Changes between Version 8 and Version 9 of Hand/280/KinematicsJointRangesConversionFactors

Timestamp:

Feb 17, 2015, 9:43:15 PM (10 years ago)

Author:

bz

Comment:

--

Hand/280/KinematicsJointRangesConversionFactors

@@ -36 +36 @@
 }}}
 
-To control how much force is applied to an object being grasped, the command TorqueClose and TorqueOpen must be used.   These commands use the Velocity Control Law with the properties MCV and MOV.  To determine the amount of desired force at the fingertip use Figure 32 to select proper velocities.
+To control how much force is applied to an object being grasped without sensor feedback such as finger-tip torque sensors (strain gauges) or tactile sensors, the MT property must be used. Please see this graph to understand how MT and finger torque are related:
+http://web.barrett.com/support/BarrettHand_Documentation/MotorTorque280.png
+
+
+{{{#!comment
+These commands use the Velocity Control Law with the properties MCV and MOV.  To determine the amount of desired force at the fingertip use Figure 32 to select proper velocities.
 
 {{{
@@ -43 +48 @@
 
 '''Figure 32 – Stalled FingerTip Force Vs. Commanded Velocity (measured before breakaway).'''
+}}}
+
 }}}