Measurement Poses and Conditions
Joint 1 measurement is performed with the rotating axis perpendicular to the ground and during horizontal movement.
Joint 2 and Joint 3 measurements are performed with the rotating axis parallel to the ground and when the robot is stopped in a downward movement vertical to the ground.
Note
The measurements are the result of the worst case. Measurement may vary according to circumstances
The pose for 33%, 66%, and 100% of extension
| Joint 1 | Joint 2 | Joint 3 |
100% extension Stop category 0 |
 |
 |
 |
33% extension Stop category 1 |
 |
 |
- |
66% extension Stop category 1 |
 |
 |
- |
100% extension Stop category 1 |
 |
 |
 |
The pose when the stop is initiated and the measured angle (θd)
Pose when the stop is initiated | Measured Angle | |
Joint1 |  | No slip,
|
Joint2 |
 |
 |
Joint3 |
 |
 |
