RobInd Ch3p1

Robotique Industrielle
UPJV, Département EEA
M1 3EA, Parcours RoVA, EC15
Fabio MORBIDI
Laboratoire MIS
Équipe Perception Robotique
E-mail: fabio.morbidi@u-picardie.fr
Lundi 13h30-16h30 (CM ou TD, salle CURI 305)

(TP, salle TP204)
Année Universitaire 2021-2022

Plan du cours
Chapitre 1 : Introduction
1.1 Définitions
1.2 Constituants d’un robot
1.3 Classification des robots
1.4 Caractéristiques d’un robot
1.5 Générations de robots
1.6 Programmation des robots
1.7 Utilisation des robots
Chapitre 2 : Fondements Théoriques
2.1 Pose d’un corps rigide

• Matrices de rotation et autres représentations de l’orientation
• Transformations homogènes
2
Plan du cours
2.2 Cinématique
• Dérivée d’une matrice de rotation
• Vitesse angulaire d’un repère
• Mouvement de corps rigide
• Torseur cinématique
Chapitre 3 : Modélisation d’un Robot
3.1 Modèle géométrique

• Convention de Denavit-Hartenberg
• Modèle géométrique direct
• Modèle géométrique inverse
3.2 Modèle cinématique

• Modèle cinématique direct
• Modèle cinématique inverse
3
Introduction: nécessité d’un modèle
La conception et la commande d’un robot nécessitent le calcul de certains

modèles mathématiques, tels que:
• Les modèles géométriques direct et inverse qui expriment la pose

de l’effecteur en fonction de la configuration du mécanisme et inversement
• Les modèles cinématiques direct

et inverse qui expriment la vitesse de articulation i
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l’effecteur en fonction des vitesses

articulaires et inversement
• Les modèles dynamiques définissant

les équations du mouvement du robot,
qui permettent d'établir les relations
entre les couples ou forces exercées par base
les actionneurs, et les positions, vitesses
et accélérations des articulations
effecteur
4
Introduction: nécessité d’un modèle
Définir les différentes tâches d'un robot réclame de pouvoir positionner
l’effecteur par rapport à un repère de référence
Mais ...
• Les informations proprioceptives (issues du S.M.A.) sont généralement
définies dans des repères liés aux différents segments du robot
• La position à atteindre est souvent définie dans un repère lié
à la base du robot
• L'objet à saisir peut être défini dans un repère mobile indépendant
du robot (ex. des pièces à prendre sur un convoyeur)
• Les informations extéroceptives (issues de l'environnement autour
du robot) sont définies dans divers repères (repère caméra, laser, etc.)
Il faut donc un référentiel commun afin de ramener les diverses

informations dans un même repère et pouvoir concevoir les consignes
des actionneurs du robot
5
Modèle géométrique d’un robot
ne effecteur
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✓4
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Robot générique se
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à n articulations ae
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d3
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✓2
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q = [✓1 , ✓2 , d3 , ✓4 , . . .]T 2 Rn
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pbe
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zb
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vecteur des variables

articulaires
Ob
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✓1
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yb
base xb
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Modèle géométrique direct (MGD): Étant données les positions

articulaires (distance resp. angle pour une articulation prismatique
resp. rotoïde) trouver la pose de l’effecteur par rapport à la base
Modèle géométrique inverse (MGI): Étant donnée une pose de

l’effecteur par rapport à la base, trouver, si elles existent, l’ensembles
de positions articulaires qui permettent de générer cette pose
6
Modèle géométrique direct
ne effecteur
<latexit sha1_base64="Ws/17wbnRz8C67d06W4YXFit46s=">AAACk3icbVFNT9wwEPWmtKXp11JULlwidiv1tEpWqlqpFwocekFQiQWkTbRynMlire1YtrMtNf4zXOkf6r+ps5tDA4xkzdObN1+eXDKqTRz/7QVPNp4+e775Inz56vWbt/2td+e6qhWBCalYpS5zrIFRARNDDYNLqQDznMFFvjhs4hdLUJpW4sxcS8g4ngtaUoKNp2b9neEwTPOKFfqae2eFm0E4HM76g3gUryx6CJIWDFBrp7OtHqRFRWoOwhCGtZ4msTSZxcpQwsCFaa1BYrLAc5h6KDAHndnVAi764JkiKivlnzDRiv0/w2KumwG9kmNzpe/HGvLRWKGbgp3utlEpXeouW8u5Alh0By2WVOp21F/rWbuLmPJLZqmQtQFBXBSFqYCfpOIci8KmSzBummQ2BaFrBU1ja9PG5WU0SJzz1Y7Af5eCY09+Y/IK52DWEvmbOHtylji7QtxZ6hfxh0nun+EhOB+Pkk+j+Md4sD9uT7SJdtEe+ogS9Bnto+/oFE0QQTfoFt2hP8H74GtwEBytpUGvzdlGHQuO/wGsC83Q</latexit>
✓4
<latexit sha1_base64="L2iySqJDE1wn298iAQdb77ClnyI=">AAACjnicbVFBT9swFHbDGF0GW8uOu0QrkzhVScWAyzSm7cBlGpMoIDVR5TgvrdXYsWynUCz/lF3hN+3fzGlzWGBPsvzpe99777NfKgqqdBj+6XhbL7Zf7nRf+a9399687fX3r1RZSQJjUhalvEmxgoJyGGuqC7gREjBLC7hOF9/q/PUSpKIlv9QrAQnDM05zSrB21LTXPzjwYz0HjadHvsO+P+0NwmG4juA5iBowQE1cTPsdiLOSVAy4JgVWahKFQicGS01JAdaPKwUCkwWewcRBjhmoxKy92+CjY7IgL6U7XAdr9t8Kg5lSK5Y6JcN6rp7mavK/uUzVDVvTTa2SKldtthIzCbBoG82WVKjG6t3Ga/shOj9NDOWi0sCJDQI/5nBLSsYwz0y8BG0nUWJi4KqSUA82Jq6vNA8GkbWu23dw3yXhhyO/FmKOU9Abibgn1vy8jKxZI2YNdQ9xi4meruE5uBoNo0/D8NdocDZqVtRF79EHdIgidILO0Dm6QGNE0C36jR7Qo9fzjr3P3peN1Os0Ne9QK7zzvztZygQ=</latexit>
se
<latexit sha1_base64="r5IIWI+EZLRhz5kP7He/FeGEN/o=">AAACk3icbVFNT9wwEPWmtKXp11JULlwidiv1tEpWqlqpFwocekFQiQWkTbRynMlire1YtrMtNf4zXOkf6r+ps5tDA4xkzdObN1+eXDKqTRz/7QVPNp4+e775Inz56vWbt/2td+e6qhWBCalYpS5zrIFRARNDDYNLqQDznMFFvjhs4hdLUJpW4sxcS8g4ngtaUoKNp2b9neEwTPOKFfqae2e1m0E4HM76g3gUryx6CJIWDFBrp7OtHqRFRWoOwhCGtZ4msTSZxcpQwsCFaa1BYrLAc5h6KDAHndnVAi764JkiKivlnzDRiv0/w2KumwG9kmNzpe/HGvLRWKGbgp3utlEpXeouW8u5Alh0By2WVOp21F/rWbuLmPJLZqmQtQFBXBSFqYCfpOIci8KmSzBummQ2BaFrBU1ja9PG5WU0SJzz1Y7Af5eCY09+Y/IK52DWEvmbOHtylji7QtxZ6hfxh0nun+EhOB+Pkk+j+Md4sD9uT7SJdtEe+ogS9Bnto+/oFE0QQTfoFt2hP8H74GtwEBytpUGvzdlGHQuO/wG2oc3V</latexit>
ae
<latexit sha1_base64="gKoYiUkm3cVbUQoRfesdnRQB2Ho=">AAACk3icbVFNT9wwEPWmtKXp11JULlwidiv1tEpWqlqpFwocekFQiQWkTbRynMlire1YtrMtNf4zXOkf6r+ps5tDA4xkzdObN1+eXDKqTRz/7QVPNp4+e775Inz56vWbt/2td+e6qhWBCalYpS5zrIFRARNDDYNLqQDznMFFvjhs4hdLUJpW4sxcS8g4ngtaUoKNp2b9neEwTPOKFfqae2exm0E4HM76g3gUryx6CJIWDFBrp7OtHqRFRWoOwhCGtZ4msTSZxcpQwsCFaa1BYrLAc5h6KDAHndnVAi764JkiKivlnzDRiv0/w2KumwG9kmNzpe/HGvLRWKGbgp3utlEpXeouW8u5Alh0By2WVOp21F/rWbuLmPJLZqmQtQFBXBSFqYCfpOIci8KmSzBummQ2BaFrBU1ja9PG5WU0SJzz1Y7Af5eCY09+Y/IK52DWEvmbOHtylji7QtxZ6hfxh0nun+EhOB+Pkk+j+Md4sD9uT7SJdtEe+ogS9Bnto+/oFE0QQTfoFt2hP8H74GtwEBytpUGvzdlGHQuO/wGQhc3D</latexit>
d3
<latexit sha1_base64="HH1c6ALo19xnpe6Duyvj5t4KizM=">AAACh3icbVHLTtwwFPWkQCFQHmXJJmJAYjVNBlFYgsqimwqQGECaRCPHuRmsiR3LdoaH5d/oFn6rf1NnJgsCXMm6R+ee+/JNRUGVDsN/He/LwuLS1+UVf3Xt2/rG5tb3G1VWksCAlEUp71KsoKAcBprqAu6EBMzSAm7Tya86fjsFqWjJr/WTgIThMac5JVg7Kt7b87PRoe+c7482u2EvnFnwEUQN6KLGLkdbHYizklQMuCYFVmoYhUInBktNSQHWjysFApMJHsPQQY4ZqMTMhrbBvmOyIC+le1wHM/ZthsFMqSeWOiXD+l69j9Xkp7FM1QVb3U2tkipXbbYSYwkwaQ+aTalQzaiP81nbi+j8JDGUi0oDJzYI/JjDAykZwzwz8RS0HUaJiYGrSkLd2Ji4dmkedCNrXbVzcN8l4Y8jzwpxj1PQc4l4JtZcXEfWzBCzhrpF3GGi92f4CG76veioF171u6f95kTLaAftogMUoWN0in6jSzRABAn0F72gV2/F++H99E7mUq/T5Gyjlnln/wGNvMeS</latexit>
✓2
<latexit sha1_base64="a8dz08AjNSFdHQCjtp3cT2HokxM=">AAACjnicbVFBT9swFHazMVgYo92Ou0QrSDtVSaUNLgim7cBlopNaQGqiynFeWquxY9lOGbP8U7jCb+LfzGlzILAnWf70ve+999kvFQVVOgwfO96r11tvtnfe+rvv9t7vd3sfLlVZSQITUhalvE6xgoJymGiqC7gWEjBLC7hKlz/q/NUKpKIlH+tbAQnDc05zSrB21KzbOzjwY70AjWdD32Hfn3X74SBcR/ASRA3ooyZGs14H4qwkFQOuSYGVmkah0InBUlNSgPXjSoHAZInnMHWQYwYqMWvvNjh0TBbkpXSH62DNPq0wmCl1y1KnZFgv1PNcTf43l6m6YWu6qVVS5arNVmIuAZZto9mKCtVY/bPx2n6Izo8TQ7moNHBig8CPOdyQkjHMMxOvQNtplJgYuKok1IONiesrzYN+ZK3r9hPcd0n45cjvhVjgFPRGIv4Say7GkTVrxKyh7iFuMdHzNbwEl8NB9HUQ/h72z4bNinbQJ/QZfUEROkJn6ByN0AQRdIPu0D168LreN+/EO91IvU5T8xG1wjv/BzcdygI=</latexit>
pbe
zb
Ob
✓1
<latexit sha1_base64="594yHkWThQMIBjjxqMym+02PUzw=">AAACjnicbVFNT9wwEPUG2tL0a7cce4lYKvW0ilfqx6UqFRy4VAWJBaRNtHKcya61sWPZzlJq+adwhd/Ev6mzm0MDjGT56c2bmWdPJkumTRzf94Kt7WfPX+y8DF+9fvP2XX/w/lxXtaIwoVVZqcuMaCiZgIlhpoRLqYDwrISLbHnY5C9WoDSrxJm5lpByMhesYJQYT836g/39MDELMGSGQ4/DcNYfxqN4HdFjgFswRG2czAY9SPKK1hyEoSXReopjaVJLlGG0BBcmtQZJ6JLMYeqhIBx0atfeXfTRM3lUVMofYaI1+3+FJVzra555JSdmoR/mGvLJXK6bhp3ptlEpXeguW8u5Alh2jeYrJnVr9c/Ga/chpviWWiZkbUBQF0VhIuCKVpwTkdtkBcZNcWoTELpW0Ay2NmmurIiG2Dnf7Qj8dyn45cmfpVyQDMxGIv9SZ3+fYWfXiDvL/EP8YvDDNTwG5+MR/jyKT8fDg3G7oh30Ae2hTwijr+gAHaMTNEEUXaEbdIvugn7wJfge/NhIg15bs4s6ERz/AzT/ygE=</latexit>
yb
base xb
Par rapport au repère de la base Ob -xb yb zb , le modèle géométrique direct

