perm filename CALIB.BLU[AL,HE] blob
sn#317733 filedate 1977-11-19 generic text, type C, neo UTF8
COMMENT ⊗ VALID 00021 PAGES
C REC PAGE DESCRIPTION
C00001 00001
C00003 00002 BLUE ARM POT CALIBRATION: BES
C00004 00003 JOINT #1: 25FEB77
C00006 00004 JOINT #4: 25FEB77
C00008 00005 JOINT #6: 02MAR77
C00009 00006 ABSOLUTE PHYSICAL STOP LIMITS: 02MAR77
C00011 00007 TACHOMETER CALIBRATION DATA: 02MAR77
C00013 00008 JOINT #1: 16AUG77
C00016 00009 JOINT #3: 16AUG77
C00019 00010 JOINT #5: 16AUG77
C00021 00011 MOTOR TORQUE CALIBRATION DATA
C00023 00012 JOINT #1: 4SEPT75
C00027 00013 JOINT #3: 10SEPT75
C00031 00014 JOINT #5: 12SEPT75
C00034 00015 HAND: 24NOV75
C00035 00016 ASSUMED FRICTION: 23SEPT75
C00036 00017 EXPERIMENTAL DETERMINATION OF JOINT FRICTION AND INERTIA
C00038 00018 FEEDBACK COEFFICIENTS CALIBRATION DATA
C00041 00019 CONVERTED FEEDBACK COEFFICIENTS FROM OLD SERVO
C00043 00020 JOINT CONSTANTS: MOTOR AND DRIVE SPECIFICATIONS
C00046 00021 JOINT CONSTANTS: DIMENSIONS AND WEIGHTS
C00049 ENDMK
C⊗;
BLUE ARM POT CALIBRATION: BES
CALCULATION OF SCALE FACTOR:
SCALE ← (degrees/AD units)
CALCULATION OF OFFSET:
OFFSET← degrees - ( AD units +2048 ) * SCALE
NOTES:
1) For the pot readings, an asterisk ( * ) is used to indicate
questionable readings.
2) Shift in offsets required on 25MARCH76 because sample and hold
no longer being set.
3) Recalibration on 25FEB77 after Blue arm repaired/rebuilt
JOINT #1: 25FEB77
Set Point A/D Partial Differences
180.0000 -1129 2080
.0000000 951
Scale factor: -.8653846@-1
Offset: 259.5289 deg
*******************************************************************
JOINT #2: 25FEB77
Set Point A/D Partial Differences
-45.00000 615 -674
-90.00000 -59 -672
-135.0000 -731
Scale factor: .6686479@-1
Offset: -222.9941 deg.
*******************************************************************
JOINT #3: 25FEB77
Set Point** A/D Partial Differences
.0000000 -1508 546
5.000000 -962 550
10.00000 -412 552
15.00000 140 550
20.00000 690
Scale factor: .9099181@-2
Offset: .8012 inches
Hand extension when boom all of the way in = 5 (11/16) = 5.6875 inches
** Joint 3 set point does not include offset for joint #4 motor
JOINT #4: 25FEB77
Set Point A/D(a) P.D. A/D(b) P.D.
