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 ()
Joint 1
Joint 2
Joint1
No slip,
Joint2
Joint3
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