<latexit sha1_base64="6d/CWghQovuEaEK8e1I4Y9fL4l4=">AAACtXicbVFNb9MwGHbD1whfHRy5RLRIXKjiSWg7bhoHLmhDWrdJTRQ5zpvWauxYtlPaWf4r/BqucOff4LQ5kJVXsvz4eZ/3y28uK6ZNHP8ZBA8ePnr85OBp+Oz5i5evhoevr3XdKApTWle1us2JhooJmBpmKriVCgjPK7jJl+et/2YFSrNaXJmNhJSTuWAlo8R4KhuejMfhRZYnBtbGfnRrDxdaEgo2nsSYcrfZY+6yPByPs+HIv7cW7QPcgRHq7DI7HEBS1LThIAytiNYzHEuTWqIMoxW4MGk0+DpLMoeZh4Jw0Kndjuii954porJW/ggTbdl/IyzhWm947pWcmIW+72vJ//oK3SbsVbetSulS99lGzhXAst9osWJSd62ud732BzHlSWqZkI0BQV0UhYmA77TmnIjCJiswboZTm4DQjYK2sLVJe+VlNMLO+WyfwX+Xgq+ePKvkguRgdhJ5R529uMLObhF3lvlB/GLw/TXsg+ujCf40ib8djU5xt6ID9Ba9Qx8QRsfoFH1Bl2iKKPqBfqJf6HdwHKRBEZQ7aTDoYt6gngX1X42W2xg=</latexit>
est exprimé par la matrice de transformation homogène suivante:

<latexit sha1_base64="YB4mysLcNC4Y7hWEB1gdv286aMc=">AAADXXicbVFdb9MwFHVaBiOM0cEDD7xEdKAhVVUymOAFaQiEeEEMqd0m1VnlODet1cTxbKdsWP6hPMFPwcmKtqxcyfLxuR++955E5EzpMPzldbp3Nu7e27zvP9h6uP2ot/P4WJWVpDCmZV7K04QoyBmHsWY6h1MhgRRJDifJ4mPtP1mCVKzkI30pIC7IjLOMUaIdNe392d318RK0GdkpnCV7DT63rwI8eI8HAc4h0xM88HECM8ZNQbRkF9Y9yzxVl4W7DLdnyRSuM18GN71qzdtKJuvJNRRtGi+VIBRMOIxe08Ji7Icu8t+JfAw8ve5tgCWbzXUc+G64aa8fDsPGgnUQrUAfrexouuMBTktaFcA1zYlSkygUOjZEakZzcPUrBa6bBZnBxEFOClCxaaSwwQvHpEFWSne4Dhr2ZoYhhapHd5Gu37m67avJ//pSVRds/V5PPJcqU222EjMJsGg3mi6ZUKtWL656bQ+is3exYVxUGji1gVOJww9aFgVxq611sJMoNm7RqpJQf2wMrq8kC/qRta7aJ3DrkvDVkR9yMSeJ064JET+pNd9GkTUNKqxhbhAnTHRbhnVwvD+MDobh9/3+4ZuVRJvoGXqO9lCE3qJD9AUdoTGi3mcv9ypv2fnd3ehudbevQjveKucJaln36V/rOBQZ</latexit>
" #
nbe (q) sbe (q) abe (q) pbe (q)
Tbe (q) =
0 0 0 1
nbe , sbe , abe
<latexit sha1_base64="onq5WacuZjYT4oZ153uGkSkb1oc=">AAACwXicbZHNTtwwEMe96RdNv5b22EvU3Uo9oFWyEmqPIDhwqaASC0ibdOU4k8Va27FsZym1/EI8Ta/0aXCyORBgJGv++s3YM+PJJaPaxPHtIHj2/MXLV1uvwzdv373/MNz+eKarWhGYkYpV6iLHGhgVMDPUMLiQCjDPGZznq4Mmfr4GpWklTs21hIzjpaAlJdh4tBgejsdhmles0NfcOyvc73wBO+lOdJ/qJyluaTgeL4ajeBK3Fj0WSSdGqLOTxfYA0qIiNQdhCMNaz5NYmsxiZShh4MK01iAxWeElzL0UmIPObDuui756UkRlpfwRJmrp/RsWc9206DM5Npf6YayBT8YK3TzYq26bLKVL3ae1XCqAVb/RYk2l7lr9s+m1P4gpf2SWClkbEMRFUZgKuCIV51gUNl2DcfMksykIXStoClubNi4vo1HinH/tEPx3Kfjp4T6TlzgHs0mRf4mzx6eJs63izlI/iF9M8nANj8XZdJLsTuJf09HetFvRFvqMvqBvKEHf0R46Qidohgi6Qf/QLfofHAQ0kIHapAaD7s4n1LPA3gHFNeD2</latexit>
: vecteurs unitaires du repère de l’effecteur exprimés par rapport à la base

