Changes between Version 13 and Version 14 of Burt-Research/KinematicsJointRangesConversionFactors


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Timestamp:
Apr 16, 2018, 10:27:52 PM (7 years ago)
Author:
al
Comment:

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  • Burt-Research/KinematicsJointRangesConversionFactors

    v13 v14  
    7979#!latex
    8080$^{0}T_{3}=\left[\begin{array}{cccc}
    81 c1c2c3-c1s2s3 & -s1 & -c1c2s3-c1s2c3 & 0.435c1c2c3-0.435c1s2s3+0.069s1+0.650c1c2+0.156s1)\\
    82 \sin(\theta_{2}) & \cos(\theta_{2})\cos(0) & -\cos(\theta_{2})\sin(0) & 0.650\sin(\theta_{2})\\
     81c1c2c3-c1s2s3 & -s1 & -c1c2s3-c1s2c3 & 0.435c1c2c3-0.435c1s2s3+0.069s1+0.650c1c2+0.156s1\\
     82s1c2c3-s1s2s3 & c1 & -s1c2s3-s1s2c3 & 0.435s1c2c3-0.435s1s2s3-0.069c1+0.650s1c2-0.156c1;
     83    \\
    83840 & \sin(0) & \cos(0) & (0.156)\\
    84850 & 0 & 0 & 1\end{array}\right]$