NAVAL RESEARCH LABORATORY - MODEL M.I.T. 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: 28AUG76

	Dac Output	Pot Reading	Partial Differences

	-1000.		 1049.		 
	- 500.		 1552.		 503.
	    0.		 2054.		 502.
	  500.		 2557.		 503.
	 1000.		 3060.		 503.

	BSCALE:		16501.
	BOFFST:		 2208.
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: 28AUG76

	Dac Output	Pot Reading	Partial Differences

	-1000.		 1064.		 
	- 500.		 1560.		 496.
	    0.		 2055.		 495.
	 1000.		 3047.		 992.

	BSCALE:		16984.
	BOFFST:		-8417.
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: 28AUG76

	Dac Output	Pot Reading	Partial Differences

	-1000.		 1058.		
	    0.		 2054.		996.
	  500.		 2552.		498.
	 1000.		 3049.		497.

	BSCALE:		-16852.
	BOFFST:		  8262.
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: 28AUG76

	Dac Outpqt	Pot Reading	Partial Differences

	-1000.		 1101.		
	- 500.		 1579.		478.
	    0.		 2056.		477.
	 1000.		 3011.		955.

	BSCALE:		17868.
	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:		-117_1.¬

@ac to Pot Calibration: 28AUG76

	Dac Output	Pot Reading	Partial Differences

	-1000.		 1049.		
	- 500.		 1551.↓	502.
	    0.		 2053.		502.
	 1000.		 3058.		1005.

	BSCALE:		23088.
	BOFFST:		- 175.
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: 28AUG76

	Dac Output	Pot Reading	Partial Differences

	-1000.		 1055.		
	    0.		 2053.		998.
	  500.		 2553.		500.
	 1000.		 3052.		499.

	BSCALE:		-17039.
	BOFFST:		- 2982.
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: 28AUG76

	Dac Output	Pot Reading	Partial Differences

	- 300.		 1755.		
	    0.		 2056.		301.
	  600.		 2661.          605.

	BSCALE:		22846.
	BOFFST:		  750.
JOINT STOP LIMITS:  17AUG76


      Joint	Mechanical	Software  	Mechanical	Software
		Minimum		Minimum		Maximum		Maximum

	1	-147.63		-135.0 		190.30		185.0
	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		107.0
	6	-179.91		-170.0		120.05 		110.0
α      hand	-  0.03		  -0.03		  1.933		  1.9