pbe
: vecteur qui décrit l’origine du repère de l’effecteur par rapport à la base

q 2 Rn : vecteur des variables articulaires
<latexit sha1_base64="oCokkhPaZItQWYLUvNWkjN2NJrc=">AAACm3icbVFNb9QwEPWGrxK+tnBEIItdJE6ruBKCY1E5IASioG5baRNWjjPZWhs7xnYWiuUbv4Yr/Bn+DU42B9IykqWnN88zb2ZyVXFjk+TPKLpy9dr1Gzs341u379y9N969f2zqRjOYs7qq9WlODVRcwtxyW8Gp0kBFXsFJvj5o8ycb0IbX8sieK8gEXUleckZtoJbjx9NpnG7Aui8ep1ziVFB7lufuk/8s4+l0OZ4ks6QLfBmQHkxQH4fL3RGkRc0aAdKyihqzIImymaPaclaBj9PGgKJsTVewCFBSASZz3SAePw1Mgctahyct7th/fzgqjDkXeVC2Ps3FXEv+N1eYtuCgu2tV2pRmyDZqpQHWQ6PFhivTW/229TocxJYvM8elaixI5jGOUwlfWS0ElYVr9+sXJHMpSNNoaBs7t910iSfE+1DtNYR1aXgfyFeVOqN5uEknUd+Zdx+OiHcdEt7xMEg4DLl4hsvgeG9Gns+Sj3uTfdKfaAc9RE/QM0TQC7SP3qBDNEcM/UA/0S/0O3oUHURvo3dbaTTq/zxAg4jmfwGy7NDJ</latexit>
7
Segm. 1 Segm. 2 ....... Segm.

<latexit sha1_base64="lBkGVu2zRymC+NXOEatd3RYmfz0=">AAAChHicbVFNT9wwEPWGlkIoFOiRS9TdSj20q5gKlRMClUMvFVRi+dAmQo4zWayNHct2lg/Lv6LX8sP6b+rs5kCgI1l+evNm5tmTyZJpE8d/e8HSq9fLb1ZWw7W36xvvNre2z3VVKwojWpWVusyIhpIJGBlmSriUCgjPSrjIpt+b/MUMlGaVODP3ElJOJoIVjBLjqavBIBRfcDgYXG/242E8j+glwC3oozZOr7d6kOQVrTkIQ0ui9RjH0qSWKMNoCS5Mag2S0CmZwNhDQTjo1M4du+ijZ/KoqJQ/wkRz9mmFJVzre555JSfmRj/PNeR/c7luGnam20aldKG7bC0nCmDaNZrPmNSt1buF1+5DTLGfWiZkbUBQF0VhIuCWVpwTkdtkBsaNcWoTELpW0Ay2NmmurIj62Dnf7Rj8dyn46cmjUt6QDMxCIh+osydn2Nk54s4y/xC/GPx8DS/B+e4Q7w3jX7v9Q9yuaAXtoA/oE8LoGzpEP9ApGiGKOPqN/qDHYDn4HHwN9hbSoNfWvEedCA7+AYB6xys=</latexit>
n 1
Segm. n
Segm. 0
(bâti) Organe
terminal
Articul. 1 Articul. 2 Articul. 3 Articul. n 1 Articul. n

<latexit sha1_base64="lBkGVu2zRymC+NXOEatd3RYmfz0=">AAAChHicbVFNT9wwEPWGlkIoFOiRS9TdSj20q5gKlRMClUMvFVRi+dAmQo4zWayNHct2lg/Lv6LX8sP6b+rs5kCgI1l+evNm5tmTyZJpE8d/e8HSq9fLb1ZWw7W36xvvNre2z3VVKwojWpWVusyIhpIJGBlmSriUCgjPSrjIpt+b/MUMlGaVODP3ElJOJoIVjBLjqavBIBRfcDgYXG/242E8j+glwC3oozZOr7d6kOQVrTkIQ0ui9RjH0qSWKMNoCS5Mag2S0CmZwNhDQTjo1M4du+ijZ/KoqJQ/wkRz9mmFJVzre555JSfmRj/PNeR/c7luGnam20aldKG7bC0nCmDaNZrPmNSt1buF1+5DTLGfWiZkbUBQF0VhIuCWVpwTkdtkBsaNcWoTELpW0Ay2NmmurIj62Dnf7Rj8dyn46cmjUt6QDMxCIh+osydn2Nk54s4y/xC/GPx8DS/B+e4Q7w3jX7v9Q9yuaAXtoA/oE8LoGzpEP9ApGiGKOPqN/qDHYDn4HHwN9hbSoNfWvEedCA7+AYB6xys=</latexit>
Nos hypothèses:
Manipulateur à chaîne ouverte simple avec n + 1 segments liés par n

<latexit sha1_base64="AiUGtzXcRbFCiVXSGuBTnU5Zb2Y=">AAAChHicbVFNT9wwEPWmhdLw3R57ibqLhARaxbSonCoQPfRSlUosH9pEyHEmi7WxY9nOUrD8K3qlP6z/ps5uDg10JMtPb97MPHsyWTJt4vhPL3jxcmn51crrcHVtfWNza/vNha5qRWFEq7JSVxnRUDIBI8NMCVdSAeFZCZfZ9LTJX85AaVaJc3MvIeVkIljBKDGeuh4MQrGHw8HgZqsfD+N5RM8BbkEftXF2s92DJK9ozUEYWhKtxziWJrVEGUZLcGFSa5CETskExh4KwkGndu7YRTueyaOiUv4IE83Zfyss4Vrf88wrOTG3+mmuIf+by3XTsDPdNiqlC91lazlRANOu0XzGpG6t/lx47T7EFEepZULWBgR1URQmAu5oxTkRuU1mYNwYpzYBoWsFzWBrk+bKiqiPnfPdvoD/LgXfPHlSyluSgVlI5AN19vs5dnaOuLPMP8QvBj9dw3NwcTDEh8P4x0H/+GO7ohX0Dr1HuwijT+gYfUVnaIQo4ugXekS/g+VgP/gQHC6kQa+teYs6EXz+C30pxyw=</latexit>
<latexit sha1_base64="zXFmgsCsSlMklUE4hJFlH0GdnaI=">AAACgnicbVHBTtwwEPWmUCBAC+2xl4jdShWHVUxb0QMHKnroBQESyyJtIuQ4k8Xa2LFsZwu1/BFc2y/r39TZzYEAI1l+evNm5tmTyZJpE8f/esGrldXXa+sb4ebW9pu3O7vvrnRVKwojWpWVus6IhpIJGBlmSriWCgjPShhns5MmP56D0qwSl+ZeQsrJVLCCUWI8NR4MQhEOBjc7/XgYLyJ6DnAL+qiN85vdHiR5RWsOwtCSaD3BsTSpJcowWoILk1qDJHRGpjDxUBAOOrULvy766Jk8KirljzDRgn1cYQnX+p5nXsmJudVPcw35Yi7XTcPOdNuolC50l63lVAHMukbzOZO6tXq39Np9iCm+pZYJWRsQ1EVRmAj4RSvOichtMgfjJji1CQhdK2gGW5s0V1ZEfeyc7/YD/HcpOPXk91LekgzMUiJ/U2fPLrGzC8SdZf4hfjH46Rqeg6uDIf46jC8O+sdf2hWtow9oD31CGB2iY/QTnaMRomiGHtAf9DdYCfYDHHxeSoNeW/MedSI4+g9usca8</latexit>
articulations (rotoïdes ou prismatiques):

