Changes between Version 2 and Version 3 of WAM/KinematicsJointRangesConversionFactors

Timestamp:

May 16, 2013, 6:29:25 PM (12 years ago)

Author:

bz

Comment:

--

WAM/KinematicsJointRangesConversionFactors

@@ -361 +361 @@
 '''Equation 13: Wrist Joint-to-Motor torque transformations'''
 }}}
+
+== Joint Resolution ==
+{{{
+#!div class="center" align="center"
+'''Table 9: Joint resolution'''
+|| ||'''Motor Encoder[[BR]](ME) Cts/Rev'''||'''Motor/Joint[[BR]]Ratio'''||'''ME Cts/[[BR]]Joint Rev'''||'''Joint Encoder[[BR]](JE) Cts/Rev'''||'''Meters/[[BR]]Joint Rev'''||'''ME Position[[BR]]Resolution (m)'''||'''ME Orientation[[BR]]Resolution (rad)'''||'''JE Position[[BR]]Resolution (m)'''||'''JE Orientation[[BR]]Resolution (rad)'''||
+|| '''J1''' || 4096|| 42|| 172,032|| 1,578,399|| 6.28|| 36.5E-6|| 36.5E-6|| 4.0E-6|| 4.0E-6||
+|| '''J2''' || 4096|| 28.25|| 115,712|| 655,360|| 6.28|| 54E-6|| 54E-6|| 9.6E-6|| 9.6E-6||
+|| '''J3''' || 4096|| 16.8|| 68,812|| 655,360|| 3.14|| 45E-6|| 91E-6|| 4.8E-6|| 9.6E-6||
+|| '''J4''' || 4096|| 18|| 73,728|| 327,680|| 3.14|| 42.6E-6|| 85.2E-6|| 9.6E-6|| 19.2E-6||
+|| '''J5''' || 4096|| 9.48|| 38,830|| N/A|| 376.8E-3|| 9.7E-6|| 161.7E-6|| N/A|| N/A||
+|| '''J6''' || 4096|| 9.48|| 38,830|| N/A|| 376.8E-3|| 9.7E-6|| 161.7E-6|| N/A|| N/A||
+|| '''J7''' || 4096|| 14.93|| 61,153|| N/A|| 0|| N/A|| (backlash) 17.5E-3|| N/A|| N/A||
+}}}