User manual

Barrett Technology, Inc.
BA4-310 System User Manual Version 1.1
70














=














93.14
1
27.10
5
7
6
6
5
N
N
n
N
N
Equation 6:
Wrist transformation ratios
The motor position can also be derived from joint space by taking the inverse of the
multiplying matrix. For convenience they are as follows:
































−
−
−
−
=














4
3
2
1
4
3
2
2
3
2
2
1
3
2
1
0
000
00
00
000
θ
θ
θ
θ
θ
θ
θ
θ
J
J
J
J
N
n
N
N
n
N
N
N
M
M
M
M
Equation 7:
Arm Joint-to-Motor position transformations




























−
−
=










7
6
5
7
6
5
5
6
5
5
6
5
4
00
0
0
θ
θ
θ
θ
θ
θ
J
J
J
N
n
N
N
n
N
N
M
M
M
Equation 8:
Wrist Joint-to-Motor position transformation