Changes between Version 28 and Version 29 of Hand/280/KinematicsJointRangesConversionFactors
- Timestamp:
- Apr 13, 2021, 4:11:05 PM (4 years ago)
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Hand/280/KinematicsJointRangesConversionFactors
v28 v29 191 191 192 192 $_{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}\\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}+rA_{w}\\ 194 194 s_{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}\\ 195 195 s_{ab} & 0 & c_{ab} & A_{3}s_{ab}+D_{3}c_{ab}+s_{a}A_{2}+D_{w}\\