6

LQR ! " # $!% & '( ) ! ADAMS

3
. * / 0 12 ,2 # -%* + ,1,* * +

& + ,& ;< 4 . 5 # 67 ,8 % + 9 % 9 !(* : -1

& + ,& ;< 4 . 5 # 67 ,8 % + ! !(* : -2

& + ,& ;< 4 . 5 # 67 ,8 % + # 7 !% -3

4=(

!" # $
12 3 4 , 6 . $. / 0 .& # ' ( )* + , -
<1 = - 56 & * '( 7 8 9 : 1 ;: $! .&
? LQR & * <1 = - 0 # > . # 4& '( &*
ADAMS 7 B- @1 A . C. =D .& # 2 * + MATLAB @1 A .
@1 A . # * + E 6 @1 A . : 0 0 F G- 3 ?. : & # 2 (
( / C 0 H$ . $. ADAMS @1 A . # ( MATLAB
& *: 0 :& # 2# > # * + : . # 2 ( . MATLAB @1 A . (
@ .4 <1 J K F /. ?. I $! =. 1 C 0 H$ . . # 2 ( / I 7
.& 12 6 @ . (. 1

(. 1 @ .4 ADAMS @1 A . LQR 1 ;: : ?

A .1

. N LM L ) : @ L 7 $! ) 8 & 3 #:
* + 7 : :: : .[1] & 1 2A Q. 2 : E - O - PK
# : . # 3 # # 7: * + 9 7 .: - 7
# '( ) - )4 # $ # HM ' R & 0 )4 6
: ( .[2]& # 2 # > 1 # S3 : . )4 I , * +

beh.beyranvand@gmail.com : ? B

www.mechconf.ir 1
 "! 9- .: .& # 3 9 TM U 9. 4 , 6
8V . A1 '( ' *& * 8 9 :& # 1 2 C. 5 ) !
(4 W 56 . 6 &$(3 : ?XM . . # 2 ( . 0 7-
.& # 1 2 C. S G. Q M 0 $<- # . 1 " *V6 A - :' ( 56
/* '( M @ .4 : . # 2 , (4:S Y U.K- Z- ) 7 =D
[ ?. .& # # :4 & '( M 1 E ! $Q : . # # . Q 2 (
/G - ) , ) , .[3] & # 2 G[ G # ?XM ;: ) LK
;: 0 : A 2 .& # 9 - & X4 W \B 7- :
& : X2 G B 9 A 2 . 3G . N + ] :: G B ?XM
) X. ? X M ;: ) 5 ? X M ;: 6* # G ^ .. ( ) :4
)4 :# 3 9 !4 9- : B / ) V1 .[4]
:_3 Q 0 12 6 G .& M# . G B : X2 ;:
.[5] . # . 3 &G` C. $! + ? LX #:V! .& # 2 C. ( S
0 .& M .: 7 # \B 0M a.
;: G .& # 2 # > # . G B : X2 : (SMC) @Y ;: : C
;: ' ( , 2# . 3 M: : . <* & # 2 C*V C.
3# > d@ <1 4 , 6 8 .[6] ? 7 $! SMC
-G B LX S - ' I ?. I $! 5 C / 0 . 3 9 . 2
&B6 C IX 4 # M. ?XM 2 # M <1 : ) KX M N + E -
M PD ;: / B>6 D- # 3 .[7] & 12 6@. ? X M ;: Q
& 9 3 A ! : @ . <* S, ( ) G. C / .[8] &
.& # 2 * + A: / / G - @Y C 0 .& # 3 9 '( ,
1 ; (2 L @Y ;V- KX M I.: : 0
& # 12 \B @Y ;: ( / ;: 0 .&
IX 4 &(- # ?XM G ^ .. $ a R: (
(STEWART PLATFORM) # W e 4 .[9] & 1 2 3 Q &B6
Q <1 . )4 I $! : # > )4 6 # & # 3
12 3 e4 # # * +: ? ( ? K
;: # > 6 4 , 6 7 $* & 1 f L. 7$ : ' .[10] &
. . # :4 & TM U 9. : 5 6 6 > ' ( : # ;: M : ( / *
# ) 8 1 =D : # g A8 7 8 9 / 0
# 0 - A: / E - )4 M : @ .4 / 0 @ . TM U 9. 6 > . 2 )
6 6 0 H$ : 4 , : 3 B>6 .2: G : 9 ) X .&
'( LQG Z( * , ;: L. 7$ : : . - .[11] . # A Q. 4 ,
# # :4 & @Q :& # 7X- &$(3 Z( . . # 7 ,: R- : : R

