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= + &
7 7 7
5 5 5 5 5
5 5
7 7
m lc q I q = + & &
Coordenadas del centro del centro de masa del eslabn 0$
7 5 5 7 5 7
7 5 5 7 5 7
: < : <
cos: < cos: <
x l sen q lc sen q q
y l q lc q q
= + +
= +
.ector de velocidad del centro de masa del eslabn 0$
5 5 5 7 5 7 5 7
7
5 5 5 7 5 7 5 7
cos: < cos: <: <
: < : <: <
l q q lc q q q q
v
l sen q q lc sen q q q q
+ + +
=
+ + +
& & &
& & &
.elocidad al cuadrado del centro de masa del eslabn 0$
7 7 7 7 7 7 7
7 7 7 5 5 7 5 5 7 7 5 7 5 5 7 7
7 7 cos: <
T
v v v l q lc q q q q l lc q q q q = = + + + + +
& & && & & &&
"ner!/a cintica del eslabn 0$
[ ]
7 7 7 7 7 5 7
5 5
: <
7 7
T
K q q m v v I q q
= + + + + + + + +
+ + + + + + +
+ + + + + +
& & &
&
& & & & &
& & & & & &
[ ] [ ]
7 7 7 7
5 5 7 5 / 5 7 7 5 5
5
7 7 7
5 7 7 7 7 / 7 5 7 / / / /
7 5 7 7 5 7 / 5 7 7 7 5 7 7 5 7 / 5 7
/ 5 / 7 / 5
: < : <
c :7 < :7 <
c: <:7
d L
mlc m l m l m lc I q
dt q
q q m lc I m l q q q m lc I
q q q m l lc m l l sq q q q m l lc m l l
m l lc q q q q
= + + + + +
+ + + + + + +
+ + + + + +
+ +
&&
&
&& && && && &&
&& && & & &
&& &&
7 /
7 7
/ 5 / 7 / 5 7 7 5 / 7 / /
<
: <:7 7 7 <
q
m l lc s q q q q q q q q q q
+
+ + + + +
&&
&& & && && &
[ ]
[ ]
5 5 7 5 / 5 5
5
7 7 / 7 5 7 / / 5 7 /
: <
: < : <
L
m lc m l m l gs q
q
m lc m l gs q q m lc gs q q q
= + +
+ + + +
[ ]
7 7 7
5 7 7 7 7 / 7 5 7 / / / /
7
7 5 7 5 7 / 5 7
/ 5 / 7 / 5 / 7 / / 5 5 /
: < : <
c : <
c: <: < c :7 7 <
L
q q m lc I m l q q q m lc I
q
q q m l lc m l l
m l lc q q q m l lc q q q q
= + + + + + + + +
+ +
+ + + +
& & & & &
&
&
& & & &
[ ] [ ]
7 7 7
5 7 7 7 7 / 7 5 7 / / / /
7
7 5 7 5 7 / 5 7 7 5 7 7 5 7 / 5 7
/ 5 / 7 / 5 / 5 / 7 / 5 7 5 / / 7 / / 7
: < : <
c : < : <
c: <: < : <: < c :7 7
d L
q q m lc I m l q q q m lc I
dt q
q q m l lc m l l sq q q m l lc m l l
m l lc q q q m l lc s q q q q q q m l lc q q q
= + + + + + + + +
+ +
+ + + + +
&& && && && &&
&
&& &&
&& && && && &&
5 /
7
/ 7 / / 7 / 5 / /
<
:7 7 <
q
m l lc sq q q q q q
+
+ +
&&
& & &
7
7 5 5 7 7 5 7 / 5 7
7
/ 5 / 7 / 5 7 5 5 / 7 7 / 7 5 7
/ / 5 7 /
: <: <? @
: <: <: < ? @ : <
: <
L
s q q q q m l lc m l l
q
m l lc s q q q q q q q m lc m l gs q q
m lc s q q q
= + +
+ + + + + +
+ +
& &
& & & & &
7
/ / / 5 7 / / 5 / 5 7 /
/
/ 7 / 5 7 /
?( @: < c: <
: < c: <
L
m lc q q q m l lc q q q
