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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 (
)


Joint 1

Joint 2

Joint1


 

 No slip,  

Joint2

 

 

Joint3

 

 

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