Changes between Version 1 and Version 2 of Hand/280/MassProperties


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Timestamp:
Jul 11, 2013, 1:58:36 PM (11 years ago)
Author:
dc
Comment:

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  • Hand/280/MassProperties

    v1 v2  
    1414
    1515The following inertial frames are established on the hand. In each of the following diagrams, coordinate systems are oriented with the Z-axis coincident to the axis of rotation of each joint. These inertial frames follow the same convention as on the BarrettHand BH8-262.
    16 [[Image(AllFrames_crop.jpg)]]
     16[[Image(http://web.barrett.com/supportFiles/wikiFiles/AllFrames_crop.jpg)]]
    1717
    1818Since no one is likely to wish to attempt computed-torque control on the Hand axes (since the frictions in the Hand are very high), the backdriven, reflected drive inertias of the drives were not computed. Since backdriven drive inertias have no effect on gravity terms, the frame inertias should give you good results for controlling the WAM arm and wrist torques as functions of hand-finger positions.
    … …  
    243243 || Iyx = 1.4779e-006 || Iyy = 3.8897e-005 || Iyz = 0
    244244 || Izx = 1.0106e-007 || Izy = 0 || Izz = 3.78e-005
    245