-270.0000 637 962 -1393 1048
-180.0000 1599 -345 1032
-90.00000 -1329 989 687 1014
.0000000 -340 981 1701
90.00000 641 957 -1388 1043
180.0000 1598 -345
Total difference: 360./3889. 360./4137
Scale factor: .0925687837 .0870195794
Offsets: -518.07277
-327.35677
-157.569406
32.1863668
*******************************************************************
JOINT #5: 02MAR77
Set Point A/D Partial Differences
-90.00000 -1350 661
-45.00000 -689 682 1343
.0000000 -7 675
45.00000 668 664 1339
90.00000 1332
Scale factor: .6711409@-1
Offset: -136.9799
JOINT #6: 02MAR77
Set Point A/D Partial Differences
.00000 575
180.00000 -1542 -2117
Scale factor: -.850260@-1
Offset: 223.023
*******************************************************************
HAND: 02MAR77
Set Point A/D Partial Differences
.0000000 1151 -1103
1.500000 48 -1106
3.000000 -1058
Scale factor: -.1358081@-2
Offset: 4.344500
ABSOLUTE PHYSICAL STOP LIMITS: 02MAR77
JOINT MINIMUM ANGLE MAXIMUM ANGLE
1 -90.00 deg 190.00 deg
2 -175.00 deg - 5.00 deg
3 5.76 inches 35.51 inches
4 -307.00 deg 217.00 deg
5 -102.00 deg 103.00 deg
6 -114.95 deg 205.67 deg
hand -0.15 inches 3.95 inches
SOFTWARE STOP LIMITS: 02MAR77
JOINT MINIMUM ANGLE MAXIMUM ANGLE STOP BAND
1 -45.00 deg 190.00 deg 10. deg
2 -165.00 deg -50.00 deg 10. deg
3 6.75 inches 33.00 inches 1.0 inches
4 -395.00 deg 205.00 deg 10. deg
5 -95.00 deg 95.00 deg 5.0 deg
6 -110.00 deg 200.00 deg 5.0 deg
hand -0.20 inches 3.80 inches 0.1 inches
TACHOMETER CALIBRATION DATA: 02MAR77
The following joint velocity to tachometer output information is only
a rough estimate given by Victor.
Joint Joint Velocity Tach Output
1 1 radian/sec 1 volt
2 1 radian/sec 0.8 volts
3 1 inch/sec 8 millivolts(CHANGED BY ~10)
4 1 radian/sec 1.5 volts
5 1 radian/sec 0.6 volts
The present tach gain factors into the a/d are as follows:
Joint Gain Filtered Input to ADC
1 1.0 yes
2 2.5 yes
3 15.0 no
4 2.06 no
5 2.06 no
CALCULATION OF SCALE FACTOR:
VSCALE ← (degrees of travel) / ((sum of dac counts-offset)*16 msec)
where 16 milliseconds is the sampling interval. The units of VSCALE
are (degrees/millisecond)/dac count.
TACH SCALE FACTORS FOR OLD BLUE ARM SERVO:
Joint Scale factor
1 .967 x 10↑(-4) deg/(msec-adc count)
2 .986 x 10↑(-4)
3 1.29 x 10↑(-4)
4 1.73 x 10↑(-4)
5 1.69 x 10↑(-4)
JOINT #1: 16AUG77
Tachometer has OPPOSITE SENSE as change in joint angle.
Initial Ang Final Ang Tach Sum # Samples Scale Factor**
no change 3233 counts 313
64.29 deg -72.95 deg 54893 counts 313 -1.6604x10↑(-4)
-72.95 deg 112.06 deg -66801 counts 313 -1.6511x10↑(-4)
-16.00 deg 65.68 deg -29483 counts 126 -1.6590x10↑(-4)
65.85 deg .60 deg 25829 counts 126 -1.6574x10↑(-4)
no change 1288 counts 126
Scale factor: -1.6570x10↑(-4) degrees/millisecond-adc count
Offset: 10 adc counts
** Tachometer sum corrected for zero offset of 10 adc units/sample
******************************************************************************
JOINT #2: 16AUG77
Tachometer has OPPOSITE SENSE as change in joint angle.
Initial Ang Final Ang Tach Sum # Samples Scale Factor**
no change 3129 counts 313
- 66.06 deg -130.65 deg 29203 counts 313 -1.5482x10↑(-4)
-131.99 deg - 41.58 deg -33685 counts 313 -1.5350x10↑(-4)
- 41.58 deg -125.43 deg 35201 counts 126 -1.5388x10↑(-4)
-125.43 deg - 43.19 deg -32261 counts 126 -1.5386x10↑(-4)
no change 1147 counts 126
Scale factor: -1.5401x10↑(-4) degrees/millisecond-adc count
Offset: 10 adc counts
** Tachometer sum corrected for zero offset of 10 adc units/sample
JOINT #3: 16AUG77
Tachometer has SAME SENSE as change in joint position.
