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Robotics tutorial

  1. Mar 25, 2012 #1
    Problem -

    For the following motion equations become
    |M1+2M2C2 2/3M2 + M2C2 | |-M2 s2 q.2 -M2 s2 (q.1 + q.2)| |M3 c1+ M4 c12+ 2M4 c1|
    |2/3M2 +M2C2 2/3M2 |a + |-M2 s2 q.2 0 | v +| M4 c12 | =τ[/SIZE][/SIZE]
     
  2. jcsd
  3. Mar 25, 2012 #2
    For the following motion equations become
    |M1+2M2C2 2/3M2 + M2C2 | |-M2 s2 q.2 -M2 s2 (q.1 + q.2)| |M3 c1+ M4 c12+ 2M4 c1|
    |2/3M2 +M2C2 2/3M2 |a + |-M2 s2 q.2 0 | v +| M4 c12 | =τ
     
  4. Mar 25, 2012 #3
    For the following motion equations become
    |M1+2M2C2 2/3M2 + M2C2 | |-M2 s2 q.2 -M2 s2 (q.1 + q.2)| |M3 c1+ M4 c12+ 2M4 c1|
    |2/3M2 +M2C2 2/3M2 |a + |-M2 s2 q.2 0 | v +| M4 c12 | =τ

    P = [M1,M2,M3,M4]T , find ψ(q,q. ,v,a) such that ψ(q,q. ,v,a)P = τ
    Where v = [v1 v2] T , a = [a1 a2] T , q = [q1 q2] T, q. = [q.1 q.2] T
     
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