COMMENT ⊗   VALID 00010 PAGES
C REC  PAGE   DESCRIPTION
C00001 00001
C00002 00002		Navy Research Lab/Vicarm Arm Calibration
C00004 00003	JOINT #1:
C00005 00004	JOINT #2: 
C00006 00005	JOINT #3:  
C00008 00006	JOINT #4: 
C00009 00007	JOINT #5: 
C00010 00008	JOINT #6:  
C00012 00009	HAND:
C00013 00010	JOINT STOP LIMITS:  03DEC75
C00015 ENDMK
C⊗;
	Navy Research Lab/Vicarm Arm Calibration


KINEMATIC ARM CONSTANTS:  24NOV75

	S1 = 17.772 inches
	S2 =  6.535 inches
	S6 =  7.985 inches

	Shoulder assumed to be located at [0,0,S1]



TRANSFER FUNCTIONS FOR THE "ARM" PROGRAM

	Joint Angle ← (ADC reading * SCALE) + OFFSET

	DAC value   ← (Joint Angle - BOFFST)*BSCALE


The constants for these equations can be computed from the calibration
data as follows:

	SCALE  ← (change in degrees/change in ADC reading)

	OFFSET ← degrees - ( ADC reading ) * SCALE

	BSCALE ← 1.0/( DSCALE*SCALE )

	BOFFST ← OFFSET + DOFFSET*SCALE

   where

	DSCALE ← (change in final pot pos./change in DAC output)

	DOFFST ← pot reading - ( DAC value*DSCALE )



NOTE:  For the pot readings, an asterisk ( * ) is used to indicate 
       questionable readings.
JOINT #1:

Pot Calibration: 02FEB76

	Set Point	 A/D		Partial Differences

	-180.0		 1056. 
	   0.0		-1047. 		2103.

	Difference:	 180.0/-2103.
	SCALE:		-.085592     
	OFFSET:		-89.615 deg

Dac to Pot Calibration: 26July76

	Dac Output	Pot Reading	Partial Differences

	-1000.		  994.
	 -500.		  490.		504.
	 0000		 0		0
	  500.		 -515.		1005.
	 1000.		-1016.		501.

	Difference:	-2010/2000
	DSCALE:		-1.005
	DOFFST:		-12.5

Joint Angle to DAC conversion constants:

	BSCALE:		11.6252
	BOFFST:		-88.5451
JOINT #2: 

Pot Calibration: 02FEB76

	Set Point	 A/D		Partial Differences

	   0.0 DEG	 1107.	
	- 45.0		  583.		524.	1054.
        - 90.0		   53.		530.
	-135.0		 -473.	 	526.	1057.
	-180.0		-1004.		531.


	Difference:	180./2111.         
	SCALE:		0.0852676  
	OFFSET:		-94.519 deg

Dac to Pot Calibration: 02FEB76

	Dac Output	Pot Reading	Partial Differences

	- 900.		  890.
	- 100.		   87.		803. 
	  900.		- 915.		1002.

	Difference:	-1805/1800
	DSCALE:		-1.0028
	DOFFST:		-13.278

Joint Angle to DAC conversion constants:

	BSCALE:		-11.6950
	BOFFST:		-95.6512
JOINT #3:  

Pot Calibration: 02FEB76

To determine the total extension of joint #3, the follow set
points must be corrected by adding 6.60 inches.

	Set Point	 A/D		Partial Differences

	   1.0 INCH	-1450.
	  10.0		 -405.		1045.
	  19.0		  640.		1045.
	  28.0		 1679.		1039.
	

	Difference:	27.0/3129.
	SCALE:		0.0086289   
	OFFSET:		20.0947    

Dac to Pot Calibration: 02FEB76

	Dac Output	Pot Reading	Partial Differences

	-1750.		 1745.
	-1000.		  992.		753.
	    0.		-  12.		1004.
	  500.		- 514.		502.
	 1250.		-1266.		752.