www.mechconf.ir 2
;: .& # 0$ 1 1 & ?. : & # 2 G B LQR Z( ] , =D &
.[12] & # # 7 \B ( : )7 g( * T
$! LX E/1 . 1 2 C. # )$ ) ! / /B- 5
. I. 3 , - ?. I $! & 93 &3 [ 2 j! <3 0 .
) + \B 7X 0 ) 4 _g 1 ) 7$ : :
ADAMS @1 A . ` . $. : C. Q &B6 : .& # g Y- ( 4 +
? 9- [ - : & 1 2 C. 1:A , 9- 6 ? ?.4 # 2 G
4 , 6 7 @ .4 ) 7$ : a. - .[13] & # ?. I $! & 93 &3
. . # $. G ADAMS @1 A . # > @ : . # A Q. ' \ B
: . D : ( 8 1 . # D : 1:A , 6 @1 A .
4 , 6 /* ) 7$ : ' .[14] ) X. ? \7 6
: . : : A@ . 7 ?. I $! & * # 1 2 C. .2 , A@ . 7 : 0 . M
O. S3 : : . 1 2 C. A: A@ . 7 ::) ! : .0 # 4 ,
( 0 .& # ( ADAMS @1 A . A@ . 7 0 .& 12 6 W 79
. -& # 12 1 ?. I $! P- B .& # # > ) ! 56
L. 7$ : W G 4 E - ADAMS @1 A . G .[15] I C. ( 8
: 0 . Q , > f: : & # * + 7 4 : . 0 .&1 2 6
:# 1 2 C. 5 6 ? @, $- 0 # A Q. G . # ?! X
.[16]& # # > 8 ?

) ! 8 C < .2

L : `` I $! . 2 C*V TM U 9. -$ $. ( 1) 7
.& # # ) X. OB ?. I $! P PK @ . & * Ki K 5 " 8
#I : &! ω .& # # χ S, P K #I B>6 OB & 93
: ?. I $! B>6 ?. ?. : F /. & 93 2 . ) X. ?. I $! P PK
: + # I.4 ' ) X. rBi : rAi S, P K #I

qi = χ + N R B rBi -rAi ( 1)

N
. P K #I &G(. ?. I $! ) : = - R B )4

www.mechconf.ir 3
 DE F G< H *? -1 9

) - ' I C. LX ): : : &* 5-- + ) ! qu : q0 2 *

:& .

q u = q 0 - rpβ ( 2)
∆q = q - q u
1 1
β& = - q& u = ( ∆q& - q& )
rp rp
&! x&% ?. I $! &! J 9- . - O 9 rp : L R : β )4
: ?. I $! : &! : S, P K #I

&%  χ  , where:χ= [ x , y, z ]T , ω= ω , ω , ω  T
& ( 3)
x=  ω  x y z
 
:& # 4 & 4 9 q 01 2_X 0 H$
q& = -r A x&%
p 1
( 4)
:& # .5 9 6 (. M k . .& # # N & M A1 )4

1  EA  ( 5)
U P = ∆q T K(q u ) ∆q-m e g z , where: K(q u )=diag  
2  qu 
6 XG , k . 0 H$ . ?. I $! A , me S / l A a. : E )4
: 2 ) 6 9

1 1 &T &  m e I3 03  ( 6)
T= x%& T [ M e ] x+
%& β I mβ , [M e ] = 
2 2  03 I e 

www.mechconf.ir 4
 : 1+ . 3 × 3 * : = - I3 : - ) $ Im ?. I $! ) $ I e )4

ψ= [ ψ ,θ , φ ]
T
ω=P ψ& , ( 7)
%&
x=A x&
3
( 8)

:0 H$ m& # 4 & M @ . A3 N )4

& & y& z& ψ& θ& ϕ& ]T

x=[x ( 9)
: . . 10 9 6 XG , k . 0

1 T T 1 &T & (10)

T= x& A 3 [ M e ] A 3 x+
& β I mβ
2 2
:& # 4 & 11 9 n. 28 9 $! : ξ = [x β ]T J 9- *

d ∂L ∂L ∂W (11)
( )− = , L = T −U P
dt ∂ξ& ∂ξ ∂ξ
:& # 1 2 C. 12 9 6 1 ' $9- : . 0 H$

