Barrett Technology, Inc.
BA4-310 System User Manual Version 1.1
72
−
−
=
7
6
5
7
5
6
5
5
6
5
6
5
4
1
00
0
22
1
0
22
1
τ
τ
τ
τ
τ
τ
J
J
J
N
N
n
N
N
n
N
M
M
M
Equation 12:
Wrist Joint-to-Motor torque transformations
