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Course 3 : The task model construction ;

Course 3 : The task model construction ;. Ac. Tk. Tr. MSt. Modeling: the robot. q(t). T(t).  (t). x(t). V(t). Problem Definition. q 1. X 1 ,Y 1. Y. time. q 2. q 2. X 2 ,Y 2. q 1. X. time. Problem Definition. X 1 ,Y 1. Y. P 2. P 1. q 2. X n ,Y n. q 1. P n. X.

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Course 3 : The task model construction ;

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  1. Course 3: The task model construction ;

  2. Ac Tk Tr MSt Modeling: the robot q(t) T(t) (t) x(t) V(t)

  3. Problem Definition q1 X1,Y1 Y time q2 q2 X2,Y2 q1 X time

  4. Problem Definition X1,Y1 Y P2 P1 q2 Xn,Yn q1 Pn X

  5. The inverse kinematic for a 2 DOF RR q1 X1,Y1 q11 q21 Y q12 time X2,Y2 q11 q2 q22 q22 q12 q12 X time

  6. The inverse kinematic for a 2 DOF RR l2 tet2 X1,Y1 q21 l2 Y l1 tet0 tet1 l3 l1 q11 l3 X q1= tet1+ tet0 q2=2pi-(tet1+tet2) Go to MATLAB

  7. The working volume X1,Y1 Y P2 P1 q2 ? Xn,Yn q1 Pn X Go to MATLAB

  8. Transpose the points in trajectoryby interpolation q1 q11 q12 time q2 q22 q12 time

  9. Transpose the points in trajectoryby interpolation Go to MATLAB

  10. Transpose the points in trajectoryby bang-bang

  11. Transpose the points in trajectoryby bang-bang Go to MATLAB

  12. Transpose the points in trajectoryby bang-bang

  13. Conclusions

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