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q a 1 2 3 ; x x P zP ;
T T
yP
q p 1 2 3
T
3 1 2
L 2 sin 1 cos A ;
z P L1 sin 1 L 2 sin 1 cos 1;
: veco momen dn ng
E na
R (s)
J ( s ) J a ( s )
1
z
)
R T (s a
20
z P 0.7(m) 20
; Driving power(W) 0
Lagrange number
20
-20 N1
lamda1
N2
15 lamda2
-40 N3
10 lamda3
lamda4
lagrange lamda i (N)
5 -60
lamda5 0 0.2 0.4 0.6 0.8 1
0 time(s)
lamda6
-5 lamda7
-10 lamda8
lamda9
Figure 6. Driving Power
-15
-20
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
time(s)