L'armoire de commande du robot bipède bip2000
86
0
0
Texte intégral
(2) INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE. L’armoire de commande du robot bip`ede Bip2000 G´erard Baille, Pascal Di Giacomo, Herv´e Mathieu, Roger Pissard-Gibollet. N ˚ 0243 juillet 2000 ` THEME 4. ISSN 0249-0803. apport technique.
(3)
(4)
(5)
(6) !" $#&'% () $#+*-,
(7) ,., /1240 36573689:57;=<><>2@?BAC5@D$EF57<HGI; / ;J5@E4K@LMK?ONP243$Q 2 0 RS57T$U;V2XW?ZY[K]\]243PA-;>D^D65_368B` / ;=abK@<=<V2XT cdfg^e h
(8) gCi jlknmoh.prqosutvmxwnyIg tw4z{t|moh
(9) mo}~sut|mw4y e wug t'gkng }v|F }vmot g$g-h 'g$w4}7wXwntvh:mFzrprqxg-g rZg$J} H' HsXz{z7w tt|g$ d yrmFprg!ynin j|prmqxqg tXX4!j_Cz_suXg^} ¡F ¢$£O¤ ¡ ¥§¦¨g © tvp g ¨ p{y w47wXtbrmoz ge gwnh z7w tvs4ynt g^pF -|sXh.7g$}g tp{yPt w4y{Xª4s g^!^«.s t|mo pF qosutvmxwny{}$ª{s g$© {p{t gC© g$y $¬4¬4« sXy_} qxg! s g ¨ p{yz wug$tw4h:h
(10) p{y se z{q p{}vmg$p } qs4_w sXt|w4m g$}$ ¦¨g$© tvs4z_g g g^© suqm}~sutvmxwny pz g^h
(11) mg z w4t|w4tJFz7gswnh:h
(12) g^y{ g-© s4p g^© {prt gq ¨ sXy{y g © g:$¬4¬X¬{ ¦ g$} h:s6®¯xt g^ } ¨ ° p r g g g±z wug tB}|wny4t² qg ¦ vsX 7w su t|w4m g gZ³ g$© $sXyrmoFprg g^}Od knw4qxm g$} gq ¨ ´ yrm g }vmt g © g w4mxtvmxg }fz7w4p qos'z{s t|mgZh g$© $sXyrmoFprgXª qxg±}vg m g wn_w4t|moFprg gZq ¨ J'µ w4® y{gJ'qoz_g^}¶z7w4p qsz{s tvmxg g$© qxg^t wnyrmFprgIg t:qgI z wXg t ·b g q ¨ JH' " d wn® yr gJ'qoz_g^}:z_wnp qs z{ s tvmxgwnh e h:s4y gX c w4prtvg$} g$}bg$yntvmxt g$© }w4ynt t s sum qxq g © g-wny{g t s¸@y d ¨ su tvdt|g moy g-q ¨ w4rg$tvmº¹ ¨ p{y w47wXtbr moz g gHwnz g © sutvmxwny{yrg$q w4h: h g}v p{z_z_w t g {z g © mh g$ynt~suqFz_wnp qxg^} g g^p }$^ » ¨ sXprt gFz{ s t$ªug w47wXt g sXmxtg$® t gbz g^© }|g^y4t g © }~p Á qxgz{s mqxqw4y!¼ s4yB ½ sXm } gbq ¨ g {z7 w4}vmxtvmxwnyp{yr m g }vg qqxg gb ¾HsXy{w g e pP ^¿JÀ¶|prmoy.s4p.X wrt|wn gbu4 X_ g wr p{h g^y4t g^© mxtPqsMz{s t|mg g$© qxg^t wnyrmFprg p w47wXtIrmz g g wnyB ½ prg+g t g$© suqmo} g$© gz{s qxg }v g v m g wn_w4t|moFprgX Á g wr p_h
(13) g^ynt w4mxtg ® t g.z7g ½ p w4h:h g.p{yrg yrwX tvm g.tvg$ d yrmoFprg.prtvmxqmo}vs4rqxg
(14) qxw } g'qs
(15) h m}vgsXpz7wXmoynt ª gqosh:sumoynt|g^y{sXy{ g'w4p g'qs p{zrqm$sutvmxwny p w47wXt$XJq{¹ÂsXmxtbsXp{}~}vm7sXz_z{s s^®¯t g qg$}z w4{q g^e h g$} g t mxÃ$prqt g^© } g$y_w4ynt g^© }±qw } g!}vs g$© suqmo}vsXt|mw4yFprm g F w4yntHg ® t gCh myrmoh m} g^© } sXy{} p_yrg-¹Âprtv p e g g }|mw4 yf Hz g$}p{yrgmoy4t w p_t|mw4y }~p qxg^} wn_w4tv}rmoz ge g$}Og tZp_y
(16) }~p v wXq gqos-z{s t|mgh g$© s4yrmonp{g g$© sXqxmo} g © g s4p ¦ ³ k]ª7yrwnp{}s4_w wny{}'s g$!zrqop{} g g$© tvsumqo}qsP e d s^®¯oyrg!g$qxg^d t w4h g^© s4yrmFprg4ªrq ¨|g$© qxg^t w4y{mFprg-g$h
(17) _s np g © g4ª4qg$}'$sXzrtvg$p }moy{}|t~suqq g$© }bg tg^yF¸7yIqxg^}z g$h m g g$}bw4p_ g$}qwX4m mxg$qxqg$}$ ÄÆÅ_Ç ¢ÈÊÉXË ¡Ì ¥ s d mxtvg$t~p g h:sut g © mg qqxg4ª w47wXt$ªfrmz ge g4ª h g4ª¶ s4zrt|g^p ªfzrmqwXt|g4ª FÍbw ~Î } ª@w $s ª $sXzrtvg$p ¨ g Ï@w t~} ÐoÑÒ|ÓVÔÕ=Ö×|ÔÙØXÚÔÜÛÝ. Unit´e de recherche INRIA Rhˆone-Alpes 655, avenue de l’Europe, 38330 MONTBONNOT ST MARTIN (France) T´el´ephone : 04 76 61 52 00 - International: +33 4 76 61 52 00 T´el´ecopie : 04 76 61 52 52 - International: +33 4 76 61 52 52.
(18)
(19) () $#+*-,
(20) ,., # '
(21) ! ¢ Ç
(22) É Ç ¥ cd g}|t~p !wu¹7t d mo}rmoz_g g w47wXtOÍmt d 6« wX¹@7g nsXy-¸ g4g$s }BsuXw7Okng g suq g$}vg$s d p_yrmxt~c}d Íbw ~Î w4y mxt~}'}vz7g$ mº¸@ sutv mxwny{ }$ d g§tJÍw g Fmo}vt|moyrµrmoz_g g w47wXt s g_g$g$y _prmxqtPnÌt d g !" #%'$ &() +* ,) ! ./ 01 +" 2-3 3054768(9 :; -2 )<$ => ? + .-A@=h g$ d sXyrmo sX q Bª t d g - 2:C +& ? +* ,) 3 3054 D5EGF>DHIFKJML (N O HG0 PQ .-G@=g qg$t wnyrmo 2} B±s4y t d g g$}vg$s d w4p{zP·b wX¹OJH'1 d wn® yrgJ'qoz_g^R} @= w4ynt wXSq BÊ cd mo} wF$p{h g$ynt.mo} g qosutvg tvwt d gPg qg$t wnyrmoÍw vÎ h s g[wny t d mo}
(23) {mz7g g wn_w4t Jtv}
(24) h:sumoy 4w4sXq@mo}tv w:7gsXy moy4 tv g y{suqftvg$ d d y{m$suq wrd p_h
(25) g^ynt ª_{p{tsuqo}|w:s Íbs6Pd t|w p{zrqmo sutvg!t d g{mz7g g w47wXt$ '¹Ùt|g ¹Ùg$Í'}CÍw }Hw4y+h g$ s4yrm$suq s Ís gXª@Íbg g^}v mo7g
(26) t g:g qg$t wnyrmo.wnh:z_wnyrg$yntv}$ª sXy t d g-¸ }|t}vwu¹ÙtJÍs gHqos6Xg }bmoy g tvsXmxqo}$ T V¡ U]XÈ W )Å
(27) Y ¢X¥ d s Ís g[s d mt|g$ tvp gXª w47wXt$ªZrmz7g ª h g4ª±}|g^y{}vw ª m g ª FÍbw ~Î } ªOw $s ª ¹Ùw g$}}vg$y{}vw .
(28) .
(29) ÇC
(30) Å Y £OÉ d ÇÂÅ . 4x ¦ g suqqg$yr4g ¨ p{yIt|g$q¶}vF}vt g$e h g"!C!-!!-!-!-!!C!-!-!!-!-!C! 4 Á s d mg g^} d s Xg^})-!-!!-!C!-!!-!-!-!!C!-!-!!-!-!C!
