Changes between Version 25 and Version 26 of Hand/280/KinematicsJointRangesConversionFactors

Timestamp:

Mar 18, 2016, 2:15:14 PM (9 years ago)

Author:

bz

Comment:

--

Hand/280/KinematicsJointRangesConversionFactors

@@ -255 +255 @@
 
 {{{
-#!latex
-$$InnerLinkJointAngle_{wrtPalm} = JP_{cts@worm} * \frac{1_{Rev@worm}}{4096_{cts@worm}} * \frac{1_{Rev@joint}}{50_{Rev@worm}} * \frac{2\pi_{rad}}{1_{Rev@joint}}$$
-
-$$OuterLinkJointAngle_{wrtPalm} = P_{cts@motor} * \frac{1_{Rev@motor}}{4096_{cts@motor}} * \frac{16_{teeth}}{1_{Rev@motor}} * \frac{1_{Rev@worm}}{30_{teeth}} * \frac{1_{Rev@joint}}{50_{Rev@worm}} * \frac{2\pi_{rad}}{1_{Rev@joint}} + InnerLinkJointAngle + \frac{2\pi}{9}$$
+#!div class="center" align="center"
+{{{
+#!latex
+$InnerLinkJointAngle_{wrtPalm} = JP_{cts@worm} * \frac{1_{Rev@worm}}{4096_{cts@worm}} * \frac{1_{Rev@joint}}{50_{Rev@worm}} * \frac{2\pi_{rad}}{1_{Rev@joint}}$
+
+$OuterLinkJointAngle_{wrtPalm} = P_{cts@motor} * \frac{1_{Rev@motor}}{4096_{cts@motor}} * \frac{16_{teeth}}{1_{Rev@motor}} * \frac{1_{Rev@worm}}{30_{teeth}} * \frac{1_{Rev@joint}}{50_{Rev@worm}} * \frac{2\pi_{rad}}{1_{Rev@joint}} + InnerLinkJointAngle + \frac{2\pi}{9}$
+}}}
 }}}