• Par convention, le segment 0 est fixé au sol
• Chaque articulation fournit au manipulateur 1 DDL qui correspond
à la variable de l’articulation (✓ ou d )
<latexit sha1_base64="KTmdgQ7GS9yyFciVFG/rE0rzNos=">AAACh3icbVHLbtswEKTVNg+1TeL2mItQu0BPrmggj6OD9tBLkRSIkwCWEFDUyiYsUgRJOQ+Cv9Fr+1v9m1K2DlXSBQgOZmd3h9xMlkybOP7TC168fLW1vbMbvn7zdm//oP/uSle1ojClVVmpm4xoKJmAqWGmhBupgPCshOts+aXJX69AaVaJS/MgIeVkLljBKDGeSobDMDELMCQcDm8PBvEoXkf0HOAWDFAbF7f9HiR5RWsOwtCSaD3DsTSpJcowWoILk1qDJHRJ5jDzUBAOOrVr0y766Jk8KirljzDRmv23whKu9QPPvJITs9BPcw3531yum4ad6bZRKV3oLlvLuQJYdo3mKyZ1a/V+47X7EFOcppYJWRsQ1EVRmAi4oxXnROQ2WYFxM5zaBISuFTSDrU2aKyuiAXbOd/sK/rsUfPfkWSkXJAOzkchH6uz5JXZ2jbizzD/ELwY/XcNzcDUe4aNR/GM8mOB2RTvoEH1AnxBGJ2iCvqELNEUUSfQT/UK/g93gc3AcnG6kQa+teY86EZz9BW/VyO8=</latexit>
<latexit sha1_base64="aWs6R1K7T6WcpieHNlKSHRzJuP0=">AAACgnicbVFNb9QwEPWGAkug0MKRS8QuEuphFbdC9NBDUTlwQRRpv6RNVDnOZGtt7Fi2s7BY/hG9wi/j3+Ds5kC6jGT56c2bmWdPJkumTRz/6QUPDh4+etx/Ej59dvj8xdHxy6muakVhQquyUvOMaCiZgIlhpoS5VEB4VsIsW101+dkalGaVGJuNhJSTpWAFo8R4ajYchnk4HN4cDeJRvI1oH+AWDFAb1zfHPUjyitYchKEl0XqBY2lSS5RhtAQXJrUGSeiKLGHhoSAcdGq3fl301jN5VFTKH2GiLftvhSVc6w3PvJITc6vv5xryv7lcNw07022jUrrQXbaWSwWw6hrN10zq1uqPndfuQ0xxnlomZG1AUBdFYSLgO604JyK3yRqMW+DUJiB0raAZbG3SXFkRDbBzvtsn8N+l4IsnP5bylmRgdhL5kzr7dYyd3SLuLPMP8YvB99ewD6anI/x+FH87HVzidkV99Bq9Qe8QRh/QJfqMrtEEUbRCd+gX+h0cBCcBDs520qDX1rxCnQgu/gJYvMav</latexit>
8
Aii 1
<latexit sha1_base64="43ktIG1nfQSlbN24ijFl7aPcy9c=">AAACsHicbVHLbtQwFPWER0t4dApLNhEzSGXBKBlUYNkKFmwQA+q0I01C5Dg3UzOxY2xn6GD5Q/gatvAJ/A1OmgVpuZLlo3Pf92SipEqH4Z+Bd+Pmrds7u3f8u/fuP9gb7j88VVUtCcxJVVZykWEFJeUw11SXsBASMMtKOMvWbxr/2QakohU/0VsBCcMrTgtKsHZUOnwxHvuxhgvdljKfqi0uZ7UUJVgTb0CbY5vSz4Y+j+zB15Q+s/54nA5H4SRsLbgOog6MUGezdH8AcV6RmgHXpMRKLaNQ6MRgqSlxnfy4ViAwWeMVLB3kmIFKTDuSDZ46Jg+KSrrHddCy/2YYzJTassxFMqzP1VVfQ/7Xl6umYK+7aaKkKlSfrcVKAqz7g+YbKlQ36sXlrP1FdPE6MZSLWgMnNgj8mMM3UjGGed4e1y6jxMTAVS2haWxM3HxZEYwia121t+DOJeG9I49LcY4zJ0gbIr4Taz6cRNa0iFlD3SJOmOiqDNfB6XQSHU7Cj9PR0ctOol30GD1BByhCr9AReodmaI4I+oF+ol/otzf1Fl7q4ctQb9DlPEI98778BSav2js=</latexit>
(qi )
Procédure pour déterminer

T0n (q)
<latexit sha1_base64="1H06Q5n4owyKqeS2xpCuFciF1Oo=">AAACmnicbVHLTtwwFPWktED6GsqyRYo6U4luRgkVoktKu2hVVVBpBpAm6chxbgZrYsfYzgC1vOJrum2/pn9TJ2RBoFeyfHzuuS/fVBRU6TD82/MerDx8tLq27j9+8vTZ8/7Gi2NVVpLAhJRFKU9TrKCgHCaa6gJOhQTM0gJO0sXH2n+yBKloycf6SkDC8JzTnBKsHTXrbw2HfrwEbcZ2xn+Y0G43r3P7NvCHw1l/EI7CxoL7IGrBALV2NNvoQZyVpGLANSmwUtMoFDoxWGpKCrB+XCkQmCzwHKYOcsxAJaaZwwZvHJMFeSnd4Tpo2NsRBjOlrljqlAzrM3XXV5P/9WWqTtipbmqVVLnqspWYS4BFt9FsSYVqW7286bU7iM7fJ4ZyUWngxAaBH3O4ICVjmGem/lA7jRITA1eVhLqwMXF9pXkwiKx12T6B+y4J3xz5oRBnOHVLaCTiJ7HmcBxZ0yBmDXWDuMVEd9dwHxzvjKLdUfh9Z7D/rl3RGnqJXqNtFKE9tI8+oyM0QQRdo1/oN/rjvfIOvC/e1xup12tjNlHHvPE/RyXQKQ==</latexit>
le modèle géométrique direct:

1. Définir les repères associés à chacun des n + 1 segments
<latexit sha1_base64="MuKgHLMycNc1vUzP4lmTW+1DlVg=">AAAChHicbVFNT9wwEPWGlkIoFOiRS9TdSpVarWIqVE4IVA69VFCJ5UObCDnOZLE2dizbWT4s/4peyw/rv6mzmwOBjmT56c2bmWdPJkumTRz/7QVLr14vv1lZDdferm+829zaPtdVrSiMaFVW6jIjGkomYGSYKeFSKiA8K+Eim35v8hczUJpV4szcS0g5mQhWMEqMp64Gg1B8xuFgcL3Zj4fxPKKXALegj9o4vd7qQZJXtOYgDC2J1mMcS5NaogyjJbgwqTVIQqdkAmMPBeGgUzt37KKPnsmjolL+CBPN2acVlnCt73nmlZyYG/0815D/zeW6adiZbhuV0oXusrWcKIBp12g+Y1K3Vu8WXrsPMcV+apmQtQFBXRSFiYBbWnFORG6TGRg3xqlNQOhaQTPY2qS5siLqY+d8t2Pw36XgpyePSnlDMjALiXygzp6cYWfniDvL/EP8YvDzNbwE57tDvDeMf+32D3G7ohW0gz6gTwijb+gQ/UCnaIQo4ug3+oMeg+XgS/A12FtIg15b8x51Ijj4B3xCxyk=</latexit>
2. Determiner la transformation de coordonnées entre deux segments

consecutifs Aii 1 (qi ), i 2 {1, . . . , n}
<latexit sha1_base64="YdONMz84oH7zax0TMyn3qasqlmI=">AAACr3icbVHdbtMwFHbD3wg/6+CSm4gWaUiliosQXG6CC24QQ1rXSXVWHOeksxo7JnYKw/J78DTcwivwNjhZLsjGkSx/+s53/lNVcG3i+M8guHHz1u07O3fDe/cfPNwd7j060WVdMZizsiir05RqKLiEueGmgFNVARVpAYt087bxL7ZQaV7KY3OhIBF0LXnOGTWeWg1n43FItmDsoVvxM8tfYLf/ZcWfT8gk4hHhMiIWT0iRlUZPJHHheLwajuJp3Fp0HeAOjFBnR6u9AZCsZLUAaVhBtV7iWJnE0spwVoALSa1BUbaha1h6KKkAndh2OBc980wW5WXlnzRRy/4bYanQ+kKkXimoOddXfQ35X1+mm4S96rZRVTrXfbZW6wpg028023Klu1a/XfbaH8TkbxLLpaoNSOaiKCQSvrJSCCoz2+zcLXFiCUhdV9AUtpY0X5pHI+ycz/YO/Loq+ODJw0Kd09TfqZWo78zZj8fY2RYJZ7kfxB8GXz3DdXAym+JX0/jTbHTwsjvRDnqCnqJ9hNFrdIDeoyM0Rwz9QD/RL/Q7wMEiOAs+X0qDQRfzGPUs4H8BtZrXWA==</latexit>
3. Déterminer, de façon recursive, la transformation totale entre le repère n

<latexit sha1_base64="SNFa+O3Dqc2r0p2REIU3CURJxpo=">AAACgnicbVFNT9wwEPWmfDWlfLTHXiJ2kVAPqxiE4MCBqj30UgESyyJtIuQ4k8Xa2LFsZ4Fa/hG9tr+s/6bObg4EOpLlpzdvZp49mSyZNnH8txe8WVldW994G77bfL+1vbP74UZXtaIwolVZqduMaCiZgJFhpoRbqYDwrIRxNvva5MdzUJpV4to8SUg5mQpWMEqMp8aDQSjCweBupx8P40VErwFuQR+1cXm324Mkr2jNQRhaEq0nOJYmtUQZRktwYVJrkITOyBQmHgrCQad24ddF+57Jo6JS/ggTLdjnFZZwrZ945pWcmHv9MteQ/83lumnYmW4bldKF7rK1nCqAWddoPmdSt1Yfl167DzHFaWqZkLUBQV0UhYmAB1pxTkRukzkYN8GpTUDoWkEz2NqkubIi6mPnfLdv4L9LwQ9PfinlPcnALCXyJ3X24ho7u0DcWeYf4heDX67hNbg5HOLjYXx12D/H7Yo20Ce0hw4QRifoHH1Hl2iEKJqhX+g3+hOsBJ8DHBwtpUGvrfmIOhGc/QNtysa5</latexit>
et le repère 0, c’est-à-dire:
<latexit sha1_base64="kl4SDCxUCwfzYrP+YoGLIlk48yU=">AAAC7HicbVHPb9MwFHbCBiP86uDIJaJFWqVSxZUmuCBtggMXxJDabVKTRY7z2kVN7Mx2yobl/4Ib4sp/xIG/hQtOGgTZeJLlz9/33vOzv6TMM6mC4Kfj3travn1n56537/6Dh496u4+PJa8EhRnlORenCZGQZwxmKlM5nJYCSJHkcJKs3tT6yRqEzDibqqsSooIsWbbIKFGWint8MPDChF9CqsM1KD01MTvTgdlrThdm6Iej1+HIb46HJsaNeBHjYTj6w03ONK65Sc3RlCv5V7PN2ItGZUPjDQZxrx+Mgyb8mwC3oI/aOIp3HQhTTqsCmKI5kXKOg1JFmgiV0RyMF1YSSkJXZAlzCxkpQEa6+RnjP7dM6i+4sIspv2H/rdCkkPKqSGxmQdS5vK7V5H+1VNYNO7frOkvIheyyVbkUAKvuoOk6K2U76uVm1u5D1OJVpDNWVgoYNb7vhQw+UV4UhG2cMnMc6RCYrATUF2sd1luy8PvYGNvtLdjvEvDekod5eU4Sa0iTUn6mRn+YYqMbVBid2YdYY/B1G26C48kY74+Dj5P+wX5r0Q56ip6hPYTRS3SA3qEjNEMU/UC/nC1n22XuF/er+22T6jptzRPUCff7b3gu7kI=</latexit>
T0n (q) = A01 (q1 ) A12 (q2 ) · · · Ann 1