q
m l lc q q q
= + + + + +
+ +
& & & &
&
& &
7
/ / / 5 7 / / 5 / 5 7 /
/
/ 5 / 7 / 5 7 5 / / 7 / 5 7 /
/ 7 / 5 / 7 / /
?( @: < c: <
: <: < : < c: <
: q < : <
d dL
m lc q q q m l lc q q q
dt dq
m l lc s q q q q q q m l lc q q q
m l lc q q q s q
= + + + + +
+ + + +
+
&& && && &&
&
&& && && &&
& & &&
7
/ 5 / 7 / 5 5 7 5 / / 7 / / 5 7 5 7 /
/
/ / 5 7 /
A : <: < A : <: <: <
A : B <
L
m l lc s q q q q q q q m l lc s q q q q q q
q
m lc s q q q
= + + + + + +
+
& && && & & & & &
&
5 5
d L L
T
dt q q
= =
& &
[ ] [ ]
7 7 7 7
5 5 7 5 / 5 7 7 5 5
7 7 7
5 7 7 7 7 / 7 5 7 / / / /
7 5 7 7 5 7 / 5 7 7 7 5 7 7 5 7 / 5 7
/ 5 / 7 / 5 7 /
/
5
: < : <
c :7 < :7 <
c: <:7 <
T m lc m l m l m lc I q
q q m lc I m l q q q m lc I
q q q m l lc m l l sq q q q m l lc m l l
m l lc q q q q q
m l
= + + + + +
+ + + + + + +
+ + + + + +
+ + +
&&
&& && && && &&
&& && & & &
&& && &&
[ ]
[ ]
7 7
5 / 7 / 5 7 5 / 7 / / 5 5 7 5 / 5 5
7 7 / 7 5 7 / / 5 7 /
: <:7 7 7 < : <
: < : <
lc s q q q q q q q q q m lc m l m l gs q
m lc m l gs q q m lc gs q q q
+ + + + + + + + +
+ + + + +
& & && && &
[ ] [ ]
7 7 7
5 7 7 7 7 / 7 5 7 / / / /
7 5 7 5 7 / 5 7 7 5 7 7 5 7 / 5 7
/ 5 / 7 / 5 / 5 / 7 / 5 7 5 / / 7 / / 7 5 /
/
7 : < : <
c : < : <
c: <: < : <: < c :7 7 <
T q q m lc I m l q q q m lc I
q q m l lc m l l sq q q m l lc m l l
m l lc q q q m l lc s q q q q q q m l lc q q q q
m l
= + + + + + + + +
+ +
+ + + + + +
7 7 7 7 7
5 5 7 5 / 5 7 7 5 / 7 7 5 7 7 / 5 7 7 / 5 / 7 / 7 /
7 7 7
7 7 / 7 / / 7 5 7 7 / 5 7 7 7 / / 5 / 7 /
7
/ / / 5 / 7 /
55 7? c: < c: <@ 7 c: <
57 : < c: < c: <
5/ c: <
75
M m lc m l m l m lc I m l m l lc q m l l q m l lc q q I I
M m lc m l m lc m l lc c q m l l q I I m l lc q q
M m lc m l lc q q
M m
= + + + + + + + + + + +
= + + + + + + + +
= + +
=
7 7 7
7 7 / 7 / / 7 5 7 7 / 5 7 7 / 5 / 7 / / 7 / / 7 /
7 7 7
7 7 / 7 / 7 / 7 / / 7 /
7
/ / / 7 / / /
7
/ / / 5 / 7 / / 7 / /
c: < c: < c: < 7 c: <
77 7 c: <
7/ c: <
/5 c: < c: <
/7
lc m l m lc m l lc q m l l q m l lc q q m l lc q I I
M m lc m l m lc m l lc q I I
M m lc m l lc q I
M m lc m l lc q q m l lc q
M
+ + + + + + + + + +
= + + + + +
= + + +
= + + +
7
/ / / 7 / /
7
/ / /
c: <
//
m lc m l lc q
M m lc I
= +
= +
7 7 5 7 7 / 5 7 7 7 / / 5 / 7 /
5 7 7 5 7 7 / 5 7 7 5 7 /
/ 5 / 7 /
5 7 / / 5 / 7 /
7 5 7 7 / 5
55 A:7 <? : < : <@ :7 7 < : <