W= τTβ (12)
:& ?. :

M ξ&& + C + G = τ tot (13)

: τ tot : G C M = - )4

 T  03×1  
 A3  [M e ]A 4 +   -rp A1T K∆q  
 A [M e ]A 3
T
06    & e P ψ& 
 P ψ×I 
(14)
M=  3  , C= 
 06 Im  rp 
 diag -1 (q u )diag(q+q u )K∆q 
 2 
 02×1 
0 
G= -m e g  , τ tot. =  6×1 
 09×1   τ 

: 4 & 15 9 6 56& * 8 9 q = qu 2 *

&& + C + G = Fτ
Mx (15)

www.mechconf.ir 5
 :)4

 02×1  (16)
M=A3 [Me ]+A I A1 A3 , G=A3 -me g  , F=A3T A1T
T
( T
1 m ) T

 03×1 
  03×1  
C=A3T  [Me ]A 4 +   +A1T Im ( A1A 4 +A3 ) 
 & e P ψ& 
 P ψ×I 

= - #n : : #n : / 7 @. F G- ' ( 9 G+ : 9 G+ =. 1 A ?>
:' 2 C. 17 6 '( 9- 9 .

MX&& + CX& + KX = 0 (17)

X = {x , y , z ,ψ , θ , ϕ }

:& ' 17 9 @I , .& & [ 6 ! u )4 X (t) = ueλt o1 *

(λ 2 M+ λ C+ K) ueλt = 0 (18)

:0 :

(λ 2 M+ λ C+ K) u = 0 → |λ 2 M+ λ C+ K |= 0 (19)

2 *. '( 9 G+ =. 1 : #n : / λ 5(* 2n , $, R0 *
:& ' ' J 9- W = λ u 6 n ×1 ,W

λ MW + CW + Ku = 0 (20)
−1 −1
λW = − M Ku − M CW

:& ' '( ( - A1 2:

u   0 
I (21)
λ  =  −1 −1 
W   −M K −M C 

:J 9-

www.mechconf.ir 6
 u   0 I (22)
Z =   ; A=  −1  −1
W   −M K −M C 
:& '

AZ = λ Z (23)

& ,: #n : / 2n 9- : 2 n × 2 n G- A= - 4 , n $(
&>, 6 @ . E K #n : ?. . . f E K p: @ &>, 6 : ( / /*
9 -n:u F : -n ( P ! 2n #n : *. . f E K p: @
. W 6 !

) ! .3

& : 56 & * ' ( 8 9 : 1 ;: $! &$(3 0

.& # M 8 * + ' ( & * <1 8 9 )
# &g 3 A I @ . ,: 0 H$ : # M 0 . 9- TM U 9. TM U 9.
. : " 2 0 $K- ' ( ,: # 1

1 -1-3

+ . G- '( & 0 1 ;: 6 #
6 7 '( &* <1 . # > ;: )
4 , 6 7 '( 0 & * Y 12 : & # A Q. 24 9 ? X- G- 4 ,
:& # 4 6 *

z 1 = x ; z 3 = y ; z 5 = z ; z 7 = ψ ; z 9 = θ ; z 11 = ϕ (24)

& ; z 10 = θ& ; z 12 = ϕ&
z 2 = x& ; z 4 = y& ; z 6 = z& ; z 8 = ψ

7 V , :: T ,: :: ! 6 7 &! 0 H$
:& # 4 & 25 9 15 9 # > T V = [v1 v 2 v3 v 4 v5 v 6 ]T

τ i = F -1 (M V + C + G) ; i=1,...,6 (25)

www.mechconf.ir 7
 . Q . 26 9 7 &* Y , ( '( ::0 $!
: ( 7 I$

 z&1 = z 2 ; z&3 = z 4 ; z&5 = z 6 ; z& 7 = z 8 ; z&9 = z 10 ; z&11 = z 12 (26)


 z& 2 = v 1 ; z& 4 = v 2 ; z& 6 = v 3 ; z&8 = v 4 ; z&10 = v 5 ; z&12 = v 6

: G3 3 : .$ M '( - . ] K . 27 9 ::T

V i = z&&id + K iD ( z&id − z&i ) + K iP ( z id − z i ) ⇒ e&&i + K 1D e&i + K 1P e i ; i = 1,..6 (27)

0 ,0 . .$ M . ]K. .2 5 " ( 27 9 # >

( . 3 28 9 6 &* <1 8 9 0 H$ . . # # :4 & LQR ;: 5 "
:

& t ) = Ae( t ) + Bu( t )

x( (28)

. .# ) 29 B: A = - )4

0 1 0 0 L 0 0 0 L 0 (29)
0 0 0 0 L 0 1 0 L 0 
 
0 0 0 1 K 0 0 0 K0 
A=   ; B=  
M M M O  0 1 L0 
0 L 1 M M M
   
0 K 0 12×12 0 L 1 12×6

LQR ? 2-3

' I C. 30 9 , &* <1 A 1 '( 8 9 2

& = Ae(t) + Bu (t)

x(t) (30)
y(t) = Ce(t) + Du (t)
& # 4 31 9 7 $! q u ) .3 * + U LQR ?
: $
∞
(31)
J = ∫ [eT (t) Qe(t) + uT (t) Ru(t)]dt
0

www.mechconf.ir 8
eT (t) Qe(t) & $ . 0 9 &G` : 0 9 &G` ' . = - 5 - - R : Q = - )4
# ) X. : # . . : = - Q = - .& >6 & * t ) & * U B. ) @ /
7 : I ( N +U Q]K . 0 . # &* > & .: &$
<1 8 9 2 . :: L 9 @ . u T (t) Qu(t) & $ .& M
: 2 g 32 9 9 ) . 3 . 2 ) x& (t) = Ae(t) + Bu (t) 6 '( &*

u = − K r (t) e(t) (32)

: 2 G B 33 9 K r (t) )4

K r = R − 1B T P (t) (33)
: 34 9 -7 9 ] , P (t) 0 H$ :

− P& = AT P + PA + Q − PBR −1 BT P (34)

. >6 -7 9 . &*

ADAMS 6 %) .4

. 2 3# > 7 B- C Q- @1 A . ADAMS @1 A .
# > D : 1 1 # > $, > K ;: @1 A . 0 C T2
J K . - & # 1" @. :k @1 A . 0 , K(. . 2
C 0 H$ .& # C16 : M 0 \ 7 6 # A Q. ( .:
- & * /. C .& # # > ' C - 3 ?.4 )$ . -
# P 0 M ( A, ?. I $! Q . :
:( . ) - & * ?. I $! : : - & * /. C . . #
. . O 9 =7! a M &G(. . . # / I 7 a M
. C*V 3 ADAMS @1 A . # 4 , 2 7

www.mechconf.ir 9
 ADAMS # 9 %) H -2 9

@1 A . # * + ADAMS @1 A . , 7 ) - 5-- 0
. 0 V.4 6 MATLAB

I ! .5

-1-5

S3 : .' M '( (. 1 B- <1 ?. I $! =. 1 C

F /. ?. I $! ( C 0 .' :4 & =. 1 : ?. I $! O >- [ - '
.' :4 & '( =. 1 : # 3 <1 J K
?. I $! : PK #I &G(. ?. I $! : Wg PK G A Q. C
.' 2 C. 35 6 ?.: F /. S3 :

  0.3435   0.3435   0.3435   -0.6870   -0.6870   0.3435   (35)

  ;  -0.5950   (m)
rA =   -0.5950  ;  0.5950  ;  0.5950  ;  0  ; 0
    
0   0   0   0   0   0  
          
 0.0981 0.0981 -0.0491 -0.0491  -0.0491   -0.0491  
  ; 0.0850  ; 0.0850  ;  -0.0850  ;  -0.0850   (m)
rB =  0  ; 0
          
 0            
  0  0  0  0  0

& =. 1 : > z :# -y:x + /. G A Q. C

:' ]K. 1 : , z : y x / .' :4

www.mechconf.ir 10
 J KA L# -1)
#: B
x [-0.2 0.2]m
y [-0.2 0.2]m
z [0.4 0.7]m

& # # :4 2 : , @. M

L ! E -2 )
M /
m end 10 kg
I end diag(0.0018 , 0.0018, 0.0037) kg.m2

EA 15000 N
Im 3e-5 kg.m2
rm 0.015 m
mC 170 kg
IC  62.4 0 2.2 
 
 0 61.9 0  kg.m 2
 2.2 0 33.4 


( 8 : ] " 6 * EA ?. I $! ) $ I end ?. I $! A , m end 2 : ,

. ) $ IC : A , mC - O 9 rm S / &* (
) ! 3 7 4 & :> z ?. I $! =. 1 $. G A Q.
. C* V 3 :> z : =. 1 . $.
6: & # # ) X. <1 J K F /. ?. I $! : =. 13 7 $.
.& # 4 ,: ?. I $! =. 1 Y- # ) X. : I 7 F /. 0 )

www.mechconf.ir 11
 z = 0.4 z = 0.5

10 9
Frequency (Hz)