Initial Pos Final Pos Tach Sum # Samples Scale Factor**
no change 264 counts 313
10.67 inches 30.72 inches 40911 counts 313 3.0829x10↑(-5)
30.72 inches 8.67 inches -45409 counts 313 3.0174x10↑(-5)
8.67 inches 27.27 inches 38207 counts 126 3.0434x10↑(-5)
7.07 inches 30.98 inches 49176 counts 126 3.0394x10↑(-5)
no change 10 counts 126
Scale factor: 3.0457x10↑(-5) inches/millisecond-adc count
Offset: 1 adc counts
** Tachometer sum corrected for zero offset of 1 adc units/sample
******************************************************************************
JOINT #4: 16AUG77
Tachometer has SAME SENSE as change in joint angle.
Initial Ang Final Ang Tach Sum # Samples Scale Factor**
no change 15819 counts 313
91.90 deg -253.99 deg 68431 counts 313 -4.1090x10↑(-4)
-253.99 deg 150.61 deg -46614 counts 313 -4.0503x10↑(-4)
93.19 deg -206.13 deg 52016 counts 126 -4.1025x10↑(-4)
-260.36 deg 61.17 deg -42976 counts 126 -4.0686x10↑(-4)
95.79 deg -216.58 deg 53841 counts 126 -4.1166x10↑(-4)
no change 6416 counts 126
Scale factor: -4.0894x10↑(-4) degrees/millisecond-adc count
Offset: 51 adc counts
** Tachometer sum corrected for zero offset of 51 adc units/sample
JOINT #5: 16AUG77
Tachometer has OPPOSITE SENSE as change in joint angle.
Initial Ang Final Ang Tach Sum # Samples Scale Factor**
no change 7212 counts 313
86.51 deg -70.53 deg 33214 counts 313 -3.7747x10↑(-4)
- 70.53 deg 95.16 deg -20058 counts 313 -3.7974x10↑(-4)
95.16 deg -77.18 deg 31321 counts 126 -3.7911x10↑(-4)
- 77.18 deg 91.40 deg -24696 counts 126 -3.8180x10↑(-4)
91.40 deg -79.66 deg 31195 counts 126 -3.7797x10↑(-4)
no change 2909 counts 126
Scale factor: -3.7919x10↑(-4) degrees/millisecond-adc count
Offset: 23 adc counts
** Tachometer sum corrected for zero offset of 23 adc units/sample
MOTOR TORQUE CALIBRATION DATA
The dac presently outputs the following maximum currents to the joints:
JOINT CURRENT (IN AMPS)
1 20.0
2 15.0
3 5.1
4 8.3
5 8.3
6 3.0
hand 1.5
These current levels are entended to be about the peak values that the
joints can sustain for SHORT PERIODS OF TIME.
COMPUTATION OF JOINT FRICTION AND FORCE/DAC UNIT RELATIONSHIP:
FRICTION = (Force with DAC - Force against DAC)/2
FORCE/DAC = (Force against DAC - FRICTION) / DAC units
where
Force with DAC = Motor Torque - friction
= Restraining force required to maintain a contant
velocity in the same direction as the Motor
Torque is being applied.
Force against DAC = friction + Motor Torque
= Force required to pull the joint at a constant
velocity in the opposite direction as the
Motor Torque.
ARM CONFIGURATIONS:
For each of the joints, the configuration of the arm during the time that
the torque measurements were taken was selected to produce a gravity loading
of zero for the joint to be calibrated.
JOINT #1: 4SEPT75
The moment arm to the point where the reaction forces are measured is 37.00
inches. POSITIVE torque drive produces POSITIVE change in joint angle.
