Changes between Version 4 and Version 5 of WAM/KinematicsJointRangesConversionFactors

Timestamp:

Jan 16, 2017, 2:55:31 PM (8 years ago)

Author:

cv

Comment:

added note about error in joint resolution

WAM/KinematicsJointRangesConversionFactors

@@ -362 +362 @@
 }}}
 
-== Joint Resolution ==
-{{{
-#!div class="center" align="center"
-'''Table 9: Joint resolution'''
+== Calculated Joint Resolution (does not include error)==
+{{{
+#!div class="center" align="center"
 || ||'''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||
@@ -374 +373 @@
 || '''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||
-}}}
+'''Table 9: Joint resolution'''
+}}}