Doosan H2017 Installation Manual

Doosan Robotics Installation Manual v2.1
142
C.3.2 Stop Category 0
Joint 1
Extension=100%, Speed=100%, Payload=100%
Stopping distance(rad)
Stopping time(ms)
Joint 1
0.133
92
Joint 2
Extension=100%, Speed=100%, Payload=100%
Stopping distance(rad)
Stopping time(ms)
Joint 2 (𝜃
𝑗2
)
0.171
305
Joint 3 (𝜃
𝑗3
)
0.05
Distance (𝜃
𝑗𝑑
)
0.195
Joint 3
Extension=100%, Speed=100%, Payload=100%
Stopping distance(rad)
Stopping time(ms)
Joint 2 (𝜃
𝑗2
)
0.034
113
Joint 3 (𝜃
𝑗3
)
0.122
Distance (𝜃
𝑗𝑑
)
0.151
The joint 2 and joint 3 angles are refer to 𝜃
𝑗2
, 𝜃
𝑗3
, 𝜃
𝑑
in table C.2

Doosan H2017 Specifications

General

Brand	Doosan
Model	H2017
Category	Robotics
Language	English