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Unidad2 Pagina 2
Unidad2 Pagina 2
Unidad2 Pagina 2
Formulación de Lagrange
−0.75 S1−0.75 S12−0.15 S123 −0.75 S12 −0.15 S123 −0.15 S123
[
J v ( q )= 0.75 C1 +0.75 C 12+0.15 C 123 0.75 C 12 +0.15 C 123 0.15 C 123
0 0 0 ]
Velocidad angular jacobiano
0 0 0
[ ]
J w ( θ1 θ2 θ 3) = 0 0 0
1 1 1
Eslabón 1:
∂ x1
[ ][
0 0 −l 1
]
∂ q1 S 0 0
2 1
∂ y1
J v1= 0 0 = l1
∂ q1 C 0 0
2 1
∂ z1
0 0 0 0 0
∂ q1
−l 1 l1
[
J v1T = 2
0
0
S1
2 1
C 0
0
0
0
0
]
l 12
[ ]
J v2T J v2= 4
0
0
0 0
0 0
0 0
0 0 0 0 0 1
[ ]
J w1= 0 0 0
1 0 0 [ ]
J w1T = 0 0 0
0 0 0
0 0 0
[ ]
J w1T J w1= 0 0 0
0 0 1