(31) É ÙÇ ¡nÉ Ç £
(32) ¡! ¡ ¡
(33) Ë¡ {x ¦ s:h g$© s4yrmonp{gÌ!-!-!-!!-!C!-!!-!-!-!!C!-!-!!-!-!C! { ¦ s: d s^®¯oyrg g © qg$ t w4h g^© sXy{mFprg -!C!-!!-!-!-!!C!-!-!!-!-!C! { b wnrq g$e h g$}qm g^© } s e qs:wny{g^zrt|mw4y&!C!-!!-!-!-!!C!-!-!!-!-!C! { i b wnrq g$e h g$}qm g^© } s e qs g$© sXqxmo}vsXt|mw4y !C!-!!-!-!-!!C!-!-!!-!-!C! #%$'& ¡F Ë¡FÉ CÇ
(34) Å d )( £O¡ _x ¦¨ s mxtvg$t~p g !-!-!-!!-!C!-!!-!-!-!!C!-!-!!-!-!C! _ ¦ s:{sumg !C!!-!-!-!!-!C!-!!-!-!-!!C!-!-!!-!-!C! _ ¦ g$}sXqxmoh g$yntvsXt|mw4y{}!-!-!!-!C!-!!-!-!-!!C!-!-!!-!-!C! _ i ¦ s:z{s t|m-g ,/³ . -!-!-!!-!C!-!!-!-!-!!C!-!-!!-!-!C! _ i7x 'g$h:zrqosX g$h g$ynt g!qos $s t|g ¨ g rt|g^y{}vmxwny 0³ ,/³ .1 F^u³ -!!-!-!C! _ « ¦¨ moynt|g ¹Âs4g-g t d g yrg t--!-!!-!C!-!!-!-!-!!C!-!-!!-!-!C! _ 2 ¦ s: s t|g!} g$© $p mxt g © !-!-!!-!C!-!!-!-!-!!C!-!-!!-!-!C! _ 2_x 3 g$© y g © suqmxt g$© }"-!-!!-!C!-!!-!-!-!!C!-!-!!-!-!C! _ 2_ .y g © t~sumq} !-!-!!-!C!-!!-!-!-!!C!-!-!!-!-!C! _ 2_ w4h g^y{qosut~p gI!-!!-!C!-!!-!-!-!!C!-!-!!-!-!C! *5$ ¡7É 6 Ë 7¡¡ Ç Ë É Å 8 ¡FÉ Ç )( £O¡ i7x ¦ g$}qmsXm}vw4y_}{sum;g : h w4y g-g Ft g © mg$p !!-!-!-!!C!-!-!!-!-!C! i7 ¦ g$}qmsXm}vw4y_}{sum;g : h wXt|g^p } -!C!-!!-!-!-!!C!-!-!!-!-!C! i7 ¦ g$}qmsXm}vw4y_} s mosutvg$p : $suqo prqosutvg$p !!-!-!-!!C!-!-!!-!-!C! i7 i ¦ g$}qmsXm}vw4y_}{sum;g : s4zrt|g^p }z wnz mwrg^zrt|mx¹Â} -!-!!C!-!-!!-!-!C! i7 « ¦Á g$}s4prt g$} w4y{yrg rmxwny{} -!!-!C!-!!-!-!-!!C!-!-!!-!-!C! i7 2 s4® rqosuXg-moynt|g yrg s e qs:{sXmxg
(35) !!-!C!-!!-!-!-!!C!-!-!!-!-!C!. =?>A@CBEDFHGI. "¬. . ¬ 6 ^. +*. $i 6« ^¬ X 4 4« 4« 4 « 42 _. #9#. 4 n« n« <2 4¬ 4¬.
(36) i. $ X 0 0 = ;- &0 M +&
(37) 2: R$ # SJ + , F V .>=M -- OM +X0 0 . $ ¡n¢É OÇ ¡F£
(38) ¢. *. ¼ moy gwnp e }v g$}!-!-!-!!-!C!-!!-!-!-!!C!-!-!!-!-!C!"i7 iF Á w4s4t|zrg^t|y4g^tvp mxwn} h g ¨ t g Ï@g^w } t~-}'!!--!!--!!!!--!!CC!!--!!!!--!!--!!--!!!!CC!!--!!--!!!!--!!--!!CC!!" " iF« y_qmyrwnh g e t g ! !-!-! -!!-!C !-!!-!-!-!!C!-!-!!-!-!C!"i Hw4h g$y_qosutvp g g!qos:z{s t|mg! sXz{t|g$p -!!-!-!-!!C!-!-!!-!-!C!"in É ¡F Ë d *" mxtvg$ t~p gCqwX 4m mxg$qxqg -! !- !CÎ !-!!-!-!-!!C!-!-!!-!-!C!"in¬ bmx qw4wX tvg$sX} h:h g^}g h w g!tvprg$qx}vg^t}g t y gp_}| t suqm sus4tvmx wnyM--!!!!--!!--!!--!!!!CC!!--!!--!!!!--!!--!!CC!! «X«{ ¦ g$}s4z{zrqm$sut| mw4y_}g$y He ÁÁ '» !C!-!!-!-!-!!C!-!-!!-!-!C! «4 g$g$t|tvg c p wn_w4t {mz g g !!-!C!-!!-!-!-!!C!-!-!!-!-!C! «4« 2_2_ «{«{x ³g^g$}|}~t'p h: g$su} t g © g^m}g q s ! sX- t !g © !mo}v-t|mo!np{Cg$!}'--!!!!--!!--!!--!!!!CC!!--!!--!!!!--!!--!!CC!! «44« 2« Å É4Ë £O¢ =Å rx rx4g © xg^ }z_wn p s t|sXmhgChg$© qxmg^©w sXg y{mFqxg prg w47!wX!t-!!CC!!--!!!!--!!--!!--!!!!CC!!--!!--!!!!--!!--!!CC!! 2_2_ r rxx44 ss t|t|mmgg g$g$©© qxqxg^g^tt wnwnhyrmFg$© prs4g yrmo!np{-g !CC!!--!!!!--!!--!!--!!!!CC!!--!!--!!!!--!!--!!CC!! 2_2n rÁ x4 i s t|mgHmoyF¹Ùw h:sutvmFprgC!-!C!-!!-!-!-!!C!-!-!!-!-!C! 2n r wny{qop{}vmxwny !!-!-!-!!-!C!-!!-!-!-!!C!-!-!!-!-!C! 2n ¡ ¡n¢ 9# _x qs4y ¨ p{}vmoy{su4gX²F¹ÂsX g!s s4ynt g!q ¨ myn tvg ¹ÂsX g-g$ t d g yrg$t !!C!-!-!!-!-!C! 2Xi _ qs4y ¨ p{}vmoy{su4 gX²F¹ÂsX g!s s4ynt pI7w yrmg g mo}vt m{p{t|mw4y C!-!-!!-!-!C! 2n« _ c qs4y g!q s: s tvg!w4y_yrg$ t|monp{g[-! C!-! !-!-!-!!C!-!-!!-!-!C! 2<2 _ i c sX{qxg^sXp g$}' w4y{y{g rmxwny{} g!qos $s t|g! } g$© $p mt g. © -!-!!C!-!-!!-!-!C! 24 _ « sX{qxg^sX pF g$} wny{yrg F mw4y_}g$y ¹ÂsX g-s s4y4t g-qos{sumg !!C!-!-!!-!-!C! X _ 2 ¦ © m }vt|g g$}b¹Ùw4p yrmo}~}|g^p }H!-!!-!C!-!!-!-!-!!C!-!-!!-!-!C! < _ . suqop{sutvmxwny g^}w pr® tv}S!-!!-!C!-!!-!-!-!!C!-!-!!-!-!C! u «{x «{ «{ «{ i «{ « %$ Å 2_2_x 2_2_ i 2_ «. 8=. !.