(qn )
9
Aii 1
<latexit sha1_base64="sXWNFfACBxohoTAQ6zV8p14YERk=">AAACl3icbVHLbtQwFPWEVwmPTmEFbCJmkMqCUVypgh2tQKgbRCt12kqTEDnOzdSa2DG2M1AsS3wNW/gd/gYnzYK0XMny0bnnvnNZMW3i+M8ouHHz1u07G3fDe/cfPNwcbz060XWjKMxpXdXqLCcaKiZgbpip4EwqIDyv4DRfvWv9p2tQmtXi2FxISDlZClYySoynsvHT6TRM1mDsvsvYZ8teYbf9JWMvw+k0G0/iWdxZdB3gHkxQb4fZ1giSoqYNB2FoRbRe4Fia1BJlGK3AhUmjQRK6IktYeCgIB53abggXvfBMEZW18k+YqGP/jbCEa33Bc6/kxJzrq76W/K+v0G3CQXXbqpQu9ZBt5FIBrIaNFmsmdd/qt8teh4OY8k1qmZCNAUFdFIWJgK+05pyIwra7dQuc2gSEbhS0ha1N2i8vowl2zmd7D35dCj56cr+S5yT39+gk8jt19tMxdrZD3FnmB/GHwVfPcB2c7Mzw7iw+2pns7fYn2kDP0HO0jTB6jfbQATpEc0TRD/QT/UK/gyfB2+BDcHApDUZ9zGM0sODoL5m8zpE=</latexit>
(qi )
effecteur
Tb0
<latexit sha1_base64="tI5pabMYO2dZqj4/teV7UyIVm1o=">AAAConicbVHdTtswFHYztrGMbWVc7iZag8RVlVSatkumcTFNQgOtBaQmqxznpFiNHct2OsDyE/A03MKT7G3mhFwswJEsf/rO//kyUVKlo+jvwHu28fzFy81X/uutN2/fDbffn6iqlgRmpCoreZZhBSXlMNNUl3AmJGCWlXCarb41/tM1SEUrPtWXAlKGl5wWlGDtqMVwNwz9RMOFbksZCbk1yRq0mdpF9Ntk1gZ+GC6Go2gctRY8BnEHRqizo8X2AJK8IjUDrkmJlZrHkdCpwVJTUoL1k1qBwGSFlzB3kGMGKjXtEDbYdUweFJV0j+ugZf/PMJgpdckyF8mwPlcPfQ35pC9XTcFed9NESVWoPluLpQRY9QfN11SobtSL+1n7i+jiS2ooF7UGTmwQ+AmHP6RiDPO8Paudx6lJgKtaQtPYmKT5siIYxda6agfgziXh0JFfS3GOMydFGyKuiDU/p7E1LWLWULeIEyZ+KMNjcDIZx5/G0fFktD/pJNpEH9BHtIdi9Bnto+/oCM0QQdfoBt2iOy/0fnjH3q/7UG/Q5eygnnnJPze91HI=</latexit>
base Tne
<latexit sha1_base64="vthECBzvV/awCxcpB4uB6ibK6/Q=">AAACo3icbVHLbtQwFPWkPErKYwpLNhEzRaxGyUgIlkWwQEKoLZppK03CyHFuptbYjmU7Q1vLf8DXsIUf6d/USbMgba9k+ejc9z25ZFSbOL4aBFsPHj56vP0k3Hn67PmL4e7LY13VisCcVKxSpznWwKiAuaGGwalUgHnO4CRff278JxtQmlZiZi4kZByvBC0pwcZTy+Hb8ThMDZybtpTNWQ3OphswduaW8NMK56JwPF4OR/Ekbi26C5IOjFBnh8vdAaRFRWoOwhCGtV4ksTSZxcpQwsCFaa1BYrLGK1h4KDAHndl2ChfteaaIykr5J0zUsv9nWMy1vuC5j+TYnOnbvoa811fopmCvu22ilC51n63lSgGs+4MWGyp1N+r5zaz9RUz5MbNUyNqAIC6KwlTAL1JxjkXRntUtksymIHStoGlsbdp8eRmNEud8tS/gz6Xguyc/MXmGcy9FGyIvibMHs8TZFnFnqV/EC5PcluEuOJ5OkveT+Gg62p92Em2j1+gNeocS9AHto6/oEM0RQb/RH/QX/Qv2gm/Bj2B2ExoMupxXqGdBdg3a29Uq</latexit>
T0n (q)
<latexit sha1_base64="1H06Q5n4owyKqeS2xpCuFciF1Oo=">AAACmnicbVHLTtwwFPWktED6GsqyRYo6U4luRgkVoktKu2hVVVBpBpAm6chxbgZrYsfYzgC1vOJrum2/pn9TJ2RBoFeyfHzuuS/fVBRU6TD82/MerDx8tLq27j9+8vTZ8/7Gi2NVVpLAhJRFKU9TrKCgHCaa6gJOhQTM0gJO0sXH2n+yBKloycf6SkDC8JzTnBKsHTXrbw2HfrwEbcZ2xn+Y0G43r3P7NvCHw1l/EI7CxoL7IGrBALV2NNvoQZyVpGLANSmwUtMoFDoxWGpKCrB+XCkQmCzwHKYOcsxAJaaZwwZvHJMFeSnd4Tpo2NsRBjOlrljqlAzrM3XXV5P/9WWqTtipbmqVVLnqspWYS4BFt9FsSYVqW7286bU7iM7fJ4ZyUWngxAaBH3O4ICVjmGem/lA7jRITA1eVhLqwMXF9pXkwiKx12T6B+y4J3xz5oRBnOHVLaCTiJ7HmcBxZ0yBmDXWDuMVEd9dwHxzvjKLdUfh9Z7D/rl3RGnqJXqNtFKE9tI8+oyM0QQRdo1/oN/rjvfIOvC/e1xup12tjNlHHvPE/RyXQKQ==</latexit>
Attention: la transformation de coordonnées effective qui décrit la pose

de l’effecteur par rapport à la base est donnée par:
Tbe (q) = Tb0 T0n (q) Tne

<latexit sha1_base64="jywM59j5M85bGYMPBg70vMndt18=">AAAC93icbVFNb9QwEHUClBI+uoUjl4hdpCKtVkklVC5IRXDggijSbltpna4cZ7KNNnaM7SzdWv4t3BBXfg43fgpOmmrZlpGiPL95zzOeSUVZKB1Fvz3/zt17W/e3HwQPHz1+stPbfXqsqlpSmNCqrORpShSUBYeJLnQJp0ICYWkJJ+nifZM/WYJURcXHeiUgYWTOi7ygRDtq1rscDAK8BG3GdgZnJrV77emrfRXi4Vs8DLGGC93WMRIya67FUSO2eHh95mcmWpsdv/alZQ1ro6vCrQ0Gg1mvH42iNsLbIO5AH3VxNNv1AGcVrRlwTUui1DSOhE4MkbqgJdgA1woEoQsyh6mDnDBQiWmbsOFLx2RhXkn3cR227L8OQ5hSK5Y6JSP6XN3MNeR/c5lqLtyobhqVVLnaZGsxlwCLzUazZSFU1+rFVa+bD9H5m8QUXNQaOLVhGGAO32jFGOFZO1U7jRODgataQlPYGNz80jzsx9aNGn8ANy4Jnxz5rhTnJHWbaCXiklrzeRxb0yJmTeEe4hYT31zDbXC8P4pfj6Iv+/3Dg25F2+g5eoH2UIwO0CH6iI7QBFH0x9vydryev/K/+z/8n1dS3+s8z9BG+L/+AiIN9ic=</latexit>
Matrice de transformation (constante)

