COMMENT ⊗   VALID 00010 PAGES
C REC  PAGE   DESCRIPTION
C00001 00001
C00002 00002		NAVAL RESEARCH LABORATORY - MODEL M.I.T. 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:  17AUG76
C00015 ENDMK
C⊗;
	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		 799. 		1047.
	  0.0		 1846 		 987.
	+90.0		 2833.		1034
	+180.0		 3867	

	SCALE:		32357.
	OFFSET:		-14022.

Dac to Pot Calibration: 28AUG76

	Dac Output	Pot Reading	Partial Differences

	-1000.		 1037.		 
	    0.		 2041.		 1004
	 1000.		 3042.		 1001

	BSCALE:		16501.
	BOFFST:		 2208.
JOINT #2: 

Pot Calibration: 01AUG76

	Set Point	 A/D		Partial Differences

	   0.0 DEG	 3087.		1008.
        - 90.0		 2079.		 974.
	-180.0		 1105.	

	SCALE:		31881.
	OFFSET:		-24416.

Dac to Pot Calibration: 28AUG76

	Dac Output	Pot Reading	Partial Differences

	-1000.		 1053.		 
	    0.		 2053.		 1000
	 1000.		 3055.		 1002

	BSCALE:		16984.
	BOFFST:		-8417.
JOINT #3:  

Pot Calibration: 01AUG76

	Set Point	 A/D		Partial Differences

	 0.0DEG		1110		 963.
	 90.0		2073		1056.
	180.0		3129

	SCALE:		-32002.
	OFFSET:		24306.

Dac to Pot Calibration: 28AUG76

	Dac Output	Pot Reading	Partial Differences

	-1000.		 1053.		
	    0.		 2054.		1001
	 1000.		 3055.		1001

	BSCALE:		-16852.
	BOFFST:		  8262.
JOINT #4: 

Pot Calibration: 01AUG76

	Set Point	 A/D		Partial Differences

	-180.0		970		1094.
	-90.0		2064		1127.
	 0.0		3191
	
	SCALE:		31462.
	OFFSET:		-23919.

Dac to Pot Calibration: 28AUG76

	Dac Output	Pot Reading	Partial Differences

	-1000.		 1121.		
	    0.		 2056.		935
	 1000.		 2988.		932

	BSCALE:		17868.
	BOFFST:		-8127.
JOINT #5: 

Pot Calibration: 01AUG76

	Set Point	 A/D		Partial Differences

	- 90.0		 536.		1508.
	   0.0		2044.		1443.
	  90.0		3487.
	
	SCALE:		23149.
	OFFSET:		-11781.

Dac to Pot Calibration: 28AUG76

	Dac Output	Pot Reading	Partial Differences

	-1000.		 1049.		
	    0.		 2052.		1003
	 1000.		 3056.		1004.

	BSCALE:		23088.
	BOFFST:		- 175.
JOINT #6:  

Pot Calibration: 01AUG76

	Set Point	 A/D		Partial Differences

	- 90.0		 2948		1207.
	   0.0		 1741.		1079.
	  90.0	 	  662.

	SCALE:		-31556.
	OFFSET:	 	12838.

Dac to Pot Calibration: 28AUG76

	Dac Output	Pot Reading	Partial Differences

	-1000.		 1053.		
	    0.		 2054.		1001
	 1000.		 3055.		1001

	BSCALE:		-17039.
	BOFFST:		- 2982.
HAND:

Pot Calibration: 01AUG76

	Set Point	 A/D		Partial Differences

	   0.0inches	 2837.		
	   1.00		 2106.		
	   1.85		 1441.		

	SCALE:		5836.
	OFFSET:	 	-2181.

Dac to Pot Calibration: 28AUG76

	Dac Output	Pot Reading	Partial Differences

	- 500.		 1553.		
	    0.		 2054.		501.
	  500.		 2555.          501.

	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
      hand	-  0.03		  -0.03		  1.933		  1.9