COMMENT ⊗   VALID 00003 PAGES
C REC  PAGE   DESCRIPTION
C00001 00001
C00002 00002	CALIBRATION MATRIX: CURRENT TIME AND DATE: 21:00  13MAY76
C00009 00003	CALIBRATION DATA FOR JBL FORCE WRIST.  
C00013 ENDMK
C⊗;
CALIBRATION MATRIX: CURRENT TIME AND DATE: 21:00  13MAY76
FORCES GIVEN IN LBS. AND MOMENTS IN UNITS OF INCH-LBS.

ROW 1:
  -.4148538@-1      .9801512@-3      .1865107@-2      .2231527@-2   
   .4230694@-1      .1108351@-2     -.1431343@-3      .1997115@-2   

ROW 2:
   .6374652@-3      .8207285@-3      .4103044@-1     -.1184343@-2   
  -.3395055@-4      .8534188@-3     -.4011261@-1      .1302035@-2   

ROW 3:
  -.3535445@-2      .2645306@-1      .2080094@-2      .2593753@-1   
   .3927767@-2      .2727976@-1     -.3365114@-3      .2668579@-1   

ROW 4:
   .1604440@-2      .4587171@-1     -.8211672@-3      .3596792@-3   
   .6783375@-3     -.4209845@-1     -.2834689@-2      .1960316@-2   

ROW 5:
   .8185854@-2     -.5017679@-2     -.1758985@-2     -.4753193@-1   
  -.1234851@-1     -.1750389@-2     -.4015748@-3      .3990270@-1   

ROW 6:
   .3316386@-1     -.1262101@-2      .2813809@-1      .3352456@-3   
   .3835204@-1     -.2143634@-4      .4400754@-1     -.8383661@-3   



THE FOLLOWING MATRIX EQUATION TOGETHER WITH THE CALIBRATION MATRIX
GIVEN ABOVE CAN BE USED TO RESOLVE THE FORCES AND MOMENTS:


		F ← M * ε

	where
				       T
		F = (FX,FY,FZ,MX,MY,MZ)
		  =  force/moment vector

		M = calibration matrix shown above

					     T
		ε = (ε1,ε2,ε3,ε4,ε5,ε6,ε7,ε8) 
		  = difference in strain gage readings
CALIBRATION DATA FOR JBL FORCE WRIST.  

FORCE/MOMENT OF 0 0 4.4 0 0 0  
CURRENT TIME AND DATE: 19:59  13MAY76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
    -2.00    51.10    48.00    60.00    36.00    68.00    46.30   106.00
     3.00    39.10      .00    35.00    -3.20    45.00     2.30    47.00
      .00      .32      .00      .00      .00      .00      .48      .00


FORCE/MOMENT OF 0 10 0 7.5 0 -40
CURRENT TIME AND DATE: 20:02  13MAY76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
  -270.00    95.00   -90.90    38.00  -216.00   -50.00  -352.00    47.00
  -265.00    83.00  -138.90    13.00  -255.20   -73.00  -396.00   -12.00
      .00      .00      .32      .00      .00      .00      .00      .00


FORCE/MOMENT OF 0 10 0 7.5 0 0
CURRENT TIME AND DATE: 20:06  13MAY76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
    16.00    94.00   182.70    16.00    54.00   -60.00   -67.00    60.00
    20.00    82.00   134.70    -9.00    14.00   -83.00  -111.00     1.00
      .00      .00      .48      .00      .00      .00      .00      .00


FORCE/MOMENT OF 10 0 0 0 -71.5 0
CURRENT TIME AND DATE: 20:10  13MAY76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
  -119.00    21.00    56.00   816.00   159.00     2.00     1.00  -731.00
  -115.00     8.00     8.00   791.00   119.00   -21.00   -43.00  -789.20
      .00      .00      .00      .00      .00      .00      .00      .00


FORCE/MOMENT OF 10 0 0 0 -7.5 0
CURRENT TIME AND DATE: 20:13  13MAY76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
  -128.00     6.00    46.20    78.00   155.60    10.50    36.00    -7.00
  -124.00    -7.00    -1.80    53.00   115.60   -12.50    -8.00   -65.20
      .00      .00      .42      .00      .52      .53      .00      .00


FORCE/MOMENT OF 0 5 0 35.75 0 0
CURRENT TIME AND DATE: 21:00  13MAY76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
    20.00   419.00   105.00     5.90    63.00  -372.50   -18.00    75.00
    25.00   409.00    58.00   -19.10    23.00  -398.50   -64.00    15.10
      .00      .00      .00      .32      .00      .53      .00      .00