44


sliding tube was 71.9 bits per cm per second (0.014 cm per second per bit). A full summary of the

velocity conversion factors is presented in Table 4.2.


Table 4.2. Conversion factors for changing A/D information to actual positions and velocities
 of the robot's joints.

 Conversion Factors
 Toint Position Velocity
 0 0.052 deg/bit 0.033 (deg/sec) / bit
 1 0.037 deg/bit 0.033 (deg/sec) / bit
 2 0.088 cm/bit 0.014 (cm/sec) / bit