(39) «. . . ¦ g wn_w4trmz ge g!rmoz_XXX !!-!C!-!!-!-!-!!C!-!-!!-!-!C! 2 _ x kr d g$© h:s }|ryr wnzrt|moFprg g-q ¨ s d mt|g^t~p g g$© qxg^t w4y{mFprg e g- qos _sumg-!!-!-!C! $i _ kFÁ mh
(40) prqsXt|mw4y ¨ mh:zrqosXynt~sut|mw4y g!qos:{sumg p wn_w4tb·moz g g !-!-!!-!-!C! _ Á wny{yrg Fmw4y_} g$}sXqxmoh g$yntvsXt|mw4y{}$sXzrtvg$p }!-!-!-!!C!-!-!!-!-!C! ^¬ _ i wny{yrg Fmw4y_ } g!q ¨ suqmoh
(41) g^yn tvsutvmxwny ,H³/. -e ! !-!-!-!!C!-!-!!-!-!C! X _ « »Á g$© t|g$ t|mw4 y g$}}|g^prmxqo}}~p qxg^}'z7wXt|g^ynt|mw4h g t g^}!-!-!!C!-!-!!-!-!C! + _ 2 g$qxqoprqg g {s4}|g -!-!-!!-!C!-!!-!-!-!!C!-!-!!-!-!C! 4 _ » g$© t|g$ t|mw4y g d s 4gHqmh mt|g}~p qg$}'$sXzrtvg$p } g-¹Ùw g 2Ì!-!-!!-!-!C! n i7x kFmh
(42) d prqsXt|mw4 y ¨ mh:zrqosXynt~sut|mw4y p 4s4® rqosu Xg g! qos:{sumg-!!C!-!-!!-!-!C! Xi i7 kr g$© h:s g!qmsXm}vw4yI s4zrt|g^p g }h w prqg! !-!-!!C!-!-!!-!-!C! «{x ,Zp{ g p sXz{t|g$p g-¸7y g wnp }|g+ C!-! !-!-!-!!C!-!-!!-!-!C!"i7 «{ kFt p{ t~p g!g$t'wny{yrge rm w4y{} © ph cmoyrm p{zrtvg$p -!-!-!!C!-!-!!-!-!C!"iF «{ 5,Zp{d g pz_ w4t|g$yntvmxwnh g t gC³ . 3C He !!-!-!-!!C!-!-!!-!-!C!"in «{ i kr g$© h:s ge 4s4® rqosuXg d g^}'z_w4t|g^y4tvmxwnh g t g^} !-!-!-!!C!-!-!!-!-!C!"in «{ « w4t|g^y4 tvmxwn h g t g ,mo} s6 -! !-!C!-e !!-!-!-!!C!-!-!!-!-!C!"i4i «{ 25,Zp{ g g g$}~}~p{} p zrmg } p w47 wXtb·mz g g"-!-!-!!C!-!-!!-!-!C!"iF« «{ g g$}$sXzrtvg$p e } ¨ gÏ]w t}~p qg$}'z{mxg } -!-!-!!C!-!-!!-!-!C!"+i 2 «{ 5 ,Zp{g g!q ¨ moy{qmy{w4h g t gI!-!!-!C!-!!-!-!-!!C!-!-!!-!-!C!"in 2_2_x % ¦ s g^}v}vw4p g d r}vmFprgC·mzf6« !C!-!!-!-!-!!C!-!-!!-!-!C! «X .± rg$h:zrqg g c sX® d g-' wn_w4t!- !C!-!!-!-!-!!C!-!-!!-!-!C! «ui 2_2_ i kFFm y{gw4zrh tvmg$©Fh prgwXm g p }vg^g$} y{} g^© zrg$q}s4h g^wXh
(43) tvg^g$ynp tv}}Cg C© q g$©!h -g^!y4t~!sum - g^!} - g$!}-|s4!h.!7Cg$}!--!!--!!!!--!!--!!CC!! «X«X¬ _x qs4y ¨ p{}vmoy{su4g g!qs
(44) ¹ÂsX g!s s4yntz7w4p q ¨ myntvg ¹ÂsXg-g$t d g yrg$ t -!-!!-!-!C! 2Xi _ qs4y ¨ p{}vmoy{ su4g g!q s
(45) ¹ÂsX g!s s4yntz7w4p qxg7w yrmg g mo}|t vmo{ pre tv mxwny!!-!-!C! 2n« _ qs4g^h
(46) g^ynt g!qs: s tvg!w4y_yrg$ t|monp{Ag @¹ÂsX gs s4yntg$t¹ÂsXgs m g ;g B !!-!-!C! 2<2 _ i qs4d y gz_g $½ suXg g!qos: s t|g! w4y{yrg^tvmFprg -!-! -!!C !-!-!!-!-!C! 2 _ « kr g$© h:s g!qmsXm}vw4y g$ynt g! s tvg- w4y{y{g$tvmFprg-g$t' s t|g!} g$© $p mxt gP© !-!!-!-!C! 24. =?>A@CBEDFHGI.
(47) 2. $ X 0 0 = ;- &0 M +&
(48) 2: R$ # SJ + , F V .>=M -- OM +X0 0 . _ 2 _ _ _ ¬ _x^ _x4 _x6 _x^. c Xs ynt'}v d g$© h:s g-qs$s t|g- } g^© p mt g[© !-! !-!-!-!!C!d -!-!!-!-!C! c sXsX{{qxqxg^g^sXsXpp g$g$}'}' w4w4y{y{y{y{gg r rmxmxwnwny{y{}} g!g!qoqos s $$ss t|t|g!g!}} g$g$©© $$pp mmtt gg©© @@ ||s4s4h.h.77g!g 4 s4 wXp{m t|g;g;BPB !--!!!!--!!--!!CC!! ¼@c sX gs s4yn t g!qos:{sumg p wn_ w4trmz ge g !-!-!-!!C!-!-!!-!-!C! c sXsX{{qxqxg^g^sXsXpp ggwnwny{y{yryrgg r rmmw4w4y{y{}} g^g^}} ss mmsXsXt|t|g^g^pp }b}bHHw:w i7_ªªx«{4ªª 2_{ªª P --!!!!CC!!--!!--!!!!--!!--!!CC!! c sX{qxg^sXp gwny{yrg rmw4y{} g^} s msXt|g^p }bHw:_ª ¬_ªx^{ª i !C!-!-!!-!-!C! c sX{qxg^sXp gwny{yrg rmw4y{} g^} s msXt|g^p }bHwI^{ªX4ªx6I!!C!-!-!!-!-!C!. 8=. 24 u¬ r X u i X « 2. !.
(49) . <8 "X P ' P
(50) . =?>A@CBEDFHGI.
(51) . $ X 0 0 = ;- &0 M +&
(52) 2: R$ # SJ + , F V .>=M -- OM +X0 0 .
(53) % & C
(54) &v ¶'%H A()- 0 R&.0 --. K" 2- - ; -2 .- ". 0 .- N07 2- X - &J ,Q-"PQ "! GP90 J) #! 2PQ' .- "PN2$ - () .(9 " 2- :() V .-A& .2 ()- -,Q0 .,Q- J) 0 ,) 2- X,) .- . -A*.,) 0 - 0( 4 2-2P90 , -KP90 ( , 01 + %$ 07 & (N&J -- () .- .- & 0 .- 2-2P901, - -$ 054 GP92 - , - 0>P901, -'.& + 0 <054 "2P9 01 )$ 0 0 .,QX )(+* & &( &X 2(N 0 .- ( ;- (N .-A A073"? +*.,) (N()O (9,.& & ,Q2 $ #! P907O ? +( (9 (N(N& () .2: ()? +( 8- .2:' +& )(,* P .( (9 . - 0 - * ,) 04 .(9:C ()( .(9 ?: 0 ,!--; - 2-2 &(/.& ,P ,Q 054 J) G0 X&J ( 0 + ,Q01? P C" " ( K.$ ( .$ 0 0 -X- PN0 & 07 . PC$ + - M054 ( M$ .-2 &( - .2: " 3(9(N .- P ;--2 +. 01 9.$ -< M$ PN0 & ()R . 4 & ? +( - ( ' 0 >054 ():' ()(N .(91( 4 , 054 ()).$ N L ;-- "G2 '$ & .(943 * ,) .07*.,) .-G(9( '$ 2-1 5 * ,) P 2 G0 & A,QO ( ,Q)$ (N +0 A >FG &XJ) .&J . $ :; 0 P"PQ .(9 ( ? +* ,) ,6! - ; -2 .-R -KJQ, (N/8 7 .- " 2-2? ( .$ - && GP (N 054 J ( -& .2 ( 2- - .- "&.? :C 9.$ -KPQ - ()( .0 07 2-,PN9&. .--2 +()O ( .0 07 2-:>( => #! PN0 ,Q(N &X 2 (N ;.& 4 ;--2 -2 (N& " A +&. 0 " PQ - ()( 2- 01 )$ '$ ,Q PQ,Q< .-3VL &J .- . - ,Q? () .- P ,Q2 L ? <--,Q '$ PQ< .- " -3 P ' .- & & ,6"! O5&. (9807,.& & ,Q01)G$ " PQ,Q:; K- GM$ PN0 & K- ( - "PN +(APQ2 +& ,Q01 R 054 .(9:C X()( ()<( / 0 =.& - 01 )A$ 0 - --; -2 2-G 2-2 0 " ()8J)- 4 . (9 P ,Q & *.,Q .- " R"X+-R,6! &2PQ"&. )2$ - 4 ,Q (N A + M$ C& -2 +(9(N 0 0 I $ 0 : '$ 2- 0 (9 :; , & ,) 0K 0 &XJQ(N0 + AP . MPQ &()? 4 .(9:C - V 0 3C$ 01 - ? +( "&XJQ (N .-&X2PQ".07 2-" - M$ P90 "&X A ( &J ()K( - .&(N ? +()-. + ( M$ . ( C$ .- .K 4 ">! C$ & ,Q * ,) .0 * ,) .- "&.? +()- . -G-2 !GP90 .-:( ·g y{s .b}vz{ms4pfª4»Cm g^t|g^p g'g^ d g d g se q ¨ JH'g$t s.e q ¨ w mXmoyrg p z wXg t g g^© suqm}~sutvmxwny p w47wXtrmoz ge g > * H + >.+ e e mh ¦g$y_¨ wn}|Fmw4g$y{ }Ot|g$mx¹{tmh:yrms4t|mo}vsu}vq g$} p g^z }wuh
(55) g$g^th.g$© tv sug$m}OtfqomosyF¹ g © g$© sXmg$qxmop }vsX} t|m w4wXy mo}vmyr¨ p_g^y } wng_w4g t¶qqrg$mo} z g ggq ¨ ds!wn h h g g4 »Cg^© } s4y{g±}}vqmosC_gz t g$gX©h ª s4m ge pF g g }|mw4y ªqxgC}|r}vt g^e h
(56) gyrg g sumtz7w t|g Fp ¨ p{yt w4y_mynt g © sXyntq ¨g$© qxg^t wnyrmFprg gCwnh h:s4y gXª w4y{. 8=. !.
