COMMENT ⊗   VALID 00010 PAGES
C REC  PAGE   DESCRIPTION
C00001 00001
C00002 00002		NAVEL RESEARCH LABORATORY/SCHEINMAN 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:  02AUG76
C00015 ENDMK
C⊗;
	NAVEL RESEARCH LABORATORY/SCHEINMAN ARM  CALIBRATION


KINEMATIC ARM CONSTANTS:  01AUG76

	S1 = 10.770 inches
	A2 =  8.000 inches
	S2+S3= 4.67 inches
	S4 =  8.000 inches
	S6 =  6.000 inches	To center of fingers(.35 in from tip)

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


TRANSFER FUNCTIONS FOR THE "ARM" PROGRAM


	Scaled Joint Angle ← 2↑(-12)*(ADC reading)*SCALE + OFFSET

	DAC value ← 2↑(K2)*(Scaled Joint Angle - BOFFST)*BSCALE


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


	SCALE  ← (2↑27/K1)*(change in degrees/change in ADC reading)

	OFFSET ← (2↑15/K1)*(angle in degrees) 
			- 2↑(-12)*( ADC reading ) * SCALE

	BSCALE ← (2↑(K3)/SCALE)*DSCALE

	BOFFST ← OFFSET + 2↑(-12)*SCALE*DOFFST

   where

	DSCALE ← (change DAC output)/(change in pot reading)

	DOFFST ← pot reading - ( DAC value )/DSCALE

   for  joints 1-6:  K1 = 360, K2 = -17, K3 = 29
        hand:	     K1 =  32, K2 = -15, K3 = 27
JOINT #1:

Pot Calibration: 01AUG76.

	Set Point	 A/D		Partial Differences

	-90.0		 738. 		1031.
	  0.0		 1769 		1043.
	+90.0		 2812.

	SCALE:		32357.
	OFFSET:		-14022.

Dac to Pot Calibration: 01AUG76

	Dac Output	Pot Reading	Partial Differences

	-1500.		  546.		 502.
	-1000.		 1048.		 503.
	- 500.		 1551.		 503.
	    0.		 2054.		 503.
	  500.		 2557.		 502.
	 1000.		 3059.		 503.
	 1500.		 3562.		 

	BSCALE:		16504.
	BOFFST:		 2204.
JOINT #2: 

Pot Calibration: 01AUG76

	Set Point	 A/D		Partial Differences

	   0.0 DEG	 3137.		1076.
        - 90.0		 2061.		1029.
	-180.0		 1032.	

	SCALE:		31881.
	OFFSET:		-24416.

Dac to Pot Calibration: 01AUG76

	Dac Output	Pot Reading	Partial Differences

	-1000.		 1078.		 487.
	- 500.		 1565.		 489.
	    0.		 2054.		 489.
	  500.		 2543.		 489.
	 1000.		 3032.		 487.
	 1500.		 3519.	

	BSCALE:		17247.
	BOFFST:		-8426.
JOINT #3:  

Pot Calibration: 01AUG76

	Set Point	 A/D		Partial Differences

	 0.0DEG		3111		1041.
	 90.0		2070		1056.
	180.0		1014

	SCALE:		-32002.
	OFFSET:		24306.

Dac to Pot Calibration: 01AUG76

	Dac Output	Pot Reading	Partial Differences

	-1500.		  563.		493.
	-1000.		 1056.		499.
	  500.		 1555.		499.
	    0.		 2054.		499.
	  500.		 2553.		498.
	 1000.		 3051.		497.
	 1500.		 3548.

	BSCALE:		-16860.
	BOFFST:		  8246.
JOINT #4: 

Pot Calibration: 01AUG76

	Set Point	 A/D		Partial Differences

	-180.0		981		1108.
	-90.0		2089		1025.
	 0.0		3114
	
	SCALE:		31462.
	OFFSET:		-23919.

Dac to Pot Calibration: 01AUG76

	Dac Output	Pot Reading	Partial Differences

	-1500.		  571.		495.
	-1000.		 1066.		495.
	- 500.		 1561.		494.
	    0.		 2055.		495.
	  500.		 2550.		496.
	 1000.		 3046.		495.
	 1500.		 3541.

	BSCALE:		17236.
	BOFFST:		-8127.
JOINT #5: 

Pot Calibration: 01AUG76

	Set Point	 A/D		Partial Differences

	- 90.0		 635.		1458.
	   0.0		2093.		1441.
	  90.0		3534.
	
	SCALE:		23149.
	OFFSET:		-11781.

Dac to Pot Calibration: 01AUG76

	Dac Output	Pot Reading	Partial Differences

	-1500.		  546		502.
	-1000.		 1048.		502.
	- 500.		 1550.		503.
	    0.		 2053.		503.
	  500.		 2556.		502.
	 1000.		 3058.		502.
	 1500.		 3560.

	BSCALE:		23084.
	BOFFST:		- 178.
JOINT #6:  

Pot Calibration: 01AUG76

	Set Point	 A/D		Partial Differences

	-180.0		 3793.		1084.
	- 90.0		 2709		1047.
	   0.0		 1662.		1059.
	  90.0	 	  603.

	SCALE:		-31556.
	OFFSET:	 	12838.

Dac to Pot Calibration: 01AUG76

	Dac Output	Pot Reading	Partial Differences

	-1500.		  556.		499.
	-1000.		 1055.		499.
	- 500.		 1554.		499.
	    0.		 2053.		499.
	  500.		 2552.		500.
	 1000.		 3052.		496.
	 1500.		 3548.

	BSCALE:		-17059.
	BOFFST:		- 2971.
HAND:

Pot Calibration: 01AUG76

	Set Point	 A/D		Partial Differences

	   0.25inches	 1710.		321.
	   0.75		 2031.		384.
	   1.25		 2415.		373.
	   1.75		 2788.

	SCALE:		5836.
	OFFSET:	 	-2181.

Dac to Pot Calibration: 01AUG76

	Dac Output	Pot Reading	Partial Differences

	- 500.		 1561.		491.
	    0.		 2052.		504.
	  500.		 2556.

	BSCALE:		23114.
	BOFFST:		  752.
JOINT STOP LIMITS:  02AUG76


      Joint	Mechanical	Software  	Mechanical	Software
		Minimum		Minimum		Maximum		Maximum

	1	-147.63		-135.0 		190.30		180.0
	2	-259.53		-245.0 		 74.06		 60.0
	3	 -63.52		 -55.0 		225.57		215.0 
	4	-247.35		-235.0		 70.38		 60.0
	5	-111.86		-107.0		113.90		110.0
	6	-179.91		-150.0		120.05 		 96.0
      hand	-  0.03		  -0.03		  1.933		  1.9