Difference between revisions of "TEO Diagrams"

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(Replaced content with "Por favor rediríjanse a: https://github.com/roboticslab-uc3m/teo-software-manual/blob/master/appendix/a-teo-diagrams.md")
 
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= Joint Indexes =
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Por favor rediríjanse a: https://github.com/roboticslab-uc3m/teo-software-manual/blob/master/appendix/a-teo-diagrams.md
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{| style="width:100%" class="greentable"
 
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|- align="center"
 
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! style="width:50%" | Joint Indexes (CAN bus)
 
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! style="width:50%" | Joint Indexes (YARP ports)
 
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|- align="center"
 
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| [[File:Joints_(can).png|300px]]
 
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| [[File:Joints_(yarp).png|500px]]
 
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|}
 
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= Joint Directions of Rotation =
 
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{| style="width:100%" class="greentable"
 
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|- align="center"
 
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! Joint Directions of Rotation
 
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|- align="center"
 
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| [[File:Directions.png|300px]]
 
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|}
 
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= DH Parameter Table and Coordinate System Drawing =
 
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Content moved to https://github.com/roboticslab-uc3m/teo-software-manual/blob/master/appendix/a-teo-diagrams.md
 
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= Link Lengths =
 
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{| style="width:100%" class="greentable"
 
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|- align="center"
 
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! colspan=2 | Link Lengths
 
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|- align="center"
 
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| style="width:50%" | [[File:Lengths.png|250px]]
 
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| style="width:50%" | [[File:TEO_by_links.JPG|400px]]
 
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|- align="center"
 
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| colspan=2 style="width:50%;font-size:xx-small;align:center" |
 
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<table cellspacing="0" border="0">
 
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<tr>
 
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<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#FFCC99"><font color="#3F3F76">lengths</font></td>
 
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<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=bottom bgcolor="#FFCC99"><font color="#3F3F76">distance [mm]</font></td>
 
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<td align="left" valign=bottom><font color="#000000"><br></font></td>
 
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</tr>
 
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<tr>
 
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<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="20" align="center" valign=bottom bgcolor="#D9D9D9"><font color="#000000">l0</font></td>
 
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<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#D9D9D9" sdval="193.2" sdnum="1033;"><font color="#000000">193.2</font></td>
 
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<td align="left" valign=bottom><font color="#000000"><br></font></td>
 
−
</tr>
 
−
<tr>
 
−
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#FFFFFF"><font color="#000000">l1</font></td>
 
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<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#FFFFFF" sdval="305" sdnum="1033;"><font color="#000000">305</font></td>
 
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<td align="left" valign=bottom><font color="#000000"><br></font></td>
 
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</tr>
 
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<tr>
 
−
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#D9D9D9"><font color="#000000">l2</font></td>
 
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<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#D9D9D9" sdval="162.5" sdnum="1033;"><font color="#000000">162.5</font></td>
 
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<td align="left" valign=bottom><font color="#000000"><br></font></td>
 
−
</tr>
 
−
<tr>
 
−
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#FFFFFF"><font color="#000000">l3</font></td>
 
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<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#FFFFFF" sdval="59.742" sdnum="1033;"><font color="#000000">59.742</font></td>
 
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<td align="left" valign=bottom><font color="#000000"><br></font></td>
 
−
</tr>
 
−
<tr>
 
−
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#D9D9D9"><font color="#000000">l4</font></td>
 
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<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#D9D9D9" sdval="37.508" sdnum="1033;"><font color="#000000">37.508</font></td>
 
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<td align="left" valign=bottom><font color="#000000"><br></font></td>
 
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</tr>
 
−
<tr>
 
−
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#FFFFFF"><font color="#000000">l5</font></td>
 
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<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#FFFFFF" sdval="346.92" sdnum="1033;"><font color="#000000">346.92</font></td>
 
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<td align="left" valign=bottom><font color="#000000"><br></font></td>
 
−
</tr>
 
−
<tr>
 
−
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#D9D9D9"><font color="#000000">l6</font></td>
 
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<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#D9D9D9" sdval="329.01" sdnum="1033;"><font color="#000000">329.01</font></td>
 
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<td align="left" valign=bottom><font color="#000000"><br></font></td>
 
