List of Tables
TABLE 1 - FIRMWARE FILE LIST..........................................................................................20
TABLE 2 - MOTOR PREFIXES..................................................................................................22
TABLE 3 - HAND STATUS CODES...........................................................................................23
TABLE 4 - REALTIME FINGER CONTROL PROPERTIES FOR THE BH8-262.............45
TABLE 5 - REALTIME GLOBAL CONTROL PROPERTIES..............................................45
TABLE 6 - LUBRICATION SCHEDULE..................................................................................50
TABLE 7 - BARRETTHAND™ MOTOR PROPERTIES........................................................65
TABLE 8 - D-H PARAMETER VALUES FOR ALL FINGERS.............................................74
TABLE 9 - D-H LINK PARAMETERS FOR FINGERS..........................................................75
TABLE 10 - FINGER AND SPREAD JOINT RATIOS............................................................77
List of Equations
EQUATION 1 - HOMOGENEOUS TRANSFORM BETWEEN FRAME {I-1} AND {I}.....73
EQUATION 2 - FORWARD KINEMATICS FROM WRIST FRAME TO FINGERTIP....74
EQUATION 3 - FORWARD KINEMATICS MATRIX FOR FINGER F1............................76
EQUATION 4 - JOINT 3 POSITIONS BEFORE AND AFTER BREAKAWAY..................77
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