Page 1 of 2 sol.txt
Printed: 23/03/12 11:11:57 Printed For: Jacques GANGLOFF
M01 =!
1 ! 2
[cos(q1) 0 sin(q1) 0.599999999999999978 cos(q1)]!
3
[ ]!
4
[sin(q1) 0 -cos(q1) 0.599999999999999978 sin(q1)]!
5
[ ]!
6
[ 0 1 0 -1.10000000000000009 ]!
7
[ ]!
8
[ 0 0 0 1 ]!
9 ! 10
M12 =!
11 ! 12
[sin(q2) cos(q2) 0 1.39999999999999991 sin(q2) ]!
13
[ ]!
14
[-cos(q2) sin(q2) 0 -1.39999999999999991 cos(q2)]!
15
[ ]!
16
[ 0 0 1 0 ]!
17
[ ]!
18
[ 0 0 0 1 ]!
19 ! 20
M23 =!
21 ! 22
[cos(q3) 0 -sin(q3) 0]!
23
[ ]!
24
[sin(q3) 0 cos(q3) 0]!
25
[ ]!
26
[ 0 -1 0 0]!
27
[ ]!
28
[ 0 0 0 1]!
29 ! 30
M34 =!
31 ! 32
[cos(q4) 0 sin(q4) 0]!
33
[ ]!
34
[sin(q4) 0 -cos(q4) 0]!
35
[ ]!
36
[ 0 1 0 F]!
37
[ ]!
38
[ 0 0 0 1]!
39 ! 40
M45 =!
41 ! 42
[-sin(q5) 0 -cos(q5) 0]!
43
[ ]!
44
[cos(q5) 0 -sin(q5) 0]!
45
[ ]!
46
[ 0 -1 0 0]!
47
[ ]!
48
[ 0 0 0 1]!
49
! 50
M56 =!
51 ! 52
[cos(q6) -sin(q6) 0 0 ]!
53
[ ]!
54
[sin(q6) cos(q6) 0 0 ]!
55
[ ]!
56
[ 0. 0. 1. 0.372000000000000]!
57
[ ]!
58
[ 0 0 0 1 ]!
59
! 60
M06(q=0)=!
61
Page 2 of 2 sol.txt
Printed: 23/03/12 11:11:57 Printed For: Jacques GANGLOFF
[1 0 0 F + 0.599999999999999978]!
62
[ ]!
63
[0 1 0 0 ]!
64
[ ]!
65
[0 0 1 -2.128000000 ]!
66
[ ]!
67
[0 0 0 1 ]!
68
! 69
M06(q1=0,q2=pi/2,q3=-pi/2,q4=0,q5=-pi,q6=0)=!
70
[ -15 ]!
71
[-1 , 0 , 0.122464679914735321 10 , 2.000000000 + F]!
72
[ ]!
73
[0 , 1 , 0 , 0]!
74
[ ]!
75
[ -15 ]!
76
[-0.122464679914735321 10 , 0 , -1 , -1.472000000]!
77
[ ]!
78
[0 , 0 , 0 , 1] ! 79
! 80
Solution modèle géo inverse :!
81
* F=1.2 :!
82
Pas de solution!
83
* F=1.6 :!
84
q1=0;!
85
q2=83/180*pi;!
86
q3=-63/180*pi;!
87
q4=0;!
88
q5=-200/180*pi;!
89
q6=0!
90
! 91
Q9: acceleration ressentie!
92
! 93
Force centrifuge : mw^2R!
94
R=3,5!
95
m=100!
96
w=58/180*pi!
97
! 98
-> F=358N -> 0.35g!
99
! 100
Q10 : En supposant que le robot est compensé en gravité!
101
Distance à l'axe : 2,9!
102
! 103
-> C=2,9*100*g=2900Nm!
104
! 105
! 106 107