Frequency (Hz)
9 8

8 7

7 6
0.2 0.2
0.2 0.2
0 0 0 0
y (m) -0.2 -0.2 x (m) y (m) -0.2 -0.2 x (m)
z = 0.6 z = 0.7

8 7
Frequency (Hz)

Frequency (Hz)

6.5
7
6

6 5.5
0.2 0.2
0.2 0.2
0 0 0
0
y (m) -0.2 -0.2 x (m) y (m) -0.2 -0.2 x (m)
- !N Lz + 6 ?5 ) M –3 9

: C*V 34 7 'X - : =. 1 O $Q 0 I. 0 H$
12 70
f5
11 65 f4
f1 f6
Frequency (Hz)
Frequency (Hz)

10 f2 60
f3
9
55
8
50
7

6 45
0.4 0.5 0.6 0.7 0.4 0.5 0.6 0.7
z (m) z (m)
H + 6 ?5 LM 8 LO 6 -4 9

www.mechconf.ir 12
 : .& 1 L A: : : =. 1 =. 1 0 I. O >- L @1 2 C*V . 2)$
. L @1 @ . 0 I. =. 1 O >- L @1 9 =7! O " 0 'Q M : A =. 1
O " 0 =7! 'X =. 1 . L =D : L @1 O >- L @1 A ?R =. 1 0 I.
=D : L @1 =. 1 O $Q 0 I. 5 7 , - 0 H$ .& 1 L @1 =D :L
.& 1 L

32.4
Frequency (Hz)

32.2

32

31.8

0.4 0.5 0.6 0.7

z (m)
H + 6 ?5 LM P*?J O 6 -5 9

) Y- G3 G ?. I $! A , : (EA) a. : M [-) C 0 H$
Y- & r A 8 . . 2 ] K . 3 : , _G+ M: 0 / .& # 2 7- M: 0
.' 2 C. 15000N :& [ TM U 9. A , Y- : 10kg :& [ A , TM U 9.

DE F G< + 6 ?5 L ! E# -3)
m EA
5 kg 10000 N
10 kg 50000 N
15 kg 100000 N
20 kg 150000 N

: . 2 6*7:6 7 $. G A Q.

www.mechconf.ir 13
 EA=150000 34 m=5
100
Frequency (Hz)

Frequency (Hz)
EA=100000
80 33
EA=50000 m=10
60 32
m=15
40 31
EA=10000
m=20
0.4 0.5 0.6 0.7 0.4 0.5 0.6 0.7
z (m) z (m)
Q + 6 ?5 LM O6 -6 9 Q + 6 ?5 LM O6 -7 9
L DE F G< + 6 ?5

& Y-1 L @1 0 I. =. 1 EA L @1 C*V 37:6 7 . 2)$

'( K EA L @1 &! 0 S" 0 . X 50000 - 10000 # : B )4
1 L @1 @ . =. 1 EA L @1 0 : '/( =. 1 ' ( K :& 1 L @1
. X A2 10 - 5 # : B )4 Y- : & 1 L =. 1 A , L @1 0 H$ .&
. =7! A , ' ( =. 1 & 0 @ . O " 0 & !

) ! % 19 -2-5

ADAMS @1 A . # ( Q &B6 : # * + C &$(3 0

ADAMS @1 A . ( : ( . _ + ( *: G
36 6 ( 93 : ( : 4 # ( ( / C .& # 12 6 G
: 2 J 9-

Position_error = e x 2 +e y 2 +e z 2 (36)
: . 2 ] K . 37 6 #? = - 0 H$
Q = 10 I12×12 (37)
R = I6×6
: 38 8 9 9 ( @ .] (

(0 < t < 2.5) : X=[2/3*(-.15+.3/2.5*t) ; 2/3*(-0.15) ; 0.6 ; 0 ; 0 ; 0 ] (38)

(2.5 < t < 5) : X=[2/3*(.15) ; 2/3*(-0.15+.3/2.5*(t-2.5)) ; 0.6 ; 0 ; 0 ; 0 ]
(5 < t < 7.5) : X=[2/3*(.15-.3/2.5*(t-5)) ; 2/3*(0.15) ; 0.6 ; 0 ; 0 ; 0 ]
(7.5 < t < 10) : X=[2/3*(-0.15 ) ; 2/3*(.15-.3/2.5*(t-7.5)) ; 0.6 ; 0 ; 0 ; 0 ]

www.mechconf.ir 14
 :& ' G A Q.