	Difference:	-3011/3000
	DSCALE:		-1.0037 
	DOFFST:		-12.00 

Joint Angle to DAC conversion constants:

	BSCALE:		-115.462 
	BOFFST:		19.9912 
JOINT #4: 

Pot Calibration: 02FEB76

	Set Point	 A/D		Partial Differences

	  45.0		-1621.
	  90.0		-1095.		526.	1051.
	 135.0		 -570.		525.
	 180.0		 - 38.		532.	1057.
	 225.0		  487.		525.
	 270.0		 1021.		534.	1059.
	 315.0		 1546.		525.
	

	Difference:	270./3167.
	SCALE:		0.0852541    
	OFFSET:		183.239 deg

Dac to Pot Calibration: 02FEB76

	Dac Output	Pot Reading	Partial Differences

	-1700.		 1683.
	    0.		-  11.		1694.
	 1700.		-1713.		1702.

	Difference:	-3396/3400
	DSCALE:		-0.99882
	DOFFST:		-11.0

Joint Angle to DAC conversion constants:

	BSCALE:		-11.7435
	BOFFST:		182.3012
JOINT #5: 

Pot Calibration: 02FEB76

	Set Point	 A/D		Partial Differences

	- 90.0		 1328.
	- 45.0		  694.		634.	1332.
	   0.0		  - 4.		698.
	  45.0		 -711.		707.    1371.
	  90.0		-1375.		664.   
	

	Difference:	180./-2703. 
	SCALE:		-.06659267   
	OFFSET:		-0.2664 deg

Dac to Pot Calibration: 02FEB76

	Dac Output	Pot Reading	Partial Differences

	-1500.		 1497.
	    0.		-  11.		1508.
	 1500.		-1515.		1504.

	Difference:	-3012/3000
	DSCALE:		-1.004
	DOFFST:		-11.0

Joint Angle to DAC conversion constants:

	BSCALE:		14.9568
	BOFFST:		0.46612 
JOINT #6:  

Pot Calibration: 02FEB76

	Set Point	 A/D		Partial Differences

	- 90.0		 1888.
	- 45.0		 1381.		507.	1052.
	   0.0		  836.		545.
	  45.0		  294.		542.	1052.
	  90.0		 -216.		510.
	 135.0		 -730.		514.	1055.
	 180.0		-1271.		541.
	 225.0		-1791.		520.


	Difference:	 315./-3679.
	SCALE:		-.0856211   
	OFFSET:	 	71.579 deg 	

Dac to Pot Calibration: 02FEB76

	Dac Output	Pot Reading	Partial Differences

	-1800.		 1799.
	 -900.		  896.		903.
	    0.		-   8.		904. 
	  900.		- 912.		904.
	 1800.		-1813.		901. 

	Difference:	-3612/3600
	DSCALE:		-1.0033
	DOFFST:		-8.0

Joint Angle to DAC conversion constants:

	BSCALE:		11.6409
	BOFFST:		72.2640 
HAND:

Pot Calibration: 02FEB76

	Set Point	 A/D		Partial Differences

	   0.0 inches	 1480.
	   1.0		  698.		782.
	   2.0		  -95.		793.
	   3.0		 -873.		778.
	   3.75		-1454.          581.


	Difference:	 3.75/-2934.
	SCALE:		-.00127811  
	OFFSET:	 	1.8916 inches	

Dac to Pot Calibration: 02FEB76

	Dac Output	Pot Reading	Partial Differences

	-1200.		 1192.
	    0.		-  17.		1209.
	 1200.		-1221.		1204.

	Difference:	-2413/2400
	DSCALE:		-1.0054
	DOFFST:		-17.0

Joint Angle to DAC conversion constants:

	BSCALE:		778.202
	BOFFST:		1.91333 
JOINT STOP LIMITS:  03DEC75


      Joint	Hardware	Software	Hardware	Software
		Minimum		Minimum		Maximum		Maximum

	1	-250.27		-245.0		 45.7		 40.0
	2	-171.34		-165.0		-10.27		-15.0
	3	   7.92		   8.0		 35.65		 33.0
	4	  30.12		  35.0		352.12		345.0
	5	-100.75		- 97.0		106.54		100.0
	6	- 86.22		- 80.0		229.80		225.0
      hand	-  0.06		   0.0		  3.55		  3.5