DAC FORCE WITH DAC FORCE AGAINST DAC FRICTION FORCE/DAC UNIT
0 -29 oz 29 oz 1073 oz-in
5 -20 oz 38 oz 1073 oz-in 66.6 oz-in
10 -11 oz 48 oz 1091 oz-in 68.5 oz-in
15 - 57 oz 69.1 oz-in*
20 - 66 oz 68.5 oz-in*
25 16 oz 4.75 lb 1110 oz-in 68.1 oz-in
30 24 oz 5.25 lb 1110 oz-in 66.6 oz-in
40 41 oz 6.375 lb 1129 oz-in 66.1 oz-in
50 57 oz 7.675 lb 1217 oz-in 66.5 oz-in
60 73 oz 8.75 lb 1239 oz-in 65.7 oz-in
Friction measured with brake and drive wires disconnected ~ 1110 oz-in
The readings are asymmetric by the following amounts:
Positive drive, subtract 2 oz.
Negative drive, add 2 oz.
Estimated friction force: 1073 oz-in = 15.7 DAC units
Estimated Force/DAC unit: 68.45 oz-in/DAC unit
.01461 DAC units/oz-in
* 1073 oz-in used as an estimate for friction
****************************************************************************
JOINT #2: 31JULY75
Joint #3 reading a/d = 1234, 11.49 inches extended. Joint 5 is 0 degrees.
The moment arm to the point where the reaction forces are measured is 31.25
inches. POSITIVE torque drive produces POSITIVE change in joint angle.
DAC FORCE WITH DAC FORCE AGAINST DAC FRICTION FORCE/DAC UNIT
0 -38 oz 38 oz 1187 oz-in ---
5 -13 oz 66 oz 1234 oz-in 165.6 oz-in
10 0 6.25 lb 193.7 oz-in*
15 0 8.00 lb 187.5 oz-in*
20 0 9.75 lb 184.4 oz-in*
25 0 11.5 lb 182.5 oz-in*
30 0 14.0 lb 193.7 oz-in*
Friction experimentallly equilized at DAC ~ 7
Estimated friction force: 1188 oz-in = 6.4 DAC units
Estimated Force/DAC unit: 186.8 oz-in/DAC unit
.005353 DAC units/oz-in
* 1188 OZ-IN used as an estimate for friction
JOINT #3: 10SEPT75
Joint #2 reading a/d = -62, -89.99 degrees. A POSITIVE motor torque
produces a NEGATIVE change in joint extension.
DAC FORCE WITH DAC FORCE AGAINST DAC FRICTION FORCE/DAC UNIT
0 -18 oz 18 oz 18.0 oz
5 -6 oz 29 oz 17.5 oz 2.3 oz
10 oz 41 oz 2.3 oz*
15 17 oz 52 oz 17.5 oz 2.3 oz
20 28 oz 62 oz 17.0 oz 2.25 oz
25 39 oz 4.50 lb 16.5 oz 2.22 oz
30 51 oz 5.375 lb 17.5 oz 2.28 oz
40 4.75 lb 6.875 lb 17.0 oz 2.33 oz
50 6.125 lb 8.375 lb 18.0 oz 2.32 oz
60 7.5 lb 9.875 lb 19.0 oz 2.32 oz
Friction measured when brake and drive wires disconnected ~ 20 oz.
The readings are asymmetric by the following amounts:
Drive in positive direction, subtract 1.5 oz.
" " negative " , add 1.5 oz.
Estimated friction force: 18 oz = 7.8 DAC units
Estimated Force/DAC unit: -2.30 oz/DAC unit
-.43478 DAC units/oz
* 18 oz used as an estimate for friction
****************************************************************************
JOINT #4: 23OCT75
Joint #2 is at approximately -180 deg, joint #5 is at about -90 degrees.
The moment arm to the point of application of the reaction force is
approximately 9.28125 inches. A POSITIVE motor torque produces a POSITIVE
change in joint angle.