0.1

0.05
Desired Path
y (m)

0 ADAMS
MATLAB
-0.05

-0.1

-0.1 -0.05 0 0.05 0.1

x (m)
x-y $4 # 9 R -8 9

0.66
ADAMS ADAMS
Position error (m)

0.03
0.64 MATLAB MATLAB
z (m)

0.02
0.62
0.01
0.6
0 2 4 6 8 10 0
0 2 4 6 8 10
time (sec) time (sec)
z !% # 9 R -9 9 # 9 R G( - 10 9

I 10 - 8
# 7 ( : 7 # + ( $. +)$
@1 A . TM U 9. 8 9 * ( 1 2 ADAMS @1 A . Z(
)$ . \ 3 @ . & 93 $. O " 0 .& X & # 1 2 C. MATLAB
?. I $! ( ) R S W g G! & F /. X 2 2 C*V +
)7 0 : C. F /. X Wg 0 o ! . ?2 . 6
7 . Y- . ?2 . 6 - : X2 @. ] ( ?. I $! 7.4
: . # # ) X. & *: : X2 11

www.mechconf.ir 15
 MATLAB
ADAMS
0.5
0.5

motor2 (N.m)
motor1 (N.m)
0.4
0.4
0.3 0.3

0.2 0.2
0 2 4 6 8 10 0 2 4 6 8 10
time (sec) time (sec)

0.5

motor4 (N.m)
motor3 (N.m)

0.4 0.4
0.3
0.2
0.2
0 2 4 6 8 10 0 2 4 6 8 10
time (sec) time (sec)
0.5 0.5
motor5 (N.m)

motor6 (N.m)

0.4 0.4

0.3 0.3
0.2 0.2
0 2 4 6 8 10 0 2 4 6 8 10
time (sec) time (sec)

ADAMS MATLAB 8 ; 2 ! L !7S - 11 9

. & * ADAMS @1 A .
. F $. 2 C*V # G ( /
# 3 3 @1 A . 0 O" 0 . . - 0 . . ,: MATLAB
[ . - $. + /. W $- B & # 2 * + : . #
ADAMS @1 A . # 4 & $! : X2 2 j! 0 . #33 F
. . . .& *

S J ! .6

: M <1 8 4 , 6 (. 1 @ .4 / 0
C*V 0 H$ . X =D : X @1 '( =. 1 # J 9- #: B 2 C*V
L @1 ( TM U 9. L ) & G 6 L @1 : L ?. I $! A , L @1 ' ( =. 1 2
LQR * + 56& * ' ( 8 9 : 1 ;: $! 0 H$ .& 1

www.mechconf.ir 16
+ 0 V.4 : &1 2 6 ADAMS @1 A . + 0 H$ . M
: X2 , : 0 : >- . A Q. # * + # >
. # & . . & * ADAMS @1 A .

;%* E .7

C < 0 T LM .1.7
: - G! : : _ X : )4 P P K #I ?. I $! : &! 0 9

ψ= [ ψ ,θ , φ ]
T
ω=P ψ& , where: (39)
:)4

1 0 -Sθ  (40)
P=  0 Cψ Sψ.Cθ 

 0 -Sψ Cψ.Cθ 

: . 2 . 41 9 6 &&
x% : x&% 0 . ) : = - P

&%
x=A & (41)
3x
&&
%
x=A &&
x+A
3 4

:)4

χ  I 03  0  (42)
x=   , ψ= [ ψ ,θ , φ ] , A 3 =  3
T
 , A 4 =  3×1 
&
ψ   03 P  P ψ& 

: 43 9 7 0 k= -

... - N qˆ i ... (43)

S=  N N 
... -( R B rBi × qˆ i ) ... 6×6

: 4 & 44 9 A2 : A1 = -

www.mechconf.ir 17
 1 TN I 03  (44)
A1 = S R B , where: N
RB =  3
rp  03 R B 
N

1 &T N
A2 = S R B x&%
rp
N
. P K #I ?. I $! &$ - 0 i + 7 q̂i
N
. P K #I &G(. ?. I $! P #I ) : = - RB

U .8

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