57 A:7 <? : < : <@ A :7 7 <
: <
5/ A:7 7 < : <
75 A? : <
C q m l lc s q m l l s q q q m l lc s q q
C q q m l lc sen q m l l s q q q q
m l lc s q q
C q q q m l lc s q q
C m l lc s q m l
= + + +
= + + + +
+
= + + +
= +
& & &
& & & & &
& & &
7 7 7 / 5 / 7 / 7 /
/ / 7 / 5 7 7 5 7 7 7 5 7 7 5 7 / / 5 / 7 /
5 7 5 7 7 / 5 7 7 / 5 / 7 / 5 /
7 5 7 7 /
: <@: < A : <: <
:7 < : < : <? : < : <@ : < : <
77 A: <? : < : <@ A : <: <
? : <
l s q q m l lc s q q q q
q m lc s q q q m l lc s q m l l s q q q q m l lc s q q
C q m l lc s q m l l s q m l lc s q q q q
m l lc s q m l
+ +
+ + + + + + +
= + + + +
+
& & &
& & & & & &
& & &
5 7 7 7 / 5 / / 7 5 / 5 / 7 /
/ 5 / 7 / 5 / 5 / 5 7 / 7 / 5 / 5 / 7 /
7 / / 5 / 7 / / 7 / / / / 5 / 7 /
: <@: < :7 < : < : < : <
7/ A : <: < :7 7 < : < : < : <
/5 A: < : < A : <: < : <:
l s q q m l lc q s q q m l lc s q q
C m l lc s q q q m l lc q q q s q q q m l lc s q q
C q q m l lc s q q m l lc s q q m l lc s q q
+ + +
= + + + + + +
= + + + +
& & &
& & & & &
& & & &
5 7 /
7 / / 5 / 5 7 /
5 / / 5 / 7 / / 7 / / / / 5 / 5 7 /
/ 7 / 5 7 / /
<
: < : 7 <
/7 A: < : < A : <: < : < : <
:7 < : <
// 8
q q q
sen q q m l lc q q q
C q q m l lc s q q m l lc s q q m l lc q s q q
m l lc q q q s q
C
+ +
+ + + +
= + + + + +
+ +
=
& &
& & &
& & & &
& & &
2ro!rama en Matlab$ 2ro!rama- Tarea0
function [dX]=tarea2 (t,X)
dX=zeros(size(X));
g=9.8;
l1=1;
lc1=0.5;
l2=1;
lc2=0.5;
l=1;
lc=0.5;
!1=0.5
!2=0.5
!=0.5
"1=
"2=
"=
#Xes el $ector estado
t%eta1=X(1);
t%eta2=X(2);
t%eta=X();
&1=t%eta1;
&2=t%eta2;
&=t%eta;
t%eta1'dot=X(();
t%eta2'dot=X(5);
t%eta'dot=X());
d&1=t%eta1'dot;
d&2=t%eta2'dot;
d&=t%eta'dot;
c2=cos(t%eta2)
s2=sin(t%eta2)
s=sin(t%eta)
c1=cos(t%eta1)
c=cos(t%eta)
c2=cos(t%eta2*t%eta)
s1=sin(t%eta1)
s12=sin(t%eta1*t%eta2)
s2=sin(t%eta2*t%eta)
s12=sin(t%eta1*t%eta2*t%eta)
#+=zeros(2,2); #,i"ulin- re&uire t%etae +atri. to /e
+11=("10lc112)*!1*("20l112)*("0l112)*("0l212)*("20lc212)*!2*
("0lc12)*!*(20c2)0("10l10lc2*"0l10l2)*(20"0l10lc0c2);
+12=("0l212)*("20lc212)*!2*("0lc12)*!*c20("20l10lc2*"0l1012)*("0l10lc0c2);
+1=("0lc12)*!*("0l10lc0c2);
+21=("0l212)*("20lc212)*!2*("0lc12)*!*c20("20l10lc*"0l10l2)*(20"0l20lc0c)*("0l10lc0c2);
+22=("0l212)*("20lc212)*!2*("0lc12)*!*(20"0l20lc0c);
+2=("0lc12)*!*("0l20lc0c);
+1=("0lc12)*!0("0l10lc0c2)*("0l20lc0c);
+2=("0lc12)*!*("0l20lc0c);
