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Joint laboratory of Dept. of Mechanics, Faculty of Mechanical Engineering and CMP. Room phone number is 7245.
C:\Program Files\Point Grey Research\FlyCapture2\bin\FlyCap2.exe (shortcut is placed on the desktop).
The voltage required for transmission is on 12 V level (it is not tolerant to 3V levels against the standard). RS-232 is currently set to:
The robot was calibrated using jigs April 30th 2010. Here are the calibration data: D: I?Q #TO 1: YR4 GZT 2: E9K T2E 3: 01P MBN 4: YTY BO@ 5: 17$ WFS 6: Z2W 348
Joint
α
a
Θ
d
parameter range
1
-90
85
parameter
350
< -170; 170 >
2
0
280
90 + parameter
< -92; 135 >
3
90
< -107; 166 >
4
-90 + parameter
315
100
< -160; 160 >
5
< -120; 120 >
6
< -360; 360 >
The parameters α (rotation around new X axis) Θ (rotation around Z axis) are in degress and the parameters a (translation in new X axis) and d (translation in Z axis) are in milimeters. The Base is eye matrix and there is no Tool installed. The parameter range is in degrees and is the maximum possible range.