Matrice de transformation (constante) qui décrit la qui décrit la pose du repère de l’effecteur
pose du repère 0 par rapport au repère de la base par rapport au repère n
<latexit sha1_base64="sERWoZVcMOU7Rwp8SkGj1azUZlU=">AAACgnicbVFNT9wwEPWGj9LwUaDHXqLuIiEOq3hR1R56oKKHXhBUYlmkTYQcZ7JYGzuW7WxLLf8Iru0v67/BWXIgwEiWn968mXn2ZLJk2sTx/16wsrq2/mbjbbi5tb3zbndv/0pXtaIwplVZqeuMaCiZgLFhpoRrqYDwrIRJNj9t8pMFKM0qcWnuJKSczAQrGCXGU5PBIBThYHCz24+H8TKilwC3oI/auLjZ60GSV7TmIAwtidZTHEuTWqIMoyW4MKk1SELnZAZTDwXhoFO79OuiA8/kUVEpf4SJluzTCku41nc880pOzK1+nmvIV3O5bhp2pttGpXShu2wtZwpg3jWaL5jUrdXfj167DzHFl9QyIWsDgrooChMBv2jFORG5TRZg3BSnNgGhawXNYGuT5sqKqI+d892+g/8uBWee/FbKW5KBeZTIP9TZ80vs7BJxZ5l/iF8Mfr6Gl+BqNMSfhvHPUf/kuF3RBvqAPqJDhNFndIJ+oAs0RhTN0T36i/4Fq8FRgINWG/TamveoE8HXB25kxrs=</latexit>
10
Choix du repère de la pince
Si l’effecteur est une pince, comment positionner le repère ?
pince
Oe
<latexit sha1_base64="Zykv/xmwciJPwb6JEbBuClRy2b8=">AAAChHicbVFNb9QwEPWGtpTQTzhyibpbqYdqFbeq6KkqggMX1CJ1+6FNtHKcya61sWPZzkKx/Cu4wg/j3+Ds5kBaRrL89ObNzLMnkyXTJo7/9IIXa+sbLzdfha+3tnd29/bf3OqqVhRGtCordZ8RDSUTMDLMlHAvFRCelXCXzT82+bsFKM0qcWMeJaScTAUrGCXGUw+DQXg1gXAwmOz142G8jOg5wC3oozauJ/s9SPKK1hyEoSXReoxjaVJLlGG0BBcmtQZJ6JxMYeyhIBx0apeOXXTomTwqKuWPMNGS/bfCEq71I8+8khMz009zDfnfXK6bhp3ptlEpXeguW8upAph3jeYLJnVr9fvKa/chpjhPLROyNiCoi6IwEfCNVpwTkdtkAcaNcWoTELpW0Ay2NmmurIj62Dnf7RP471LwxZMfSjkjGZiVRP6gzl7dYGeXiDvL/EP8YvDTNTwHtydDfDaMv570L3G7ok30Dh2gI4TRe3SJPqNrNEIUcfQT/UK/g43gODgNzlbSoNfWvEWdCC7+AhX6x3I=</latexit>
objet
<latexit sha1_base64="rBDx8Q1thzGaw9ctmp+7cZSSd5w=">AAAChHicbVFNT9wwEPUGSiHQ8tEjl4hdJA7VKgEheqqo4NALAiSWD22ileNMdq2NHct2tl0s/wqu7Q/rv6mz5ECAkSw/vXkz8+xJRUGVDsN/HW9p+cPKx9U1f33j0+fNre2dW1VWksCAlEUp71OsoKAcBprqAu6FBMzSAu7S6Vmdv5uBVLTkN3ouIGF4zGlOCdaOeuj1/PkI/F5vtNUN++EigrcgakAXNXE12u5AnJWkYsA1KbBSwygUOjFYakoKsH5cKRCYTPEYhg5yzEAlZuHYBvuOyYK8lO5wHSzYlxUGM6XmLHVKhvVEvc7V5Lu5TNUNW9NNrZIqV222EmMJMG0bzWZUqMbq72ev7Yfo/FtiKBeVBk5sEPgxh1+kZAzzzMQz0HYYJSYGrioJ9WBj4vpK86AbWeu6nYP7LgkXjvxRiAlOQT9LxCOx5vImsmaBmDXUPcQtJnq9hrfg9rAfHffD68Pu6XGzolW0i/bQAYrQCTpFP9EVGiCCGHpCf9Bfb8X76h15jdbrNDVfUCu87/8Bb/DHoA==</latexit>
ye
ze
<latexit sha1_base64="Q/rwGevr5gDccRjQm3hpqkB7Mgc=">AAAChHicbVFNT9wwEPWm5aPpBywcuUTdrdQDWiUgBCe0qBy4oFKJBapNtHKcyWJt7Fi2s3xY/hVc4Yfxb3CWHBroSJaf3ryZefakoqBKh+Fzx/vwcWl5ZfWT//nL129r692NC1VWksCIlEUpr1KsoKAcRprqAq6EBMzSAi7T2a86fzkHqWjJz/WdgIThKac5JVg76m+/799PwO/3J+u9cBAuIngPogb0UBNnk24H4qwkFQOuSYGVGkeh0InBUlNSgPXjSoHAZIanMHaQYwYqMQvHNvjhmCzIS+kO18GC/bfCYKbUHUudkmF9rd7mavK/uUzVDVvTTa2SKldtthJTCTBrG83mVKjG6u2r1/ZDdH6QGMpFpYETGwR+zOGGlIxhnpl4DtqOo8TEwFUloR5sTFxfaR70Imtdt2Nw3yXh1JFHhbjGKehXibgn1vw+j6xZIGYNdQ9xi4neruE9uNgZRHuD8M9Ob7jXrGgVbaHv6CeK0D4aohN0hkaIIIYe0CN68pa9bW/Xa7Rep6nZRK3wDl8Acg3HoQ==</latexit>
• Origin Oe : au centre de la pince

<latexit sha1_base64="Zykv/xmwciJPwb6JEbBuClRy2b8=">AAAChHicbVFNb9QwEPWGtpTQTzhyibpbqYdqFbeq6KkqggMX1CJ1+6FNtHKcya61sWPZzkKx/Cu4wg/j3+Ds5kBaRrL89ObNzLMnkyXTJo7/9IIXa+sbLzdfha+3tnd29/bf3OqqVhRGtCordZ8RDSUTMDLMlHAvFRCelXCXzT82+bsFKM0qcWMeJaScTAUrGCXGUw+DQXg1gXAwmOz142G8jOg5wC3oozauJ/s9SPKK1hyEoSXReoxjaVJLlGG0BBcmtQZJ6JxMYeyhIBx0apeOXXTomTwqKuWPMNGS/bfCEq71I8+8khMz009zDfnfXK6bhp3ptlEpXeguW8upAph3jeYLJnVr9fvKa/chpjhPLROyNiCoi6IwEfCNVpwTkdtkAcaNcWoTELpW0Ay2NmmurIj62Dnf7RP471LwxZMfSjkjGZiVRP6gzl7dYGeXiDvL/EP8YvDTNTwHtydDfDaMv570L3G7ok30Dh2gI4TRe3SJPqNrNEIUcfQT/UK/g43gODgNzlbSoNfWvEWdCC7+AhX6x3I=</latexit>
• Axe ze : direction de rapprochement de l’objet à saisir

• Axe ye : orthogonal à ze dans le plan de glissement des becs de la pince

<latexit sha1_base64="rBDx8Q1thzGaw9ctmp+7cZSSd5w=">AAAChHicbVFNT9wwEPUGSiHQ8tEjl4hdJA7VKgEheqqo4NALAiSWD22ileNMdq2NHct2tl0s/wqu7Q/rv6mz5ECAkSw/vXkz8+xJRUGVDsN/HW9p+cPKx9U1f33j0+fNre2dW1VWksCAlEUp71OsoKAcBprqAu6FBMzSAu7S6Vmdv5uBVLTkN3ouIGF4zGlOCdaOeuj1/PkI/F5vtNUN++EigrcgakAXNXE12u5AnJWkYsA1KbBSwygUOjFYakoKsH5cKRCYTPEYhg5yzEAlZuHYBvuOyYK8lO5wHSzYlxUGM6XmLHVKhvVEvc7V5Lu5TNUNW9NNrZIqV222EmMJMG0bzWZUqMbq72ev7Yfo/FtiKBeVBk5sEPgxh1+kZAzzzMQz0HYYJSYGrioJ9WBj4vpK86AbWeu6nYP7LgkXjvxRiAlOQT9LxCOx5vImsmaBmDXUPcQtJnq9hrfg9rAfHffD68Pu6XGzolW0i/bQAYrQCTpFP9EVGiCCGHpCf9Bfb8X76h15jdbrNDVfUCu87/8Bb/DHoA==</latexit>
• Axe xe : orthogonal aux autres axes, pour avoir un repère