DAC FORCE WITH DAC FORCE AGAINST DAC FRICTION FORCE/DAC UNIT
0 -13 oz 13 oz 120.6 oz-in ---
5 - 7 oz 19 oz 120.6 oz-in 11.14 oz-in
10 24 oz 10.27 oz-in*
15 29.5 oz 10.25 oz-in*
20 6 oz 35 oz 134.6 oz-in 9.51 oz-in
25 11 oz 40.5 oz 136.9 oz-in 9.56 oz-in
30 16 oz 46 oz 139.2 oz-in 9.59 oz-in
40 25 oz 56 oz 143.9 oz-in 9.40 oz-in
50 34 oz 67 oz 153.1 oz-in 9.37 oz-in
60 44 oz 5.0 lb 167.1 oz-in 9.59 oz-in
70 52 oz 5.75 lb 185.6 oz-in 9.55 oz-in
Friction experimentallly equilized at DAC ~
Estimated friction force: 120 oz-in = 11.9 DAC units
Estimated Force/DAC unit: 10.0767 oz-in/DAC unit
.09924 DAC units/oz-in
* 120 oz-in used as an estimate for friction
JOINT #5: 12SEPT75
Joint #4 is at -180 degrees ( a/d reading of -407 ). Joint #2 is at
approximately -90.0 degrees. The moment arm to the point at which the
reaction forces are measured is 9.234 inches. A POSITIVE torque drive
produces a NEGATIVE change in joint angle.
DAC FORCE WITH DAC FORCE AGAINST DAC FRICTION FORCE/DAC UNIT
0 -12 oz 12 oz 110.8 oz-in ---
5 -7 oz 16 oz 106.2 oz-in 8.311 oz-in
10 -3 oz 20 oz 106.2 oz-in 7.849 oz-in
15 24 oz 7.441 oz-in*
20 5 oz 28 oz 106.2 oz-in 7.618 oz-in
25 10 oz 33 oz 106.2 oz-in 7.941 oz-in
30 14 oz 36 oz 101.6 oz-in 7.695 oz-in
40 22 oz 45 oz 106.2 oz-in 7.733 oz-in
50 30 oz 54 oz 110.8 oz-in 7.756 oz-in
60 38 oz 62 oz 110.0 oz-in 7.695 oz-in
Friction measured with brake and drive wires disconnected ~ 110.8 oz-in
Motor torque was symmetric.
Estimated friction force: 110.8 oz-in = 14.3 DAC units
Estimated Force/DAC unit: -7.695 oz-in/DAC unit
-.12995 DAC units/oz-in
* 110 OZ-IN used as an estimate for friction
****************************************************************************
JOINT #6: 07MAR77
The moment arm to the point at which the reaction forces are measured is
2.375 inches. A POSITIVE torque drive produces a POSITIVE change in
joint angle.
DAC FORCE WITH DAC FORCE AGAINST DAC FRICTION FORCE/DAC UNIT
0 -18 oz 18 oz oz-in ---
5 0 oz 45 oz oz-in oz-in
10 70 oz
15 6.25 lb
Friction experimentallly equilized at DAC ~
Estimated friction force: 42.75 oz-in = DAC units
Estimated Force/DAC unit: 13.3 oz-in/DAC unit
.07518 DAC units/oz-in
* OZ-IN used as an estimate for friction
HAND: 24NOV75
A POSITIVE torque drive produces a POSITIVE change in joint angle.
