User manual

Barrett Technology, Inc.
BA4-310 System User Manual Version 1.1
71
Appendix C - Motor-to-Joint Torque Transformations
Similar to the position transformations the following equations determine the joint torque from
the motor torque.






























−−
−
−
=














3
2
1
0
4
3
2
3
2
22
1
4
3
2
1
000
00
00
000
τ
τ
τ
τ
τ
τ
τ
τ
M
M
M
M
N
n
N
n
N
NN
N
J
J
J
J
Equation 9:
Arm Motor-to-Joint torque transformation






















−
−
=










6
5
4
7
6
5
6
5
55
7
6
5
00
0
0
τ
τ
τ
τ
τ
τ
M
M
M
N
n
N
n
N
NN
J
J
J
Equation 10:
Wrist Motor-to-Joint transformations
The following equations determine motor torque from the joint torque






































−
−
−
−
=














4
3
2
1
4
2
3
2
2
3
2
1
3
2
1
0
1
000
0
22
1
0
0
22
1
0
000
1
τ
τ
τ
τ
τ
τ
τ
τ
J
J
J
J
N
N
n
N
N
n
N
N
M
M
M
M
Equation 11:
Arm Joint-to-Motor torque transformations