Changes between Version 1 and Version 2 of Hand/282/MassProperties

Timestamp:

Jul 11, 2013, 2:00:36 PM (11 years ago)

Author:

dc

Comment:

--

Hand/282/MassProperties

@@ -14 +14 @@
 
 The 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.
-[[Image(AllFrames_crop.jpg)]]
+[[Image(http://web.barrett.com/supportFiles/wikiFiles/AllFrames_crop.jpg)]]
 
 Since 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.
@@ -23 +23 @@
 == Mass Properties for Frame W (hand base frame) with palm pad ==
 
-[[Image(HandFrameW_NoDialog_crop.jpg)]]
+[[Image(http://web.barrett.com/supportFiles/wikiFiles/HandFrameW_NoDialog_crop.jpg)]]
 
 Output coordinate System: Frame W (opaque)
@@ -56 +56 @@
 == Mass Properties for Frame W (hand base frame) without palm pad ==
 
-[[Image(HandFrameW_NOPP_NoDialog_crop.jpg)]]
+[[Image(http://web.barrett.com/supportFiles/wikiFiles/HandFrameW_NOPP_NoDialog_crop.jpg)]]
 
 Output coordinate System: Frame W (opaque)
@@ -93 +93 @@
 == Mass Properties for Frame 1 (finger spread frame) ==
 
-[[Image(HandFrame1_NoDialog_crop.JPG)]]
+[[Image(http://web.barrett.com/supportFiles/wikiFiles/HandFrame1_NoDialog_crop.JPG)]]
 
 Output coordinate System: F1 (opaque)
@@ -123 +123 @@
 == Mass Properties for Frame 2 (finger inner link frame) without fingertip torque sensor ==
 
-[[Image(HandFrame2_NOSG_NoDialog_crop.JPG)]]
+[[Image(http://web.barrett.com/supportFiles/wikiFiles/HandFrame2_NOSG_NoDialog_crop.JPG)]]
 
 Output coordinate System: F2_Origin
@@ -154 +154 @@
 == Mass Properties for Frame 2 (finger inner link frame) with fingertip torque sensor ==
 
-[[Image(HandFrame2_NoDialog_crop.JPG)]]
+[[Image(http://web.barrett.com/supportFiles/wikiFiles/HandFrame2_NoDialog_crop.JPG)]]
 
 Output coordinate System: F2_Origin
@@ -185 +185 @@
 == Mass Properties for Frame 3 (fingertip frame) without fingertip pressure pad ==
 
-[[Image(HandFrame3_NOPP_NoDialog_crop.JPG)]]
+[[Image(http://web.barrett.com/supportFiles/wikiFiles/HandFrame3_NOPP_NoDialog_crop.JPG)]]
 
 Output coordinate System: F3 (opaque)
@@ -216 +216 @@
 == Mass Properties for Frame 3 (fingertip frame) with fingertip pressure pad ==
 
-[[Image(HandFrame3_NoDialog_crop.JPG)]]
+[[Image(http://web.barrett.com/supportFiles/wikiFiles/HandFrame3_NoDialog_crop.JPG)]]
 
 Output coordinate System: F3 (opaque)