(57) ¬ }~ sXy_ }
(58) sX} yrmt g ® tvgXOJq' y ¨g © tvsXmx t d z{sX }: yrwnyµzrqop{}:g^y{d_} g© g$® t g sX p{t|d w4y{w4h gI}~p qxgzrqo sXy g$© yrg g © tvmFpr g4¶Jq g sumtPg$® t gP s4z{sX{qxg gIh:s g g ¹Âs@½ wny sXynt wnz_wnh
(59) w z g[g$y&q ¨ sX{}vg$y_g ¨ wn{}|t~sX qxg^}.}~p p_y }v wXq]zrqod sXyP w4p[q g$© ge g^h
(60) g^yntmy{ qxmoy g4© ªF g t gCh wn y4tvg w4p g$}~g^y g g^}h:s d g^} ¨ g^}v $suqmxg }$ ¦ gC$s d mg g$g } g^© } s 4g!g$q} mo_g g! t ·g!© s g$uCX4p{.yrg s wXg$t~z prqmg-} g^w4yh:z{zrs q g e t|tvmg g!@> g$}{wn FSq Bbg$sX pIt|mx¹Âyr} m ²7g$s4|p s4h. p 7g$t } wng y{t'up_ y t wny{Ct|w4tvsuqmo}vs4y4t-6« ¦ g ¦ s4_w sXt|wXm g g³ g^© sXy{mFprg vg^}Cknw4 qxm g$} gq ¨ ´ yrm g }vmxt g © g d wXmt|mg }g$}vth:s6®¯xt g ¨ ° p rr g z7w4p qos z_s t|mg h g^© sX y{mFprg4ª_g t-qg }vg m g w47wXtvmFprg g
(61) q ¨ J' wn® yrgJ'qoz7g$}-h:s^®¯t g ¨ ° p g z7w4p qs:z{s tvmxg g$© qxg^t w4y{mFprg4. =?>A@CBEDFHGI.
(62) ^. $ X 0 0 = ;- &0 M +&
(63) 2: R$ # SJ + , F V .>=M -- OM +X0 0 .
(64) 1 . . & ' P. *. ¦ s[}|t p_tvp gh g^© sXy{mFprg!z7g$prtC}|g g$© wnh:z_wn}|g g$yt wXmo}'z{s tvmxg^}f²_qg$} g$pF |sXh
(65) _g^}s g$- d s $ p{yrgIn p_sut gP s tvm$prd qsXt|mw4y{} @Âq ¨ s tvm$prqosut|mw4y gP qos d sXy_ d g s4 y{} qg z{qs4y&}vsXX mtvsXq=ªOg q qg p&4g$yrwnp g$tqxg^} g^pF gqs g mxqqg;Bg tqxgz7g q m}H}vp{z_z_w t~sXyntq ¨ s h wXm g g. w4h:h:sXy g!g t'}~p qg$Fprg qB}|wny4t ¸_ g © g$}'qxg^ }|sXh
(66) d _g^} d ¦ g.z7g q m}Hg$}vt w4t {g © g g$ g$© } gqxmo7g t g© ²@qxg^}s tvm$prqsXt|mw4y{}w4h:zrq g$© tvsXyntqg$} wXt~prqg$} g^} sXy{ g$}g tqos w4tvprqg @= Sq B pIt wny{u ¦ s'e }|t p_tvp g±h g^© s4yrmFprg p wn_w4t¶rmoz ge gZg$}vt g$© sX qxmo} g © gO g$ysX qp_h
(67) moyrmop{hI . qxqg± w4h:z g$y g^ y m wn y XXgC³ zrg$m © g^$sXg$yr } moF^g prqg qg$ }Bg$w4}ynknt w4t|wnqxm pr t|g^g^} } g$© g!t gZ© q ¨ ´ w4y{yBm$½ prg g$ }$}|ª mt g$g t¶© g^ y!g w4sXmxy tvmxg gZ 2} z{BÊs t|mg g$© sXqxmo} g © g$}$ªz{s qxg ¦ ³ k @ ¦ s4_w sXt|w4m g * *. &
(68) b
(69) ' ¦ g w47wXt¶rmoz ge g±z7w4}~} ge g6«s t|mo prqosutvmxwny{}fg^y4t s6®¯oy g © g^}fz{s ^«h w4t|g$p } s'e wnp s4ynt w4yntvmyFp}~sXy{} _suqosum ~@X 2, -J 0 . --B g« tJrz_g^} mºÏ g © g^ y4t~} ª{z{mxqwXt g$© }z{s ^« s msXt| g$p } @VkF·' k)B g!i:tJFz7g$} mºÏ g © g^y4t~} ¦ s:w g$}~z_wny sXy_gHs tvm$prqosut|mw4y g }~p{}btJrz_g gh
(70) w4t|g^p g$}vt w4y{y g © g s4y{}qxg!t~sXrqg$s4pI{x4 U¡
(71) 6Ç É4£BË rÇ =Å ¦ nu
(72) ·· 3Hg^yrw4dp ¦ nu
(73) ·» ¾CsXy{ d g 7g rmx wny 6g rt|g$y_}|mw4 y ¦ _$
(74) ·¼ ¾CÁ dsXy{ g-}~p{ p{ t|mw4y usX p{tvmxwny ¦ 4u
(75) · i cO g mxqqg$} d w4y{Cg t¾CsXy{ g wXt$ g tvm$suqg ¦ {$
(76) · « r * 2X 2- P (N"( &X # ,Q- . HG2 +& ,Q0 ? +()-. 8=. !.
(77) 4. ¡ Å £Ç
(78) Å7 ÇCË=¡rÇÂÅ ¤ Ù Ç ¡n¢^ ¢^¡ ¡
(79) ^Ç ¡
(80) Å
(81) <£ Ç ¤Ë=¡ ¡
(82) ¡ ¡ Å
(83) £ ¤
(84) Ç ¡ Ç Ë¡ ¡ É ¡6 ¡ ? A (
(85) $ E QH 4u
(86) ·· X ¬ r $4 {2 { X « ^{ ¬ 4u
(87) ·» X ¬ «XX4 {2 { 24 r ui {$
(88) ·¼ { ¬4« r $4 { { X « «{ iF Xu
(89) · { «u «4«u4 { { un { « r$
(90) · { u «+ 4 X { r2 4 . U¡ ¦ ¦ ¦ ¦ ¦. . r * & ) $ 2 -2 +* ,) .- .-. # ,Q-. ¡ ¡
(91) ¡ ÉX¡ Ä Å_Ç ¡F£
(92) ¢ ¢^¢ Å É X¡F ¢ kn·k6« uX ¦ 4X.·· kn·k r « F6« ¦ 4X.·» ª ¦ _$
(93) ·¼ kn·k[i ¦ XX.· kn·k 6i ¦ r^.· { H -- C& +? +( # .,Q- 92 + .,Q¦ g$}Og$y{}vg$h
(94) rqg$} h wXt|g^p s msXt|g^p }vw4yntsXz{ z{sXm g^© }fg tO¹Ùw4p yrmo}z{s qosHd }vwrm g © t g © s v g fe ¦ g^} g © tvp g$} {mxwnh g$© s4yrmonp{g$ }}~p qg$}Hw4p_zr qxg^}h mo}'g$yg$p s4y{}'qg$}Hs t|mo prqosutvmxwny{} p{h:sumoyrg^}}vw4ynt sqos[{s4}|g p $suqo prq g$} s s4t g © m}vt|moFprg$} g g$}h wXtvg$p } w4y_y g © g^} sXy{}qg!tvs4rqg$sXpr r ¦¨ s4}v}vwrmosut|mw4y h wXt|g^p s msXt|g^p kn·kg^}|t g © tvsXmxqq g © g sXy{}'qxg-tvs4rqg$sXpr {. $ ¡F¢
(95) rÇ ¡F£
(96) ¢. ¦ g s msXt|g^p @Âwnph w prqgkn·k Bfg$}vt¶p{y}vg v wnsXh:zrqmº¸7$sutvg$p g mxtvg$}~}|g±z7w4p h wXtvg$p }|ry{ d{ w4y{g 4s prt| wXVz{mxqwXt gC© s g$-prtvmxq m}~sutvmxwny ¨ p_ y g^}|w4q g wnh h g $sXzr tvg$p g.z_wn}|mt|mw4yIg$t g mxtvg$}~}| g4{Jq¶s4}v}~ p g qos g © nprqsXt|mw4y
(97) g$y w4p sX yntg tZg^y mxtvg$}~}| g4ªXqos!w4h:h: sXy g gz{p{m}~}ve s4y{gg$tZqg$}¹Ùwny{tvmxwny{} gH} g^© p mt g4© ,w4m CqyCg t wrw4 p p_ h
(98) gg$g^yHynt ¹Âs4 gZ s 'sXyntf,t . wX mo}fz7w4wnp y{yrg^p{y{t|g g^p g$} }~ g mz{ sXt|m w4 yIw w4g$h:h zrg^q y4g$t t|gX@>h
(99) w4t|g^p ª g^}|w4q g g t g^ynt g © g^} u}|w tvmxg^}B g$tHp{y{g m}~ p{suqmo}vsXt|mw4y gq ¨g © t~su t p s mosu tvg$p }v p ¦ g }$ ¦ gtvs4 rqxg^sXp{ i[moy moFprg.qg
(100) w su4g g$} g$© tvsXtv}}vp g$}
(101) qg R} @Âqos:qxg }~p{z g © mxg^p g g^z g$© }vg$ynt|gHqxg{mxt'z7wXm }¹ÂsXmrq;g B Á c w g$p w4 p{} }|wnqxg^yn} tPs wnmyFsX¸_t|g$4p p }fg$© g$}vw4}:yng^t y g^© n p{g$© m}vz wXg$qo© pr} t|mw4gZy q ¨ wnh:zrt|sm rw4moy-h $sXs qxg t|g gµ¨g$© ^h
(102) 4pri qsXt|tvmw4w4z{yC} wz{s g^ p t|wn p g$ } Á $s g tvt|t|g$g } g^© ¨}|g$© w4h.qp{p{t|qmsXw4t|y mw4y g^}|th
(103) pr qt|mozrqxm g$© g:z_s i7ª¶}|w4mxt-inX 4¬ 2Itvw4z{ }!z{s t|wnp g$y w4h: zrtvs4rmqxmo}vs4ynt!qxg^}! t sXy{}vmt|mw4y{ }!}~p w4mxg^} ¦ g$} s mosutvg$p }}vw4ynt. w4yF¸_np g$© }-g^y g © 4p{qsXt|mw4y g w4p sXynt}vg$prqg @Âqos g$© 4prqosutvmxwny g mxtvg$}~}|g[g^}|t g$© }~sX t|m g © ;g B ¦¨ sXqxmoh g$yntvsXt|mw4yyrwn h
(104) moy{sXqxg g.z{prmo}v}~ sXy_g g^}h w pr qg$}- kn·kIg$}vt g[ ^¬X ,w4qxt~}H w4ynt|moyFpf Á g$t|t|g sXqxmoh g$yntvsXt|mw4yµg$}vt
(105) ¹Ùwnp yrmxgz{s p_yÌh w prqg'·kµnp{m g g^}v}vgPg$t ¸_qxt gp{y{gItvg$y{}vmw4y ^40« ,wXqtv}. =?>A@CBEDFHGI.
