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sol.

txt Page 1 of 2
Printed: 23/03/12 11:11:57 Printed For: Jacques GANGLOFF

1 M01 =!
2 !
3 [cos(q1) 0 sin(q1) 0.599999999999999978 cos(q1)]!
4 [ ]!
5 [sin(q1) 0 -cos(q1) 0.599999999999999978 sin(q1)]!
6 [ ]!
7 [ 0 1 0 -1.10000000000000009 ]!
8 [ ]!
9 [ 0 0 0 1 ]!
10 !
11 M12 =!
12 !
13 [sin(q2) cos(q2) 0 1.39999999999999991 sin(q2) ]!
14 [ ]!
15 [-cos(q2) sin(q2) 0 -1.39999999999999991 cos(q2)]!
16 [ ]!
17 [ 0 0 1 0 ]!
18 [ ]!
19 [ 0 0 0 1 ]!
20 !
21 M23 =!
22 !
23 [cos(q3) 0 -sin(q3) 0]!
24 [ ]!
25 [sin(q3) 0 cos(q3) 0]!
26 [ ]!
27 [ 0 -1 0 0]!
28 [ ]!
29 [ 0 0 0 1]!
30 !
31 M34 =!
32 !
33 [cos(q4) 0 sin(q4) 0]!
34 [ ]!
35 [sin(q4) 0 -cos(q4) 0]!
36 [ ]!
37 [ 0 1 0 F]!
38 [ ]!
39 [ 0 0 0 1]!
40 !
41 M45 =!
42 !
43 [-sin(q5) 0 -cos(q5) 0]!
44 [ ]!
45 [cos(q5) 0 -sin(q5) 0]!
46 [ ]!
47 [ 0 -1 0 0]!
48 [ ]!
49 [ 0 0 0 1]!
50 !
51 M56 =!
52 !
53 [cos(q6) -sin(q6) 0 0 ]!
54 [ ]!
55 [sin(q6) cos(q6) 0 0 ]!
56 [ ]!
57 [ 0. 0. 1. 0.372000000000000]!
58 [ ]!
59 [ 0 0 0 1 ]!
60 !
61 M06(q=0)=!
sol.txt Page 2 of 2
Printed: 23/03/12 11:11:57 Printed For: Jacques GANGLOFF

62 [1 0 0 F + 0.599999999999999978]!
63 [ ]!
64 [0 1 0 0 ]!
65 [ ]!
66 [0 0 1 -2.128000000 ]!
67 [ ]!
68 [0 0 0 1 ]!
69 !
70 M06(q1=0,q2=pi/2,q3=-pi/2,q4=0,q5=-pi,q6=0)=!
71 [ -15 ]!
72 [-1 , 0 , 0.122464679914735321 10 , 2.000000000 + F]!
73 [ ]!
74 [0 , 1 , 0 , 0]!
75 [ ]!
76 [ -15 ]!
77 [-0.122464679914735321 10 , 0 , -1 , -1.472000000]!
78 [ ]!
79 [0 , 0 , 0 , 1] !
80 !
81 Solution modèle géo inverse :!
82 * F=1.2 :!
83 Pas de solution!
84 * F=1.6 :!
85 q1=0;!
86 q2=83/180*pi;!
87 q3=-63/180*pi;!
88 q4=0;!
89 q5=-200/180*pi;!
90 q6=0!
91 !
92 Q9: acceleration ressentie!
93 !
94 Force centrifuge : mw^2R!
95 R=3,5!
96 m=100!
97 w=58/180*pi!
98 !
99 -> F=358N -> 0.35g!
100 !
101 Q10 : En supposant que le robot est compensé en gravité!
102 Distance à l'axe : 2,9!
103 !
104 -> C=2,9*100*g=2900Nm!
105 !
106 !
107