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1.
2.
3.
g1[t2_,t3_]=F1[t2,t3]+a[[2]];
g2[t2_,t3_]=Cos[al[[2]]] F2[t2,t3]-Sin[al[[2]]] F3[t2,t3];
g3[t2_,t3_]=Sin[al[[2]]] F2[t2,t3]+Cos[al[[2]]] F3[t2,t3];
Print[g3[t2,t3]];Print[cccccc];
P1[t1_,t2_,t3_]=Cos[t1] g1[t2,t3]-Sin[t1] g2[t2,t3];
P2[t1_,t2_,t3_]=Sin[t1] g1[t2,t3]+Cos[t1] g2[t2,t3];
P3[t1_,t2_,t3_]=g3[t2,t3]+b[[1]];
x=FindRoot[,,,]
Print[x];
Programul coordonatelor punctului final :
a={0,0,0.432,0.02,0,0};
b={0,-0.149,0,-0.432,0,-0.056};
al={0,-Pi/2,0,Pi/2,-Pi/2,Pi/2};
p={0.40,0.40,0.42}
Print[111111];
f1[t3]=a[[4]] Cos[t3]+b[[4]] Sin[t3] Sin[al[[4]]]+a[[3]];
f2[t3]=Cos[al[[3]]] (Sin[t3] a[[4]]Cos[t3] Sin[al[[4]]] b[[4]])-Sin[al[[3]]] (Cos[al[[4]]] b[[4]]+b[[3]]);
f3[t3]=Sin[al[[3]]] (Sin[t3] a[[4]]-Cos[t3] Sin[al[[4]]] b[[4]])+
Cos[al[[3]]] (Cos[al[[4]]] b[[4]]+b[[3]]);
Print[f2[t3]];Print[aaaaa];
F1[t2_,t3_]=Cos[t2] f1[t3]-Sin[t2] f2[t3];
F2[t2_,t3_]=Sin[t2] f1[t3]+Cos[t2] f2[t3];
F3[t2_,t3_]=f3[t3]+b[[2]];
Print[F2[t2,t3]];Print[bbbbbb];
g1[t2_,t3_]=F1[t2,t3]+a[[2]];
g2[t2_,t3_]=Cos[al[[2]]] F2[t2,t3]-Sin[al[[2]]] F3[t2,t3];
g3[t2_,t3_]=Sin[al[[2]]] F2[t2,t3]+Cos[al[[2]]] F3[t2,t3];
Print[g3[t2,t3]];Print[cccccc];
P1[t1_,t2_,t3_]=Cos[t1] g1[t2,t3]-Sin[t1] g2[t2,t3];
P2[t1_,t2_,t3_]=Sin[t1] g1[t2,t3]+Cos[t1] g2[t2,t3];
P3[t1_,t2_,t3_]=g3[t2,t3]+b[[1]];
x=FindRoot[,,,]
Print[x];
Deci:.
3.
(ecuatia 1)
[0,1]
(ecuatia 2)
v1(0) = a11=0
Conditia pentru acceleratie:
(ecuatia 3)
[0,1]
(ecuatia 4)
(ecuatia 5)
(ecuatia 6)
[0,1]
[-1,0]
h3(t1)= a34t14 + (4a34+ a33)t13+ (6a34 +3a33 + a32) t12 + (4a34 +3a33 + 2a32+a31) t1+
(a34 +a33 + a32+a31+a30)
a34= a34
a33= 4a34+a33
a32=6a34+3a33+a32
a31=4a34+3a33+2a32+a31
a30=a34+a33+a32+a31+a30
Conditia de continuitate a pozitiei: h2(1) = h3(-1)
a23+a22+a21+a20= a34-a33+a32-a31+a30
(ecuatia 7)
3a23+2a22+a21= -4a34+3a33-2a32+a31
6a23+2a22= 12a34-6a33+2a32
(ecuatia 8)
(ecuatia 10)
(ecuatia 11)
(ecuatia 12)
(ecuatia 13)
(ecuatia 14)
a10 = -0.12
a11 = 0
a12 = 0
a20 = -0.51
a14 + a13+ a10=a20
4a14 + 3a13 = a21
12a14t + 6a13=2a22
a23+a22+a21+a20= a34-a33+a32-a31+a30
3a23+2a22+a21= -4a34+3a33-2a32+a31
6a23+2a22= 12a34-6a33+2a32
a30= -0.22
a31=0
a32=0
Pentru t
ecuatii urmator:
a34 = a34
4a34 +a33 = a33
6a34 + 3a33 +a32 = a32
4a34 +3a33 +2a32 +a31 = a31
a34 +a33 +a32 +a31 + a30 = a30
Se ajunge la urmatoarele valori:
a30 = - 0,80
a31 = 1,76
a32 = -1,41
a33 = 0,12
a34 = 0,17
Polinoamele h1(t) h2(t) h3(t):
h1(t)= -0,075t4 + 0,175t3 -0,61
,t
[0,1]
,t
[0,1]
,t
[0,1]
Bibliografie
1) Curs Roboti Industriali - Chircor M.
2) Indrumar Proiect Roboti Industriali