From b67e49f80b0bf30afa8fca08843e6ba7a504fa4e Mon Sep 17 00:00:00 2001 From: Ugo Pattacini Date: Tue, 28 Jan 2025 11:19:51 +0100 Subject: [PATCH] Update hands_mk5_coupling.md --- docs/hands/hands_mk5_coupling.md | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/docs/hands/hands_mk5_coupling.md b/docs/hands/hands_mk5_coupling.md index ba01538a3..e2b887a73 100644 --- a/docs/hands/hands_mk5_coupling.md +++ b/docs/hands/hands_mk5_coupling.md @@ -20,6 +20,14 @@ Unless specified otherwise, angles reported in the next sections follow the conv - $q_1$ is the variable angle of the first phalanx. - $q_2$ is the variable angle of the second phalanx. +!!! note "Joint angle feedback" + + The joint encoder is mounted in position $P_0$, hence we can measure the angle $q_0$ that in turn is used to close the control loop. + + !!! note "Motor encoder feedback" + + A quadrature encoder is mounted on the motor shaft, which is currently used only to handle the tendon wrapping. + ## Coupling Laws Considering the following quantities: @@ -129,4 +137,4 @@ The following table describes the coupling variables of the finger mechanisms in | $s$ | mm | 6.52 | 5.5 | 5.5 | 5.5 | 5.5 | Distance between joint $B$ of the connecting rod $A-B$ and joint $P_0$ | | $t$ | mm | 13 | 14.5 | 14.5 | 14.5 | 14.5 | Length of the connecting rod $A-B$ | | $f$ | mm | 6 | 5.5 | 5.5 | 5.5 | 5.5 | Length of the connecting rod $A-C$ | -| $r$ | mm | 7.5 | 8.5 | 8.5 | 8.5 | 8.5 | Length of the connecting rod $D-C$ | \ No newline at end of file +| $r$ | mm | 7.5 | 8.5 | 8.5 | 8.5 | 8.5 | Length of the connecting rod $D-C$ |