero position. A positive joint motion is based on the right hand rule for each axis. Figure 37 through Figure 40 on the following pagesshow explicitly each of the four joint kinematic parameters and joint limits.13 Figure 35 shows the 4DOF WAM system in the zero position. A positive joint motion is based on the right hand rule for each axis. Figure 37 through Figure 40 show explicitly each of the four joint kinematic parameters and joint limits. 14 14 15 15 {{{ … … 20 20 }}} 21 21 Figure 36 shows the entire 7DOF WAM system in the zero position. A positive joint motion is based on the right hand rule for each axis. Figure 37 through 22 Figure 43 on the following pagesshow explicitly each of the seven joint kinematic parameters and joint limits.22 Figure 43 show explicitly each of the seven joint kinematic parameters and joint limits. 23 23 24 24 {{{ … … 118 118 '''Forward Kinematics for the 4DOF WAM''' 119 119 120 The forward kinematics of the 4DOF WAM system is used to determine the end tip location and orientation. These transformations are generated using the parameters in Table 4 on page 64 and the matrix in Equation 1 on page 64.120 The forward kinematics of the 4DOF WAM system is used to determine the end tip location and orientation. These transformations are generated using the parameters in Table 4 and the matrix in Equation 1. 121 121 122 122 {{{