<latexit sha1_base64="HcGrJCgycOUIf6lWknUYLKfVO6Y=">AAAChHicbVFNT9wwEPUGCjTQ8tEjl4jdShyqVQJCcEIgeuCCChILVJto5TiTxdrYsWxn+bD8K3otP6z/ps5uDgQYyfLTmzczz55UFFTpMPzX8RYWPy0tr3z2V9e+fF3f2Ny6UWUlCQxIWZTyLsUKCsphoKku4E5IwCwt4DadnNX52ylIRUt+rZ8EJAyPOc0pwdpRv3s9/3EEfq832uiG/XAWwXsQNaCLmrgcbXYgzkpSMeCaFFipYRQKnRgsNSUFWD+uFAhMJngMQwc5ZqASM3Nsg++OyYK8lO5wHczY1xUGM6WeWOqUDOt79TZXkx/mMlU3bE03tUqqXLXZSowlwKRtNJtSoRqrj3Ov7Yfo/CgxlItKAyc2CPyYwwMpGcM8M/EUtB1GiYmBq0pCPdiYuL7SPOhG1rpuP8F9l4QLR54W4h6noOcS8Uys+XUdWTNDzBrqHuIWE71dw3tws9ePDvrh1V73ZL9Z0QraRjtoF0XoEJ2gc3SJBogghv6gv+jFW/J+ePvewVzqdZqab6gV3vF/bTnHnQ==</latexit>
pouce
<latexit sha1_base64="bEZXBmRW089ZJUT8u3/K85hBqGw=">AAACgnicbVHBTtwwEPWmFGhaYGmPvUTdRUIcVvGiqhw4UNFDL1WpxLJImwg5zmSxNnYs21kKlj+Ca/tl/Zs6uzk00JEsP715M/PsyWTJtInjP73gxcbLza3tV+HrNzu7e/39t1e6qhWFCa3KSl1nREPJBEwMMyVcSwWEZyVMs8V5k58uQWlWiUtzLyHlZC5YwSgxnpoOh+FDOBze9AfxKF5F9BzgFgxQGxc3+z1I8orWHIShJdF6hmNpUkuUYbQEFya1Bknogsxh5qEgHHRqV35ddOCZPCoq5Y8w0Yr9t8ISrvU9z7ySE3Orn+Ya8r+5XDcNO9Nto1K60F22lnMFsOgazZdM6tbqz7XX7kNMcZJaJmRtQFAXRWEi4I5WnBOR22QJxs1wahMQulbQDLY2aa6siAbYOd/tC/jvUvDNk59LeUsyMGuJfKDOfr/Ezq4Qd5b5h/jF4KdreA6uxiP8cRT/GA/Oxu2KttF79AEdIow+oTP0FV2gCaJogR7RL/Q72AiOAhwcr6VBr615hzoRnP4Fh1vGxg==</latexit>
z
direct (selon la règle de la main droite) x <latexit sha1_base64="sjriyuknAAj+Nah+jm16UmOPVQ0=">AAACgnicbVFNb9QwEPWmBUr46seRS8QuEuKwihchOHBoBYdeEEXaj0qbqHKcya61sWPZztLW8o/gSn9Z/w3Obg5ky0iWn968mXn2ZLJk2sTxfS/Y23/0+MnB0/DZ8xcvXx0eHU91VSsKE1qVlbrMiIaSCZgYZkq4lAoIz0qYZauvTX62BqVZJcbmRkLKyUKwglFiPDUbDMLrcDC4OuzHw3gT0UOAW9BHbVxcHfUgyStacxCGlkTrOY6lSS1RhtESXJjUGiShK7KAuYeCcNCp3fh10VvP5FFRKX+EiTbsvxWWcK1veOaVnJil3s015H9zuW4adqbbRqV0obtsLRcKYNU1mq+Z1K3V663X7kNM8Tm1TMjagKAuisJEwC9acU5EbpM1GDfHqU1A6FpBM9japLmyIupj53y3b+C/S8F3T56VckkyMFuJvKXO/hhjZzeIO8v8Q/xi8O4aHoLpaIg/DuOfo/7pqF3RAXqN3qB3CKNP6BSdows0QRSt0G/0B90F+8H7AAcfttKg19acoE4EX/4CgyXGxA==</latexit>
index
la flêche sort de la page
Rappelez les symboles:
× la flêche entre dans la page majeur
y
<latexit sha1_base64="TrEwoMIREHe/eFzzXzIq70TURKI=">AAACgnicbVHBTtwwEPWm0NJAC7THXqLuVqp6WMWLUDlwAJVDL6hUYlmkTYQcZ7JYGzuW7Wy7WP6IXumX9W9wdnNogJEsP715M/PsyWTJtInjf73gxcbmy1dbr8PtnTdvd/f2313pqlYUxrQqK3WdEQ0lEzA2zJRwLRUQnpUwyebfmvxkAUqzSlyapYSUk5lgBaPEeGoyGITLcDC42evHw3gV0VOAW9BHbVzc7PcgyStacxCGlkTrKY6lSS1RhtESXJjUGiShczKDqYeCcNCpXfl10SfP5FFRKX+EiVbs/xWWcK2XPPNKTsytfpxryGdzuW4adqbbRqV0obtsLWcKYN41mi+Y1K3V32uv3YeY4ii1TMjagKAuisJEwC9acU5EbpMFGDfFqU1A6FpBM9japLmyIupj53y3M/DfpeDck6elvCUZmLVE3lFnf1xiZ1eIO8v8Q/xi8OM1PAVXoyE+HMY/R/2TUbuiLfQBfUSfEUZf0Qn6ji7QGFE0R3/QPfobbARfAhwcrKVBr615jzoRHD8AhUDGxQ==</latexit>
11
ne
<latexit sha1_base64="vFO1nXSAowPouUSLA1VOAx9oBO0=">AAACk3icbVHLTtwwFPWkD2j6GqjaTTcRM5W6GiVIFUhsgLLoBhUkBpAm0chxbgZrbMeynQFq/DPdtj/Uv6kzkwUBrmTdo3PPffnmklFt4vhfL3j2/MXLtfVX4es3b9+9729snuuqVgTGpGKVusyxBkYFjA01DC6lAsxzBhf5/HsTv1iA0rQSZ+ZWQsbxTNCSEmw8Ne1/Gg7DNK9YoW+5d1a4KYTD4bQ/iEfx0qLHIGnBALV2Mt3oQVpUpOYgDGFY60kSS5NZrAwlDFyY1hokJnM8g4mHAnPQmV0u4KIvnimislL+CRMt2fsZFnPdDOiVHJsr/TDWkE/GCt0U7HS3jUrpUnfZWs4UwLw7aLGgUrej3qxm7S5iyt3MUiFrA4K4KApTAdek4hyLwqYLMG6SZDYFoWsFTWNr08blZTRInPPVjsB/l4JjTx4weYVzMCuJ/EWc/XmWOLtE3FnqF/GHSR6e4TE43x4l30bx6fZgP25PtI4+oy30FSVoB+2jH+gEjRFBd+g3+oP+Bh+DveAwOFpJg16b8wF1LDj+D6txzc4=</latexit>
✓4
<latexit sha1_base64="8nNc+jsJ1LrgHCOQkrLlWwJNrHw=">AAACiXicbVHBTtwwEPUG2tLQFijHXqLuIvW0ilegop6o4MClKpVYQNqEleNMdq2NHct2tqWW/6PX8lf8TZ3dHBpgJMtPb97MPHsyWTJt4vihF2xsvnj5aut1uP3m7bud3b33V7qqFYUxrcpK3WREQ8kEjA0zJdxIBYRnJVxni9Mmf70EpVklLs2dhJSTmWAFo8R46nYwCBMzB0Omh+FgMN3tx8N4FdFTgFvQR21cTPd6kOQVrTkIQ0ui9QTH0qSWKMNoCS5Mag2S0AWZwcRDQTjo1K5su+jAM3lUVMofYaIV+3+FJVzrO555JSdmrh/nGvLZXK6bhp3ptlEpXeguW8uZAlh0jeZLJnVr9dfaa/chpjhOLROyNiCoi6IwEfCTVpwTkdtkCcZNcGoTELpW0Ay2NmmurIj62Dnf7Qz8dyn45smvpZyTDMxaIn9TZ79fYmdXiDvL/EP8YvDjNTwFV6MhPhrGP0b9k1G7oi30AX1EnxBGn9EJOkcXaIwoUugP+ovug+0AB8fBl7U06LU1+6gTwek/9rfJlw==</latexit>
Oe