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</tr>
 
−
<tr>
 
−
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#FFFFFF"><font color="#000000">l7</font></td>
 
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<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#FFFFFF" sdval="202" sdnum="1033;">202</td>
 
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<td align="left" valign=bottom><font color="#000000"><br></font></td>
 
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</tr>
 
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<tr>
 
−
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="20" align="center" valign=bottom bgcolor="#D9D9D9"><font color="#000000">l8</font></td>
 
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<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#DDDDDD" sdval="187.496" sdnum="1033;">187.496</td>
 
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<td align="left" valign=bottom><font color="#000000">Con F/T, a 2 cm debajo chapa final mano.</font></td>
 
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</tr>
 
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<tr>
 
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<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#FFFFFF"><font color="#000000">l9</font></td>
 
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<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#FFFFFF" sdval="92" sdnum="1033;">92</td>
 
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<td align="left" valign=bottom><font color="#000000"><br></font></td>
 
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</tr>
 
−
<tr>
 
−
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#D9D9D9"><font color="#000000">l10</font></td>
 
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<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#DDDDDD" sdval="330" sdnum="1033;">330</td>
 
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<td align="right" valign=bottom><font color="#000000"><br></font></td>
 
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</tr>
 
−
<tr>
 
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<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#FFFFFF"><font color="#000000">l11</font></td>
 
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<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#FFFFFF" sdval="300" sdnum="1033;">300</td>
 
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<td align="left" valign=bottom><font color="#000000"><br></font></td>
 
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</tr>
 
−
<tr>
 
−
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#D9D9D9"><font color="#000000">l12</font></td>
 
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<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#DDDDDD" sdval="123.005" sdnum="1033;">123.005</td>
 
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<td align="left" valign=bottom><font color="#000000"><br></font></td>
 
−
</tr>
 
−
<tr>
 
−
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#FFFFFF"><font color="#000000">l13</font></td>
 
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<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#FFFFFF" sdval="146" sdnum="1033;">146</td>
 
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<td align="left" valign=bottom><font color="#000000"><br></font></td>
 
−
</tr>
 
−
<tr>
 
−
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#D9D9D9"><font color="#000000">l14</font></td>
 
−
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#D9D9D9" sdval="18" sdnum="1033;"><font color="#000000">18</font></td>
 
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<td align="left" valign=bottom><font color="#000000"><br></font></td>
 
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</tr>
 
−
<tr>
 
−
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#FFFFFF"><font color="#000000">l15</font></td>
 
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<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#FFFFFF" sdval="26" sdnum="1033;"><font color="#000000">26</font></td>
 
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<td align="left" valign=bottom><font color="#000000"><br></font></td>
 
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</tr>
 
−
<tr>
 
−
<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" height="18" align="center" valign=bottom bgcolor="#D9D9D9"><font color="#000000">l16</font></td>
 
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<td style="border-top: 1px solid #7f7f7f; border-bottom: 1px solid #7f7f7f; border-left: 1px solid #7f7f7f; border-right: 1px solid #7f7f7f" align="center" valign=middle bgcolor="#D9D9D9" sdval="17.5" sdnum="1033;"><font color="#000000">17.5</font></td>
 
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<td align="left" valign=bottom><font color="#000000"><br></font></td>
 
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</tr>
 
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</table>
 
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|}
 
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= COGs =
 
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{| style="width:100%" class="greentable"
 
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|- align="center"
 
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! COGs
 
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|- align="center"
 
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| [[File:Masses.png|280px]]
 
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|}
 
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= F-T sensors =
 
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{| style="width:100%" class="greentable"
 
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|- align="center"
 
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! F-T sensors
 
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|- align="center"
 
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| [[File:Ftsensors.png|280px]]
 
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|}
 
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== JR3 wrists drawings ==
 
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{| style="width:100%" class="greentable"
 
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|- align="center"
 
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! F-T sensors
 
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|- align="center"
 
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| [[File:Jr3 50M31 corregido.pdf|280px]]
 
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|}
 
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= Sources for Develop =
 
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Migrating to: https://github.com/roboticslab-uc3m/teo-software-manual
 

Latest revision as of 14:12, 13 December 2017

Por favor rediríjanse a: https://github.com/roboticslab-uc3m/teo-software-manual/blob/master/appendix/a-teo-diagrams.md

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