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What is actuator reduction and joint reduction?

I was just curiously looking into PR2 transmission code on github, I found this actuator and joint reduction, can anyone tell me what do they denote, are they related to gear reduction?

https://github.com/PR2/pr2_mechanism/blob/551d54fc5365dee14e719663eede3b4757b61bde/pr2_mechanism_model/src/wrist_transmission.cpp#L386

Asked by pmuthu2s on 2019-09-17 08:54:24 UTC

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