在旋转轴垂直于地面且做水平运动期间执行关节 1 测量。
在旋转轴平行于地面且机器人在垂直于地面的向下运动中停止时执行关节 2 和关节 3 测量。
该测量结果是最坏情况下的结果。测量可能因情况而异
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 ( 
)
|
|
Pose when the stop is initiated |
Measured Angle |
|
Joint1
|
|
No slip, |
|
Joint2 |
|
|
|
Joint3 |
|
|