DAC FORCE WITH DAC FORCE AGAINST DAC FRICTION FORCE/DAC UNIT
0 -3.5 lbs 3.5 lbs 3.5 lbs
5 6.25 lbs oz-in oz-in
10 9.5 lbs
15 12.25 lbs
20 15.0 lbs
25 6.5 lbs 19.0 lbs
Friction experimentallly equilized at DAC ~
Estimated friction force: 56.00 oz = DAC units
Estimated Force/DAC unit: 9.12 oz/DAC unit
0.10593 DAC units/oz
* OZ-IN used as an estimate for friction
ASSUMED FRICTION: 23SEPT75
Joint Computed Friction Assumed Friction
1 1073 oz-in 600 oz-in
2 1188 oz-in 600 oz-in
3 18 oz 12 oz
4 120 oz-in 70 oz-in
5 110 oz-in 60 oz-in
6 43 oz-in 25 oz-in
hand 56 oz 30 oz
EXPERIMENTAL DETERMINATION OF JOINT FRICTION AND INERTIA
JOINT #1: 30AUG75:
Arm at -.87, -90.20, 16.18, .11, 9.02, -98.63
Hand at 1.46 inches
Friction estimated to be : 1153 oz-in
Estimated joint inertia: .3867x10↑9 oz-in-msec↑2
****************************************************************************
JOINT #3: 11SEPT75:
Arm at 235, -90.06, 14.5, -269, 0.0, 44.91
Hand at 1.5 inches
Friction estimated to be : 16 oz.
Estimated joint inertia: .4972x10↑6 oz-in-msec↑2
****************************************************************************
JOINT #5: 15SEPT75
Arm at 21, -89.99, 27.07, 0.0, 3.4, 44.91
Hand at 1.32 inches
Friction estimated to be: 102.2 oz-in
Estimated joint inertia: .9255x10↑7 oz-in-msec↑2
FEEDBACK COEFFICIENTS CALIBRATION DATA
JOINT #1: 8AUG75
KV = -0.05
KE = -1.5E5
KI = -3.0E11
KV = -0.05
KE = -1.5E5
KI = -6.0E11
WITH ARM AT 90,-90,16.5,-90,0,0
KV = -0.1 ADJUSTED FOR LOW VELOCITY SMOOTHNESS
KE = -7.0E4
KI = -6.0E11
****************************************************************************
JOINT #2: 8AUG75
KV = -0.045
KE = -3.0E5
kv = -0.025
ke = -2.0e5
ki = -5.0e6
KV = -0.03
KE = -1.25E5
KI = -5.0E11
KV = -0.07 ADJUSTED FOR LOW VELOCITY SMOOTHNESS
KE = -3.0E4
KI = -1.0E12
KV = -0.06 ADJUSTED FOR LOW VELOCITY SMOOTHNESS
KE = -1.25E5
KI = -9.0E11
****************************************************************************
JOINT #3: 12AUG75
KV = -0.03
KE = -70.0
ki = -5.0e6
11SEPT75
KV = -0.03
KE = -200.0
KI = -2.5E6
****************************************************************************
JOINT #4: 24OCT75
KV = -0.03
KE = -7000.0
KI = -3.0E9
****************************************************************************
JOINT #5: 14AUG75
KV = -0.03
KE =-2000.0
KI = -1.0E9
****************************************************************************
HAND: 08DEC75
KV = -0.06
KE = -800.0
KI = -1.0E7
CONVERTED FEEDBACK COEFFICIENTS FROM OLD SERVO
The conversion equation from KV in the old system to the new is:
KVnew = 16.7*KVold*( CIIold**.5/CIInew )
The position error feedback constant, KE, is the same for both systems.
The conversion equation for KI is given by:
KInew = KIold*( CIInew/CIIold**.5 )
The conversion equation for the friction factor is as follows:
V0new = V0old/KM
Equivalent values for the feedback constants are given below for the
joint inertias with the BLUE arm in the park position.
OLD SERVO NEW SERVO
KV: -0.0320 -0.1
-0.0333 -0.07
-0.0591 -0.03
-0.0461 -0.03
-0.0325 -0.04
-0.1375 -0.1
KE: -125000.0 -70000.0
-125000.0 -300000.0
-500.0 -200.0
-15000.0 -7000.0
-15000.0 -2000.0
-800.0 -1000.0
KI: -5.854E11 -6.0E11
-9.008E11 -1.0E12
-1.693E7 -4.0E6
-2.169E10 -3.0E9
-1.669E10 -1.0E9
-2.182E8 -5.0E7
V0/KM: 222 V0: 600
292 600
4.739 12
18.72 70
13.624 60
8.474 23
CII**.5:879 CII: 2.287E8
1143 4.576E8
85.9 484900.
