Transcript John report

Current Work
•
•
Trip to Barrett
–
Hand is fine, lubricated and sounding better.
–
Arm difficult to diagnose, cables feel a little
tight, pucks drawing excessive current.
Recabled joint 4 and replaced optical encoders
with magnetic ones.
–
Needed to ship them our “old” pendants so they
could run the WAM.
Estimate for Truss
–
$1034. Emailed facilities to get the itemized
estimate.
–
Option to use trusses as legs, with Barb's
What's Next


Need to get the arm back and find some good
gains. Hopefully they get rid of the friction.
Integrate blending into the trajectory points so
we get smooth velocity/acceleration. Having
some trouble with this...

Suggestions for work until WAM comes back?

Grasping Experiments