(106) 6. $ X 0 0 = ;- &0 M +&
(107) 2: R$ # SJ + , F V .>=M -- OM +X0 0 . . . z_sX} g-t|g^y{Á }vmxwny ´ vk{kr' . » .±¼{ ´ c '.k ¦ ,E.± k ´ c c.±³ .±© c ´ ' . i ck ´ . k ,Hc .k{k . « 2 ,k ´ 'Á ¾Hc 'H3 . . Á .k_kn ,E.Ì» ´ Á ´ c { i 92 + ,Q- $ + , + (N-2 +& A A$
(108) $ $ Ä ²{¹Ùw4y{ t|mw4y{yrg^h g$yntyrw h:suq . H ,.± c . $ $ Ä ²_my mFprg!p{yrgs4yrw4h:sXqxmg ¼{ ´H¦ c ´ 3. E . Á ',E.± ´ 3. $$ $ $ ÄÄ ²_s4 yrw4h:Ä suqm g p ² m g$© pr$mp{t z g © g sX t|g$©m$w4p{y z g © ¨| g^©sXyrt|gmw4 Xy mgHg^yw4p }. r «. H /. $ + . , + (N;-2? +&. sXqxtvg y{sutvm g§t moz d s4} g$© g ¨ p{y t sXy{ }|¹Ùw h:su tvg$p $ ,O. Á g h w prqg+ ge g g$© 4sXqxg^h
(109) g^yntPq ¨g$© tvsXt g q ¨ suqmh g$ynt~sut|mw4y g tqg m}~p{suqmo}|g!}~p mxw g^}g$yP¹ÂsX gs sXyntR@Âtvs4rqg$sXpr «"B $ ¡F¢ É 6 Ë¡F¢¤ Å7Ç ¡F£
(110) ¢ ¦ g$}!4s4® rqg$} g}vw t|mg g$}!h wXtvg$p }!yrgz{sX}~}vg$ynt!z{sX}-z{s g$}! w4y{yrg^tvg$p } ª h:sXm}!}vmh:zrqg$h g^y4t z_s p{y 7w6®¯t|mg w4ynt|g^y{sXyntqg$} g^© zrmo}v}~p g$}$ ¦ s g© ¹ g © g^y{g g$}_w®¯xtvmxg }g^}|t.$X4:z_wnp qos } g © mg g$} h w4t|g$p } ¦ F g ti4X4[z7w4p qs } g © mxg g$}Ch
(111) w4t|g^p } ¦ 6 F f ¦ g$ }C z_ wn}v}vmormxqmt g^© } ¨ w mxg^yntvsuFtvmx wny g$}}vw t|mg$} g.4s4® rqg$}}vw4yntmqxqop{}vt g © g^} s4y{}'qgtvs4rqg$sXp{ r .y}vtvs4y s qg$}7w®¯xtvmxg }'}vw4ynt'qm g^© } s g$C qos[wnyF ¸_4p sXt|mw4y ·b . ´ y{g. }|w tvmxg ( (-2 (N!}~z g^© modsuq¶rmoz ge g @·!k e Bbg$}vtz7w4}~}|morqg.z{s qxg w4p g q g gCqos7wXmt|g s g^ qg$}z g^}v}vg$}| g © t|wnp{z7g$}bsuqmxny g$© }bw t wX4w4y{ sXqxg^h
(112) g^ynt s q ¨ s rg p h wXtvg$p Jq'}vw t: nsX® rqg$} g^} z g^}v}vg$}| g © t|wnp{z7g$} g$}7w6®¯t|mg }]²Zp{y z_wnp qxg^}:myr¹Ùw h sXt|mw4y{} g$}vwXq g @= z_sum g^}t|w }~s g$© g$2} Bg$t' p{yz_wnp qg$}z d s4}|g^} ph wXt|g^p R} @Âi:¸_qo} B ¦ g^}'4s4® rqg$}}vtvsXy s }bqxm r g$© }s g^ qg$}h w4t|g$p }}vw4ynt}vp moh g$y{}vmw4y{y g$© }z_wnp yrwn}_g^}|w4my{} ² qxwnyr4p{g$p g.«X
(113) h g$e t g$}$ªr4sXmyrg-z7w4p g^y m w4y{yrg^h g$yntv}w v w4}vmx¹Â} wny p{ t|g$p }g$t'rqxmoy sXXg^}myFprtvmxqg$}'z7w4p yrw4}wnzrt|mw4y{}$ Jqf¹Âs4prt wny{-z{sX}~}|g qxg^}wnh h:s4y g$} g-h w4t|g$p }s g$² qxg^}'4s4® rqg$} g$}vwXq g z7w4p s mosut|g^p }byFp{h g © moFprg$} @>}vs4y{}rqmy suXg!z{s z{sum ;g B. 8=. !.
(114) ^. U¡. X^ XX X4CXin« X4C4¬4 X4
(115) ^X. Å ¤
(116) ¡ Ì ¢$¡FÉ Ç ÂÅ . i I_ « i I_ X« $u {{ i 6 {{ « iu _ r_x$i iu {{ «. { 2 * L 0 2-R ,Q 2. . + ¤ ¡ Ç
(117) ¡. 2_ r i 2__ 2. / ,;P 07 #!. BB. BL. Boitier. BR. BNS Boitier. BA. r . . Ä Å7Ç ¡F£
(118) ¢ ¦ 4u
(119) ·· ¦ 4u
(120) ·» ¦ {$
(121) ·¼ ¦ Xu
(122) · ¦ r$
(123) · . 9Å
(124) 6Ç ¡n¢ ·· ·· ·-k ·-k ·. 6. . Ë¡F¢. / 2? + " 2-& L 0 .- ,Q-. qxg^}'4s4® rqg$}z{prmo}~}vs4y{g^}bFprgy{w4p{}b¹Ùwnp y{m}~}|wny{}]² 4s4® rqg ¦ prt krp{z_g 7g g¹r² X^
(125) 4X z_wnp q g$}h wXtvg$p } ¦ 6 F fª 4s4® rqg ¦ prtkrp{z_g 7g g¹r² X4CXin«
(126) z_wnp q g$}h wXtvg$p } ¦ F f.
(127) n% $ + %
(128) # e e g$}- qd p{wX}vmxm g$p t|g^} d z yrwnw4rqxw4q Xg$h mong$p{}bg$}'}vg-wnp}vw4yn tg$}-z_wnwn} g$y4© }t qxsXw myn} tvg$}Hg-tvqosXs
(129) yn t-w4}vy{p g$zrqotvsImxwnz{y s t|p mg h w47g^© wX ts4yrrmmFz prg g gCFprg tg wn}~y4p t g^qosyrXz{g^s y tvmxgg © g$© qxg^t wnyr mFprg4 .by wXmomfp{yrg!qmo}|tvgyrw4y g d s4p{}|tvm g² qxg^}-h
(130) w g e qg$} g w4h:h:sXy g p w47wXtHrmz ge g
(131) mh:zrqmonp{g$yntCp_yrg w4h:h:sXy g.Xqw4_suqg g$} 6« h wXt|g^p }g$ywnp{zrqgX w4p g-¹Âsum g4 ª g$ }h
(132) e w p{qxg^} g wny4t w4® qxg pItJr z_g!qg$ tvp g!Fp{s sut~p g g t' w4y{}vmxnyrg-g$y t|g^y{}|mw4yIwny4t g$© t g-© z g© ¹ g © g$© } s g$}h w prqg$}moynt g$© sXynt g^} J»-}$ *. . =?>A@CBEDFHGI.
