Changes between Version 7 and Version 8 of Hand/280/KinematicsJointRangesConversionFactors

Timestamp:

May 27, 2014, 5:44:51 PM (11 years ago)

Author:

bz

Comment:

--

Hand/280/KinematicsJointRangesConversionFactors

@@ -227 +227 @@
 {{{
 #!latex
-$$InnerLinkJointAngle = JP_{cts@worm} * \frac{1_{Rev@worm}}{4096_{cts@worm}} * \frac{1_{Rev@joint}}{50_{Rev@worm}} * \frac{2\pi_{rad}}{1_{Rev@joint}}$$
-
-$$OuterLinkJointAngle = P_{cts@motor} * \frac{1_{Rev@motor}}{4096_{cts@motor}} * \frac{16_{teeth}}{1_{Rev@motor}} * \frac{1_{Rev@worm}}{30_{teeth}} * \frac{1_{Rev@joint}}{50_{Rev@worm}} * \frac{2\pi_{rad}}{1_{Rev@joint}} + InnerLinkJointAngle + \frac{2\pi}{9}$$
+$$InnerLinkJointAngle_{wrtPalm} = JP_{cts@worm} * \frac{1_{Rev@worm}}{4096_{cts@worm}} * \frac{1_{Rev@joint}}{50_{Rev@worm}} * \frac{2\pi_{rad}}{1_{Rev@joint}}$$
+
+$$OuterLinkJointAngle_{wrtPalm} = P_{cts@motor} * \frac{1_{Rev@motor}}{4096_{cts@motor}} * \frac{16_{teeth}}{1_{Rev@motor}} * \frac{1_{Rev@worm}}{30_{teeth}} * \frac{1_{Rev@joint}}{50_{Rev@worm}} * \frac{2\pi_{rad}}{1_{Rev@joint}} + InnerLinkJointAngle + \frac{2\pi}{9}$$
 }}}