+=("0lc12)*!;
+=[+11 +12 +1;+21 +22 +2;+1 +2 +];
##2onlinear forces3
#4=zeros(2,2)
411=(520s2)0((d&20"20l10lc2)*("0l10l2))5(20d&1*20d&2)0("0l10lc0s2);
412=(520d&15d&1)0(("20l10lc20s2)*("0l10l20s2))5(20d&1*d&2*20d&)0("0l10lc0s2);
41=(520d&1520d&25d&)0("0l10lc0s2);
421=5d&20(("20l10lc20s2)*("0l10l20s2))5(d&2*d&)0("0l10lc0s2)5(20d&)0("0l20lc0s)*
(d&1*d&2)0(("20l10lc20s2)*("0l10l20s2))*(d&1*d&2*d&)0("0l10lc0s2);
422=(5d&1)0(("20l10lc20s2)*("0l10lc0s2))*(d&2*d&)0("0l10lc0s2)5("0l20lc0s020d&)*
(d&1)0(("20l10lc20s2)*("0l10l20s2))*(d&1)0("0l10lc0s2);
42=(5d&10"0l10lc0s2)5("0l20lc0s)0(20d&1*20d&2*d&)*(d&10"0l10lc0s2);
41=5(d&2*d&)0("0l10lc0s2)5(d&0"0l20lc0s)*(d&1*d&2*d&)0("0l10lc0s2)*
(d&1*20d&2*d&)0("0l20lc0s);
42=5(d&1*d&)0("0l10lc0s2)5(d&0"0l20lc0s)*(d&10"0l10lc0s2)*("0l20lc0s)0(20d&1*d&2*d&);
4=0;
4=[411 412 41;421 422 42;41 42 4];
44=40[t%eta1'dot;t%eta2'dot;t%eta'dot];
#6ector de fuerzas gra$itacionales
g11=(g0s1)0(("10lc1)*("20l1)*("0l1))*(g0s12)0(("20lc2)*("0l2))*("0lc0g0s12);
g12=(g0s12)0(("20lc2)*("0l2))*("0lc0g0s12);
g1="0lc0g0s12;
gg=[g11 g12 g1];
tau1=0.50sin(207i0t)
tau2=0.50sin(207i0t)
tau=0.50sin(207i0t)
#generalized aceleration
tor&ues=[tau1;tau2;tau]
t%eta'ddot=(in$(+))0(tor&ues5445gg8);
#diferencial e&uation (deri$adas del $ector de estado)
dX(1)=t%eta1'dot;
dX(2)=t%eta2'dot;
dX()=t%eta'dot;
dX(()=t%eta'ddot(1);
dX(5)=t%eta'ddot(2);
dX())=t%eta'ddot();
2ro!rama para !enerar la !ra&ica en Matlab!
[t,9(]=ode(5(8:area28,[0 ],[0; 0; 0; 0; 0; 0; 0; 0; 0])
7lot(t,9((3,1),t,9((3,2),t,9((3,))
%old on
7lot(angulos.ti"e,angulos.signals.$alues)
3ra&ica de Matlab$
2ro!rama para simular en el Simulin4$
#;ste 7rogra"a contiene las 7ro7iedades de "asa < geo"=tricas del
#"ani7ulador de >?@
#:odas las unidades estAn en el ,!
l1=1
lc1=0.5
"1=
!1=0.2)
%=l1;
B=0.2;
d=0.1;
!..=(1C12)0"10(%12*d12)
!<<=(1C12)0"10(B12*d12)
!zz=(1C12)0"10(%12*B12)
l2=1;
lc2=0.5;
!2=0.2)
"2=
%2=l2;
B2=0.2;
d2=0.1;
!..2=(1C12)0"20(%212*d212)
!<<2=(1C12)0"20(B212*d212)
!zz2=(1C12)0"20(%212*B212)
l=1;
lc=0.5;
!=0.2)
"=
%=l;
B=0.2;
d=0.1;
!..=(1C12)0"0(%12*d12)
!<<=(1C12)0"0(B12*d12)
!zz=(1C12)0"0(%12*B12)
7lot(angulos.ti"e,angulos.signals.$alues)
2ro!rama en Simulin4$
Simulacin 5 !ra&ica$
6iblio!ra&/a!
4ontrol de movimiento de )obots manipuladores
)afael =elly C Dctor *antibe#.