Changes between Version 1 and Version 2 of WAM/KinematicsJointRangesConversionFactors


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Timestamp:
Jan 20, 2012, 12:20:56 AM (13 years ago)
Author:
kpm
Comment:

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  • WAM/KinematicsJointRangesConversionFactors

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    13 Figure 35 shows the 4-DOF WAM system in the zero position. A positive joint motion is based on the right hand rule for each axis. Figure 37 through Figure 40 on the following pages show explicitly each of the four joint kinematic parameters and joint limits.
     13Figure 35 shows the 4-DOF WAM system in the zero position. A positive joint motion is based on the right hand rule for each axis. Figure 37 through Figure 40 show explicitly each of the four joint kinematic parameters and joint limits.
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    2121Figure 36 shows the entire 7-DOF WAM system in the zero position. A positive joint motion is based on the right hand rule for each axis. Figure 37 through
    22 Figure 43 on the following pages show explicitly each of the seven joint kinematic parameters and joint limits.
     22Figure 43 show explicitly each of the seven joint kinematic parameters and joint limits.
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    118118'''Forward Kinematics for the 4-DOF WAM'''
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    120 The forward kinematics of the 4-DOF WAM system is used to determine the end tip location and orientation. These transformations are generated using the parameters in Table 4 on page 64 and the matrix in Equation 1 on page 64.
     120The forward kinematics of the 4-DOF WAM system is used to determine the end tip location and orientation. These transformations are generated using the parameters in Table 4 and the matrix in Equation 1.
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    122122{{{