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The robot structure model design 1

The robot structure model design 1. Curse 4. Ac. Tk. Tr. MSt. Modeling: the robot. q(t). T(t).  (t). x(t). V(t). q 1. m 3. m 2. R 3. R 2. q 3. q 2. The Newton Euler Algorithm. q 1. m 3. m 2. R 3. R 2. q 3. q 2. The Newton Euler Algorithm. *. Y n. c nn. m n.

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The robot structure model design 1

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  1. The robot structure model design 1 Curse 4

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

  3. q1 m3 m2 R3 R2 q3 q2 The Newton Euler Algorithm

  4. q1 m3 m2 R3 R2 q3 q2 The Newton Euler Algorithm

  5. * Yn cnn mn cn-1n cn-1n-1 Yn * Yn-1 * mn-1 mnrn Xn Xn-1 qn mn-1rn-1  Jn-1n-1+n-1Jn-1n-1 * Xn-1 Yn-1 qn-1 The Newton Euler Algorithm

  6. * Yn cnn mn cn-1n cn-1n-1 Yn * Yn-1 * mn-1 mnrn Xn Xn-1 qn mn-1rn-1  Jn-1n-1+n-1Jn-1n-1 * Xn-1 Yn-1 qn-1 The Newton Euler

  7. * Yn cnn mn cn-1n cn-1n-1 Yn * Yn-1 * mn-1 mnrn Xn Xn-1 qn mn-1rn-1  Jn-1n-1+n-1Jn-1n-1 * Xn-1 Yn-1 qn-1 The Newton Euler

  8. y0 x1 q2 m2,J2 l1 x2 g c22 c11 m1,J1 q1 x0 The Newton Euler : Example

  9. y0 x1 q2 m2,J2 l1 x2 g c22 c11 m1,J1 q1 x0 The Newton Euler : Example

  10. y0 x1 q2 m2,J2 l1 x2 g c22 c11 m1,J1 q1 x0 The Newton Euler : Example

  11. y0 x1 q2 m2,J2 l1 x2 g c22 c11 m1,J1 q1 x0 The Newton Euler : Example

  12. y0 x1 q2 m2,J2 l1 x2 g c22 c11 m1,J1 q1 x0 The Newton Euler : Example

  13. y0 x1 q2 m2,J2 l1 x2 g c22 c11 m1,J1 q1 x0 The Newton Euler : Example

  14. y0 x1 q2 m2,J2 l1 x2 g c22 c11 m1,J1 q1 x0 The Newton Euler : Example

  15. y0 x1 q2 m2,J2 l1 x2 g c22 c11 m1,J1 q1 x0 The Newton Euler : Example

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