(133) $i. $ X 0 0 = ;- &0 M +&
(134) 2: R$ # SJ + , F V .>=M -- OM +X0 0 . §s e qos h
(135) mo}vg}vw4p_Á }.tvg$y{}vmxwnyfªmqbg^}|t:moh:z_w t~sXynt gI w4y{y{s6®¯ t gPqos+z7 w4}vmxtv mxwnyµs4{}|w4qp{g g de s4np{ g s e t|mo prqosutvmxwnyf g t|tvgHmoyF¹Ùw h:sutvmxwny[yrgCz_g^pre t z{sX}bz w g$y{m g$e }dw g^p } Fprmf}|wny4t g^h e m} s g © w s:qs:h mo}|g!}vw4p{}tvg$y{}vmxwnyf ´ yIz7wXtvg$ynt|mw4h g$t gCs g$© t g-© sÏ]g$ t g © s s4 p{y g$}su rg$}$ª ¨ w p-² z wnrq g$e h g$}h g$© $sXyrmoFprg$}z7w4p qg$p ¸{ {sut|mw4y ª suw4prt ¨ p{yh w prqg gwny g }|mw4yPsXy{sXqxw4Xmonp{gJynp_h g © mFprg}~p{z{z{q g^© h g$yntvsXm gXª z d sX}vg!}vp{z_zrq g$© h g$yntvsXm g g sXqxmo sut|mw4y ¦ g d w4mº ¨ p_yrg}|w4 qp{t|mw4y s e {sX}vg gz7wXt|g^ynt|mw4h g e t g^}:z_wnp qxm ge q s z7w4}v mxtvmxe wn yÌs4 {}vwXqoprg g$} s rg$} sXp h wnh
(136) g^ynt g§q ¨ myrmt|mosuqmo}vsXt|mw4y g$}vtPg^}v}vg$yntvmxg$qxqg$h g$ynt p ® s g^} mt g g$} g w p{® tPg t ¨ g$y{ w4h. g^h
(137) g^ynt *
(138) n% $ + % ' : BC Hw4p{ }s wny{e }Zs4p{ }v}vm g^y{ wny4t g'© np{g qonp{g$} mºÃ[$prqxt g$© }qw } gCqs g$© suqmo }vsXt|mw4yf . qxqg$}b}vw4yntz moy{ moz{s qg$h g^y4t prg^} s.qos g$y{}vmxt g © p w47wX Gt @|^«
(139) s rg^ }h wXtvw m } g^© }±s g^'q ¨g © qg$ t wnyr monp{g g!wn h h:s4y g sXy{} p_yrgP}vt p{t~p g[s tvm$prq g © g:moy{}v mt|g sXy{}.p{y w4qp{h g g qosutvm g$h g$ynt g$}vt g moynt BÊ .y w4m m±Fprg qoFprg$} g rg$h:zrqg$}f² qsHwnh z{qxg Fmt gZ© g tBqs g$y{}vmt g © g±qoswny{yrg^t|moFprg±}~p q ¨ s h wXm g gbwnh h:s4y g±wnyntBy g^© g^}v}vmxt g© qs } g$© z{s sXt| mw4y g$}Z¹Ùw4y{ t|mw4y{G} @=» Á ªF» Á ªFFp{s sXtvp gXªXz_prm}~}~sXy{ gx1 Bg$t±qgH d w4mº gH w4y{y{g$ t|g^p }s g^© Fp{sut~} qxg^}4s4® rqxg^} sXz{t|g$p } s4t|mw4y_yrg$p }¶z_sX}~}vs4y4tO}vp qg$}s tvm$prqosut|mw4y_}Byrg w4m g$yntBz_sX}g ® t gw4my_ g^© } yrm _g$® yrg q ¨ s t|mo prqosutvmxwnyPwnpPqg$}}vg nh g$yntv} qxg p{mxt g$© y g © g
(140) © z_s qosz w6 rmh mt g © g^}.}vmxny{sXpF gPz{prmo}~}vs4y{g[g$t g^}}|m4y_sXpF sXz{t|g$p }s mh:z7w4} g!© p{y ¸_qt suXg-}~p g^} g yrmg } qs:qmoh
(141) mtvsXt|mw4y pz_w4m }g$h
(142) {s Fp gH© s moy 7prg^y{ gC© qg d w4mº pIh:sXt g © mg q qxgh:sumoynt|mg$y p w47wXt z_g^y sXynt qxg^}:z d sX}vg$} gIt|g^}|t w4mxtPg ® t g gÃ[ s4gh sXm} yrg wXmt:z{sX} g$ ynt s g qg$} g g^© } g.qmo_g t gX© ª7mxqs[g Fm g!© qs g^© suqm}~sutvmxwny ¨ p{y|Xwnp{z{sXqs
(143) g$tq ¨ moy{}vtvsXqxqosutvmxwny ¨ p{yz{suqosXyf . 8=. !.
(144) 6«.
(145) . . . '. O'b. 3 x 135 V. Resolver. Moteur. Potentiomètre position absolue. Moteur. Resolver. fins de course. fins de course. position/vitesse. position/vitesse Phases. ABS . SBS. . . 190 V DC. Arrêt d’Urgence Potentiomètre position absolue.
(146)
(147)
(148)
(149)
(150)
(151) . . Phases CARTE SECURITE. SBS. Bus VME DIGital. Axe 0. Axe 14 position absolue lecture codeur. A-D-C. Ethernet vers Station Hôte. QUADrature. lecture couple. A-D-C. commande moteur. Baie BIP. CALCULATEUR. . D-A-C. { / &XJ $ 3- ( PN +* ,) " 054 &J &.?,Q .$ 07 X& ?(9 +*.,) A 0 <X + . e }~p ¦qg!¨ m rg$m© z g.ge g$ }vg±t ² g m}~z7w4}vg ¨ p_yrg{sumg w4ynt|g^y{sXyntHqxg:h:s rmh
(152) p{h g q ¨|g$© qxg^t w4y{mFprg sPg^h.{s Fprg q ¨|g$© qxg^t w4y{mFprg gz{prmo}~}vs4y{g @|6« s mosutvg$p }'kn·kPg tqxg^p sXqxmoh g$yntvsXt|mw4yI'·k B qxg$suqo prqosutvg$p g$t}|wny sXqxmoh g$yntvsXt|mw4y . =?>A@CBEDFHGI.
(153) 2. $ X 0 0 = ;- &0 M +&
(154) 2: R$ # SJ + , F V .>=M -- OM +X0 0 . qxg^}¶h w prqg$} ¨ g^ynt g © g^} u}| w tvmxg^}@ s4y{suqwX4mFprg4ª mXmtvsuqgZg$t¶Fp{s sut~p gZz_g h g tvtvs4y4t ¨ moynt|g ¹Âs4g qxg$suqo prqosutvg$p g$tqxg^} s msXt|g$p } qxg^}h w prqxg^} ¨ g$ynt g © g^} u}|w tvmxg^}[sXy_suqwXXmoFprg$} g t mXmtvsXqxg^}z_wnp qsÌz m}vg g$ySw4h:zrtvg g$} s4zrt|g^e p }Iz w4 z mwF g$zrtvmº¹Â} @=z7wXtvg$ynt|mw4h g$e t g$}IsX}~}|wr m g^© }[sXpr s rg$}$ªb$sXzrtvg$p } g§¹Ùw gXªbmy_qmº yrw4h g$t g$2} BZs g$Cqos w4y{y{g$tvmFprg!s4}v}vwrm g © g q ¨|g$© qxg^t w4y{mFprg g!Xg^}|tvmxwny gCq ¨ s ~ g$® t ¨ p Xg^y{g-g$t g$}} g$© $p mxt g$© }H ¦ s{sumgHs4}v}~p gg$y[s4p{}~}|m{q ¨ mynt|g ¹Âs4gCs g$q ¨ g rt g © mg$p msp_y[w wny w4h.{mxqm$suq@w4h:z g$y_sXyntqs qmosumo}|wnyg t d g yrg t-sd g^!qsP}|t~sut|mw4y d wX® tvgXª]q ¨ suqmoh
(155) g^yntvsutvmxwny}|g^tvg$p XX , h wnyrw4z d sX} g © g!g$tq ¨ sXqxmoh g$yF t~sutvmxwny§^4« ,1t moz s4} g$© gX Jqs§¹ÂsuqqpMt|g^yrm w4h:zrtvg g w4yn t sumoynt|g$} ¨ g$y{ w4h. g^h
(156) g^ynt
(157) g$t gIz7wXm }:z_ wnp qs g$© sXqxmo}vsXt|mw4y g g tvt| gP{ sXmx g²O}|wny wXqop{h g[yrg[e g sumtÎ z{sX} g ® t g mo}vz w4z7w t|mw4y_y g:© z{s sX z_z_ w t!sXpr P|sXh
(158) _g^} g$t}|wny z7wXm } Á gd sumt:g ® t g:moyF¹ g © mg$p sin mqwX sXh:h g$}- s g$:p{y g^ynt g g[ s mxt g.© qgPzrqop{} g$ynt g:© z_d wn} }vmorqxg4 sX$p{y g^}w4y_}|tvmxt~p{sXyntv} g-g$t|tvg-_sumg g sumtHg$® t gH}vtvs4y s @ m}~z7w4yrmorqg-}~p qxg!h:s g © B g$t¹Âs4mqxg^h g$yntCs4 g$}~}|morqg
(159) s¸@y g:z_g h g$t|t g qxg^}Hmoynt|g | g$ynt|mw4y{}qxm g$© g$} sPe qosPh mo}|g:sXp+z_w4myntCw4p sPe qs h:sXmynt|g^y{sXy_ gX ¦ s g$}~ mzrtvmxwny ggrqwrCs g$© t g © m m} g © gCg$yzrqop{}vmxg^p }}|wnp{}J d s4zrmxt g^}]² qs_sumA g @Zh g^© s4yrmFprgH¹Ùw h:sXyntqxg{qxwr' B qxg^}'suqmoh