283 1.228E7
278 9.277E6
61 887400.
HAND ERROR GAINS:
KE: -65.0
KV: -300.0
JOINT CONSTANTS: MOTOR AND DRIVE SPECIFICATIONS
These values were taken from MSPECS.S[1,VDS].
| MOTOR CONSTANTS | DRIVE CONSTANTS |
___|____________________________________|____________________|__________
Jt.| Damping Friction Inertia | Gear Input Mon. | Total
No.| Constant Torque (oz-in-sec↑2)| Ratio of Inertia | Inertia
|(oz-in/rpm) (oz-in) | (oz-in-sec↑2)|(oz-in-sec↑2)
___|____________________________________|____________________|__________
| | |
1 | .0012 6 0.008 | 100/1 .007 | 150.0
| | |
2 | .0045 6 0.033 | 100/1 .007 | 400.0
| | |
3 | 4.4* 9 0.025 | 3"/turn** | 0.1
| | |
4,5| 0.093* 1.5 0.0015 | 72/1 .00047 | 10.212
| | |
6 | 0.0086* 0.35 0.00013 | 80.77/1 | 0.84809
| | |
HD | 0.0086* 0.35 0.00013 | 16/1*** |
* units of oz-in/rad/sec
** 1/2 inch radius driving gear giving an effective G.R. of 2/1
***1/16 inch radius driving gear giving an G.R. of 16/1
NOTES:
The peak torque for joint 3 is 200 oz-in. This motor turns at most
10 revolutions.
1 RPM = 2 pi radian/min = (2 pi/60 ) rad/sec = pi/3@4 rad/msec
DAMP = (Damping constant)*(3*10**4/pi)*(vel in rad/msec)*(Gear Ratio)**2
JOINT CONSTANTS: DIMENSIONS AND WEIGHTS
19NOV77
Changed blue arm dynamic coefficients to reflect the following data:
total weight seen by jt 3 in vertical position = 10.5 lb
jt 2 neutrally balanced when th5=0, th2=90, at 11.18 in.
jt 2 neutrally balanced when th5=90, th2=90, at 12.38 in.
moment of 35.4in*6.75 lb needed to support jt 2 when th2=90,s3=35.4
th5=90
8AUG77
Blue hand weighs 12 oz and c.g. is 1.5 inches from outer base plate of
force wrist.
11FEB75
Blue hand weighs 13 oz. from wrist on down ( 33643 oz-msec↑2/in).
20FEB75
Blue hand down stream of joint #5 weights 1 lbf + 13 oz.
( 41408 + 33643 oz-msec↑2/in )
05AUG75
All of the mass that is seen by joint #1 was weighed. This weight
includes the section of joint #1's harmonic drive that is fixed to
the base of joint #2 and the weight of the wires running from the
arm to the table. The arm does not have the force sensing wrist
mounted. WEIGHT = 45 lbf , MASS = 1.8633*10↑6 oz-msec↑2/in
10SEPT75
With the prismatic joint vertical and the arm disconnected from
the electronic interface, the weight of the boom and all joints
down stream of joint 3 was taken. The weight of the joints when
the arm was moving at a constant velocity upward = 11.0 lb. The
weight of the joints when the arm was moving downward at a contant
rate = 8.5 lb. From this, the estimated friction is 1.25 lb and the
weight of the joints was 9.75 lb.
23OCT75
S6 was measured to be 9 21/32 inches from the axis of joint 3 to
the end of the finger tips. The distance to the center of the
finger tips was measured to be 9 9/32 inches.
09JULY76
Blue arm joint #6 inertia information ( from victor ):
motor inertia: 2.03 x 10↑-2 oz-in↑2
gear ratio: 147.7:1