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robotology / cer

Contains SW specific to the R1 robots
GNU General Public License v2.0
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check on the tendons limits (finger joints) #28

Closed randaz81 closed 3 years ago

randaz81 commented 8 years ago

It is not using rotorPosMin/rotorPosMax parameters as required by the specifications

ale-git commented 8 years ago

The cable limit is managed at higer level than motor because the backward (=hand open) limit of the motor is dependant by the finger positions. The motor must not preceed the finger in the opening phase or the cable can jump out of the pulley even for a small angle, thus simple "motor max pos" and "motor_min_pos" are not sufficient.

randaz81 commented 3 years ago

Obsolete for new R1 hand. Closing.