(160) g^yntvsutvmxwny{} qsz_s t|mg ,H/ ³ . @Âqg sXq$prqsXt|g^p g$h
(161) {s Fp ;g © B qs$s t|g-} g$© p mt g © qxgnsX® rqosu4gHg$tqs: w4y{yrg^tvmFprg4 ' * & »Cg ~ m ge gq ¨ sXz{z7g qqsXt|mw4y g {su mg }vg: sX de g.t|wnprt|g:qos h g^© s4yrmFprg }vp_z{z_w t~sXyntq ¨g © qg$ t w4yrmo Fprg g z_prm}~}~sXy{ gg t gHw4 h:h:sXy g p w47wXt·mz g g4ªXsumoy{}vm_Fprgqos wny{Î yrg$ t|moFd prg g$} s tvg$}g$h
(162) d {s Fp g$© g$}$ »-p&z7wXmoy4t g prgPh g$© $sXyrmoFprgXªfqos{sXmxg[ w4y{}vmo}|tvgg$y p{y sX g sXp{t|g$p ^« ´ @=}~ g$© h:s{ " B w4y{}vt prmtPg^ y }~p{z7g z_wn}vs4y4t t wXmo} sX Î } @> g 2 ´ Hg t g ´ B g+tJrz7g !0³ 2u >v g Î h:s np{ g ,g^pF.± f ª{w4 yg prt tvmxqgmo}|gg$qg$pF} g$© zrFqoprsug tvvg$ sXg$pr} }vtvsXg y g^s yn t|m} qsX!t|m0³ w4yf2u >v w4 p g.qxwng$yrqxm4g prg^h p g$© 2 s4´ yrmoh:np{sXg$mh }'h g$ynwnt'y4qt g$g ©}Hg^}t wXg^mo© } suq sXg$© g$} } g^gy4t ´ g z_s - s4z{z7w tCs4 pF 7s4}vFprg^} s e q ¨ s sXynt-g t s e q ¨ s ~ m ge g g$} sX Î }$ ¦ s _sumg prg g d s4prt-g$y {sX}-g^}|t w4y{}vt|mtvp g © g-z{s ² p{y.z{qsXt|g$s4p g g$ynt|mqosut|mw4y-g rt sXtvg$p ¨ sum @Âqgz{qsXt|g$s4p g g$yntvmxqosutvmxwny ' ,. z_wnp ¶ sX Î 2 ´ }~p qxg^Fprg qFw4y s g$t|wnp y gZ© qg$}i g^y4tvmxqosutvg$p } @ g © m g$tvsXXgXª g t|wnp yrg$h g$yntOg t g m g$tvsu4;g B . 8=. !.
(163) s4 Î ' ,E. }vtvs4y s w4h:zrqg tz7w4p ¬Isu rg$}!s g^
(164) }vg$}!$s t|g^}¹Ùwny g[z{s4yrmxg z_g h g t| t~sXynt g g$ g wXm h w prqg'· kPg tH¬ h w prqg$}-kn·kPg t p{Fprg$q w4ys g tvm gC© qxgzrqosutvg$s4p g g^ynt|mqsXt|mw4yIz_wnp qxgh wny4tvg s4p g^}v}~p{}$. p{y. e Î g|pFs4 r t~sX2z7´ w4}vg,E .± g$} g$© !q g$© !³h g$2ynV|tv±}z7 w4´ p }~p h wnp{y4yrt~g.su4qsg 4g!g$p s tvg
(165) g$}«Xhu¼Mg z7g$w4}bp s 'g^ Hg$ } g g^© z{wXs m su tvmx¹ÙwnwXymo}'z_[g h h w g tvtvprs4qy4g$t} '· k&g t g$} g © q g^© h
(166) g^yntv}; 2 ´ }~p p{yrgIqos Xg$µp g4u¼1 z7w4p g$ g wX m q ¨ suqmoh
(167) g^yntvsutvmxwny&g$t
(168) qg$} s tv g$} ,/³ .He ¦ g$}: $s t|g$} ' ,E. ¹Ùwny g z{s4yrmg z_wnp +h w prqg$}[kn ·k y{g}ve w4 ynt z{sX} g© ¹ g © g^y{ g$© g$} sqg$p $sutvsXqxw44prg4ª¶g$qxqg$}
(169) w4ynt g$© t g © g^© suqm} g$© g$}!}~z g$© msXqxg^h g$ynt.z7w4p qxgrmoz g gX ¦ g$} sX $Îg$}~}vwXm g^} g} g^© z{s sutvmx wny[z7g h
(170) g$t|t~sXyntqxgh wny4t~su4g-h mx r t| g gh w prqg$ }' ´ g t'2 ´ sXy{}' p_y e s4 2 ´ sXy_}Zqg sXz{z7w t±«X 4Cy ¨ g rmo}|tvgHz{s4}Zg^y}|t~sXy s ªXmq{¹ÂsXp{t±qos g$© suqmo}|g }vp h g$}~p g s z{e s t|m ¨ p{ y Î mt g } g^© z{ s sutvmxwny 4« 2 uX{ª{}~mg qg.z wu¸7q g© h g © mo sXyz_wnp sXh g^yrg }~s:qw4yr~n pre g$ p s «X¼ªr t~s Î sXp g q ¨ g rt g^© h mxt gH© w4 p{z g © g-z_wnp d ¸{ rg qg 7 sXy_ e g t|mo sXq=7kFp qxg^}' z wu¸_q g$© }bs m g g^} g[g sX }vw4ynt!h w4ynt g^© }Cg$y z{s t|mg:4s4p{ gp{yrg s tvgh g g ,H/³ . P«I}vqxw4tv}$ªfg t!g^y z{s t|mg wXmt|g s ' g^} gh w4yntvsXXg^ }Zz_wnp w4y{yrg^tvg$p }»CJi_ 2{6-}vp qxg^}v Fprg$q}Z}vw4ynt mo}v} g^© } , /³ ¹Ùw4.Hy } ¦ s!e g.g$y_z{sXw y{ mxg'g g^}'$ s ,E . g$}± yrz_gHwn}vp w4ynt±Pz{h
(171) s4}±w }vtvp{s4qxg^y }C skn · kI}g$g$t t' qxg^g^}Hh: sXw4y y{ y{g^g$ynttvg$p{p y[} p_}|mog.y{suq ¨4sug'qm}|h wng^h:y4h t~susXtvmmxwngXy . p{y. sX Î w4y{}vt|mtvp g © g. 7sX}~Fprg$} ´ g t giz wu¸7q g^© }s sXynRt @>:}~p{z g © mg$p }bg t moyF¹ g © mg$p 2} B _z g h g$t|tv s4ynt g:h w4ynt|g qg$}Ch w prqg$} g © m g$© } sPe qs vwny{yrg$ t|moFprg
(172) g$tCs4pF suqmh g^y4t~sutve mxwny{}H~ $sXe zF t|g^p }¶}vp q ¨ s sXyn tfg tfq ¨ sXqxmoh g$yntvsXt|mw4y-}v g$ tvg$p ªq ¨ moynt|g p{zrtvg$p g$© y g © suq^g t qg$}f¹Âp{}|morqg$} sq ¨ s m g gX ¦ g^}g$}~z{sX g$}bqm g$}}vw4ynt g$h:zrqm}z{s g$}¹ÂsXg^}s sXyntb ´ }|moh:zrqg$}$. p{y. g g$ynt|mqsXt|mw4y ,E. JqHg^}|tIy g$© g$}~}vsXm g$} ¨ p{}vmy{g qxg^}Pz wu¸_q g^© }[}|mtvp g$© } s e q ¨ s ~ m ge g p s4 Î ´ z7w4p qg!h w4yntvsXXg pzrqosut|g^sXp g g^ynt|mqsXt|mw4yf. p{y zrqosutvg$s4p. »-sXy{}qg sX Î g.6« ´ ªrp{y[h w prqg-'·k:suqmoh
(173) g^ynt|gqg$}H^« s mosutvg$p } se t s g }qgH{p_}±¹Ùwny [ g z_sXyrm g H g^© z{s t|mB}vp i $s t|g^} ' ,E. ¦ g
(174) d s^®¯oy{su4g g$}-[$ s t|g^} ' ,E. p sX Î }vtvsXy s z7w4p ¬h w prqg$}kn·k+ÁÁg$}vt.z wXqw4yr g © g }!qg$} s tvg$} h w prqg$}:kn ·k @> wn}4s4® rqg$}z7w4p qs h:s4}v}vg-g tqxg
(175) ^¬X , ªrg t'2:4s4® rqg$}zrqop{}'z7g tvmxt~}'z_wnp qg$}}vmxny{sXpr g!wny4t w4® qxgBÊ ¦ g$} t wXmo} sX Î }P}vw4yntI}|w4qxm s mo} g^© }[z{s qg$} g$© Fprg v g$} !³!2V| m}~} g © g^} sµe d g suq-}vp g^pF s4 Î } @ g^© suqosu4g g ´ B ¦ s¹Âs4g s v m ge g:g$}vt
(176) wny{ }vt|mtv p g$© g g g$pr t6wX® qg$} s ~ m ge g[ z7w4d p sX Î 2 ´ g ' ,E. wny4t
(177) w4 y&s m}~su mqq g©Î qg$} Á g$t|w4p }$ªXz7w4p ¹Âs w m}vg qgz{s4}v}~su4g g$}¸7q} g s6®¯y_suXg4ªg t gh w prqxg^} g'¹ÂsXgHs s4ynt g sX k ¾ H¼¼µ ´ ¦ g
(178) t~sXrqg$s4p{ wny{yrg qs yrw4h g$y_qosutvp g g
(179) qosPh g^© sXy{mFprg g
(180) qosP{sXmxg p w47wXtHrmz ge g4 ¦ g$} w4h:z7w4}~sXyntv} g$© tvsXmxqq g$© } sXy{}Oqg$}s4prt g$}z{s tvmxg^} p: d sXzrmt g}vp q ¨g © qg$ t w4yrmoFprgy ¨ sXz_z{s sumo}v}vg$yntOz{sX} sXy{} gCt~sXrqg$s4pf. =?>A@CBEDFHGI.
(181) ^. $ X 0 0 = ;- &0 M +&
(182) 2: R$ # SJ + , F V .>=M -- OM +X0 0 VENTILATEURS. 3 4. REF. +. O O A A B B 0V 5V 0,1 A. 1 2 3 4 5 6 7 8. SIN COS. +LIM/ SPEED EN TORQUE EN. U2 V2 W2. 1 2 3 4. 0VD DRIVE ENABLED SPEED OR I OUT -LIM/ I RED 0VA REF. +. RESOLVER R2 R1 S2 S4 S3 S1. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15. O O A A B B 0V 5V 0,1 A. 1 2 3 4 5 6 7 8. R2 R1 S2 S4 S3 S1. U1 V1 W1. 1 2 3 4. 1 2 3 4 5. EXC SIN COS. +LIM/ SPEED EN TORQUE EN. U2 V2 W2. 0VD DRIVE ENABLED SPEED OR I OUT -LIM/ I RED 0VA. 1 2 3 4. REF. +. U2 V2 W2. +15V 0V -15V. 1 2 3 4. EXC SIN COS. +LIM/ SPEED EN TORQUE EN. U2 V2 W2. 1 2 3 4. 0VD DRIVE ENABLED SPEED OR I OUT -LIM/ I RED 0VA REF. +. COS. 0VD DRIVE ENABLED SPEED OR I OUT -LIM/ I RED 0VA REF. U2 V2 W2. +. 7 8 9 10 11 12 13 14 15. R2 R1 S2 S4 S3 S1 O O A A B B 0V 5V 0,1 A. 1 2 3 4 5 6 7 8. EXC SIN COS. +LIM/ SPEED EN TORQUE EN. U2 V2 W2. 1 2 3 4. 0VD DRIVE ENABLED SPEED OR I OUT -LIM/ I RED 0VA REF. +. 3 4. REF. 7 8 9 10 11 12 13 14 15. R2 R1 S2 S4 S3 S1 O O A A B B 0V 5V 0,1 A. 1 2 3 4 5 6 7 8. EXC SIN COS. +LIM/ SPEED EN TORQUE EN. U2 V2 W2. BORNIER POUR CONNECTIQUE. 1 2 3 4. 0VD DRIVE ENABLED SPEED OR I OUT -LIM/ I RED 0VA REF. +. +. RESOLVER R2 R1 S2 S4 S3 S1. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15. O O A A B B 0V 5V 0,1 A. 1 2 3 4 5 6 7 8. 7 8 9 10 11 12 13 14 15. R2 R1 S2 S4 S3 S1 O O A A B B 0V 5V 0,1 A. 1 2 3 4 5 6 7 8. EXC SIN COS. +LIM/ SPEED EN TORQUE EN. U2 V2 W2. 0VD DRIVE ENABLED SPEED OR I OUT -LIM/ I RED 0VA. 1 2 3 4. REF. +. EXC SIN COS. +LIM/ SPEED EN TORQUE EN. U2 V2 W2. 1 2 3 4. 0VD DRIVE ENABLED SPEED OR I OUT -LIM/ I RED 0VA REF. RESOLVER 1 2 3 4 5 6. +. RESOLVER R2 R1 S2 S4 S3 S1. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15. O O A A B B 0V 5V 0,1 A. 7 8 9 10 11 12 13 14 15. R2 R1 S2 S4 S3 S1 O O A A B B 0V 5V 0,1 A. 1 2 3 4 5 6 7 8. O O A A B B 0V 5V 0,1 A. 1 2 3 4 5 6 7 8. O O A A B B 0V 5V 0,1 A. 1 2 3 4 5 6 7 8. EXC SIN COS. +LIM/ SPEED EN TORQUE EN. U2 V2 W2. 1 2 3 4. 0VD DRIVE ENABLED SPEED OR I OUT -LIM/ I RED 0VA REF. +. SIN COS. +LIM/ SPEED EN TORQUE EN. 1 2 3 4 5 6 7 8. U2 V2 W2. 1 2 3 4. 0VD DRIVE ENABLED SPEED OR I OUT -LIM/ I RED 0VA REF. RESOLVER 1 2 3 4 5 6. EXC. +. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15. O O A A B B 0V 5V 0,1 A. 1 2 3 4 5 6 7 8. O O A A B B 0V 5V 0,1 A. 1 2 3 4 5 6 7 8. RESOLVER 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15. R2 R1 S2 S4 S3 S1 O O A A B B 0V 5V 0,1 A. EXC SIN COS. +LIM/ SPEED EN TORQUE EN. 1 2 3 4 5 6 7 8. U2 V2 W2. 1 2 3 4. 0VD DRIVE ENABLED SPEED OR I OUT -LIM/ I RED 0VA REF. +. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15. RESOLVER 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15. R2 R1 S2 S4 S3 S1 O O A A B B 0V 5V 0,1 A. 1 2 3 4 5 6 7 8. EXC SIN COS. +LIM/ SPEED EN TORQUE EN. U2 V2 W2. 0VD DRIVE ENABLED SPEED OR I OUT -LIM/ I RED 0VA. 1 2 3 4. REF. RESOLVER 1 2 3 4 5 6. COS. 0VD DRIVE ENABLED SPEED OR I OUT -LIM/ I RED 0VA. 1 2. RESOLVER 1 2 3 4 5 6. RESOLVER R2 R1 S2 S4 S3 S1. SIN. +LIM/ SPEED EN TORQUE EN. REMOTE RESET. RESOLVER R2 R1 S2 S4 S3 S1. EXC. SIN. +LIM/ SPEED EN TORQUE EN. RESOLVER. 1 2. RELAY OUT. EXC. +. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15. SECURITÉ. 7 8 9 10 11 12 13 14 15. EXC. VIPC. COS. 0VD DRIVE ENABLED SPEED OR I OUT -LIM/ I RED 0VA. 1 2. R2 R1 S2 S4 S3 S1. VIPC. SIN. +LIM/ SPEED EN TORQUE EN. U2 V2 W2. RESOLVER 1 2 3 4 5 6. EXC. MVME162. R2 R1 S2 S4 S3 S1. ALIMENTATION VME. RESOLVER. RESOLVER 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15. R2 R1 S2 S4 S3 S1 O O A A B B 0V 5V 0,1 A. ETHERNET. 1 2 3 4 5 6 7 8. EXC SIN COS. +LIM/ SPEED EN TORQUE EN. U2 V2 W2. 1 2 3 4. 0VD DRIVE ENABLED SPEED OR I OUT -LIM/ I RED 0VA REF. +. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15. ALIM. ALIM. +15V. -15V. DU ROBOT. SORTIE 5 Volts. BORNIER POUR CONNECTIQUE DU ROBOT. VENTILATEURS. . _ . / !A,Q0 ? +(! 4 !GP90 () ? +( 0 <X + , "X
(183) P ' . 8=. !.
Documents relatifs
Dans le cadre de ce projet de recherche, nous envisagions de déterminer dans quelle mesure les lois de contrôles identifiées sur l’homme pouvaient être implémentées avec succès
nel clima determinatosi dopo l’arretramento nelle elezioni amministrative del 12 maggio, accadde invece il peggio che potesse accadere: ossia che – in parte per
Certes, ils étaient là pour travailler le bois, que ce fût la mise en place d’une toiture provisoire, la construction des engins de levage, mais aussi leur entretien,
Our method allows the display and the animation, including user action, of a 256-tree forest at interactive rates..
Enfin, la description de chaque article du corpus de références de la base PASCAL (65066 références) par la classification de l’ESI revient à construire la table de
Le traitement actuel des médulloblastomes chez l’enfant Si les patients ont bénéficié d’une DVE en pré opératoire ou durant le geste chirurgical, elle peut être
Quels sont les instruments juridiques les mieux adaptés à cette
Dans le cas du d´eveloppement d’une nouvelle structure cin´ematique, le choix d’un crit`ere sth´enique est justifi´e par deux arguments : la n´ecessit´e de connaˆıtre les