<latexit sha1_base64="vrCVVUJQSCFWhWmVMakDk0MpP3g=">AAAChHicbVHBTtwwEPUGSiHQAuXIJWK3EodqlYBQOSGqcuCCAIkFqk20cpzJYm3sWLazLVj+il7hw/gbnN0cCDCS5ac3b2aePakoqNJh+NzxFhY/LX1eXvFX1758Xd/Y/HatykoSGJCyKOVtihUUlMNAU13ArZCAWVrATTr5XedvpiAVLfmVvheQMDzmNKcEa0f96fX88xH4vd5ooxv2w1kE70HUgC5q4mK02YE4K0nFgGtSYKWGUSh0YrDUlBRg/bhSIDCZ4DEMHeSYgUrMzLENvjsmC/JSusN1MGNfVxjMlLpnqVMyrO/U21xNfpjLVN2wNd3UKqly1WYrMZYAk7bRbEqFaqz+m3ttP0Tnh4mhXFQaOLFB4Mcc/pKSMcwzE09B22GUmBi4qiTUg42J6yvNg25kret2Au67JJw58lch7nAKei4RD8Sa86vImhli1lD3ELeY6O0a3oPrvX500A8v97rHYbOiZbSNdtAuitBPdIxO0QUaIIIY+o8e0ZO35P3w9r2DudTrNDVbqBXe0QsVrcdx</latexit>
se
<latexit sha1_base64="kqCHvJXG71C7+AyFZN3dNaSJYFY=">AAACk3icbVHLTtwwFPWkD2j6GqjaTTcRM5W6GiVIFUhsgLLoBhUkBpAm0chxbgZrbMeynQFq/DPdtj/Uv6kzkwUBrmTdo3PPffnmklFt4vhfL3j2/MXLtfVX4es3b9+9729snuuqVgTGpGKVusyxBkYFjA01DC6lAsxzBhf5/HsTv1iA0rQSZ+ZWQsbxTNCSEmw8Ne1/Gg7DNK9YoW+5d1a7KYTD4bQ/iEfx0qLHIGnBALV2Mt3oQVpUpOYgDGFY60kSS5NZrAwlDFyY1hokJnM8g4mHAnPQmV0u4KIvnimislL+CRMt2fsZFnPdDOiVHJsr/TDWkE/GCt0U7HS3jUrpUnfZWs4UwLw7aLGgUrej3qxm7S5iyt3MUiFrA4K4KApTAdek4hyLwqYLMG6SZDYFoWsFTWNr08blZTRInPPVjsB/l4JjTx4weYVzMCuJ/EWc/XmWOLtE3FnqF/GHSR6e4TE43x4l30bx6fZgP25PtI4+oy30FSVoB+2jH+gEjRFBd+g3+oP+Bh+DveAwOFpJg16b8wF1LDj+D7YHzdM=</latexit>
d3 ae
<latexit sha1_base64="WbgXYYMvvgMMxtPSLs6wWhQOF+M=">AAAChHicbVFNT9wwEPWmhUJaKJRjL1F3kXpAq2QRak8IBAcuFVRi+dAmWjnOZLE2dizbWT4s/wqu8MP4Nzi7OTTQkSw/vXkz8+xJRUGVDsOXjvfh49Lyp5VV//OXtfWvG5vfLlRZSQJDUhalvEqxgoJyGGqqC7gSEjBLC7hMp0d1/nIGUtGSn+t7AQnDE05zSrB21HWv52fjXb/XG290w344j+A9iBrQRU2cjTc7EGclqRhwTQqs1CgKhU4MlpqSAqwfVwoEJlM8gZGDHDNQiZk7tsG2Y7IgL6U7XAdz9t8Kg5lS9yx1Sob1jXqbq8n/5jJVN2xNN7VKqly12UpMJMC0bTSbUaEaq3cLr+2H6Px3YigXlQZObBD4MYdbUjKGeWbiGWg7ihITA1eVhHqwMXF9pXnQjax13Y7BfZeEP448LMQNTkEvJOKBWHN6HlkzR8wa6h7iFhO9XcN7cDHoR3v98O+gezBoVrSCvqMf6CeK0C90gE7QGRoighh6RE/o2Vv2drxdb28h9TpNzRZqhbf/CtlTx1Y=</latexit>
<latexit sha1_base64="r7Nov3oIqL3qbPLssHl4m6UjfiY=">AAACk3icbVHLTtwwFPWkD2j6GqjaTTcRM5W6GiVIFUhsgLLoBhUkBpAm0chxbgZrbMeynQFq/DPdtj/Uv6kzkwUBrmTdo3PPffnmklFt4vhfL3j2/MXLtfVX4es3b9+9729snuuqVgTGpGKVusyxBkYFjA01DC6lAsxzBhf5/HsTv1iA0rQSZ+ZWQsbxTNCSEmw8Ne1/Gg7DNK9YoW+5dxa7KYTD4bQ/iEfx0qLHIGnBALV2Mt3oQVpUpOYgDGFY60kSS5NZrAwlDFyY1hokJnM8g4mHAnPQmV0u4KIvnimislL+CRMt2fsZFnPdDOiVHJsr/TDWkE/GCt0U7HS3jUrpUnfZWs4UwLw7aLGgUrej3qxm7S5iyt3MUiFrA4K4KApTAdek4hyLwqYLMG6SZDYFoWsFTWNr08blZTRInPPVjsB/l4JjTx4weYVzMCuJ/EWc/XmWOLtE3FnqF/GHSR6e4TE43x4l30bx6fZgP25PtI4+oy30FSVoB+2jH+gEjRFBd+g3+oP+Bh+DveAwOFpJg16b8wF1LDj+D4/rzcE=</latexit>
✓2
<latexit sha1_base64="ZboxRmEhIfFpECLtpz7ym9LLoRg=">AAACiXicbVHBTtwwEPWmtKWhLdAee4nYReppFa9UFXECwaGXqlRiAWkTVo4z2bU2dizb2QKW/6NX+Cv+Bmc3hwY6kuWnN29mnj2ZLJk2cfzYC15tvH7zdvNduPX+w8ftnd1PF7qqFYUxrcpKXWVEQ8kEjA0zJVxJBYRnJVxmi5Mmf7kEpVklzs2thJSTmWAFo8R46nowCBMzB0Omo3AwmO7042G8iuglwC3oozbOprs9SPKK1hyEoSXReoJjaVJLlGG0BBcmtQZJ6ILMYOKhIBx0ale2XbTvmTwqKuWPMNGK/bfCEq71Lc+8khMz189zDfnfXK6bhp3ptlEpXeguW8uZAlh0jeZLJnVr9WbttfsQUxyklglZGxDURVGYCPhDK86JyG2yBOMmOLUJCF0raAZbmzRXVkR97Jzvdgr+uxT89ORxKeckA7OWyDvq7K9z7OwKcWeZf4hfDH6+hpfgYjTE34bx71H/aNSuaBN9QXvoK8LoOzpCP9AZGiOKFPqL7tFDsBXg4CA4XEuDXlvzGXUiOHkC8oHJlQ==</latexit>
pbe
<latexit sha1_base64="m2tf0P2EkSDz0ldgFw8I1aVYJjQ=">AAACjnicbVFNT9swGHYzBixs0I4jl4gWaacqQYLtgsY0DlzQQKKA1ITKcd4Uq7Fj2U4Zs/xTdt1+0/7NnJADAV7J8qPn/X6fVBRU6TD81/PerLxdXVt/52+8/7C51R98vFJlJQlMSFmU8ibFCgrKYaKpLuBGSMAsLeA6XXyv/ddLkIqW/FI/CEgYnnOaU4K1o2b9wWjkx0vQRtgZ3Kb+aDTrD8Nx2FjwEkQtGKLWzmeDHsRZSSoGXJMCKzWNQqETg6WmpADrx5UCgckCz2HqIMcMVGKa2W2w55gsyEvpHtdBwz7NMJgp9cBSF8mwvlPPfTX5qi9TdcFOd1NHSZWrLluJuQRYdAfNllSodtSfj7N2F9H5l8RQLioNnNgg8GMO96RkDPPM1Ce10ygxMXBVSagbGxPXX5oHw8haV+0E3LkknDnyWyHucOpkaELEL2LNj8vImgYxa6hbxAkTPZfhJbjaH0cH4/Bif3gcthKtox20iz6hCH1Gx+gUnaMJIuge/UZ/0F+v7x16R97Xx1Cv1+Zso455p/8BTGfLdg==</latexit>
zb
Ob
<latexit sha1_base64="FgzaaXJuEotogvSB50u/R0YZ5Aw=">AAACiXicbVHBTtwwEPWmtKWhLdAee4nYReppFa9UFXECwaGXqlRiAWkTVo4z2bU2dizb2QKW/6NX+Cv+Bmc3hwY6kuWnN29mnj2ZLJk2cfzYC15tvH7zdvNduPX+w8ftnd1PF7qqFYUxrcpKXWVEQ8kEjA0zJVxJBYRnJVxmi5Mmf7kEpVklzs2thJSTmWAFo8R46nowCBMzB0OmOBwMpjv9eBivInoJcAv6qI2z6W4PkryiNQdhaEm0nuBYmtQSZRgtwYVJrUESuiAzmHgoCAed2pVtF+17Jo+KSvkjTLRi/62whGt9yzOv5MTM9fNcQ/43l+umYWe6bVRKF7rL1nKmABZdo/mSSd1avVl77T7EFAepZULWBgR1URQmAv7QinMicpsswbgJTm0CQtcKmsHWJs2VFVEfO+e7nYL/LgU/PXlcyjnJwKwl8o46++scO7tC3FnmH+IXg5+v4SW4GA3xt2H8e9Q/GrUr2kRf0B76ijD6jo7QD3SGxogihf6ie/QQbAU4OAgO19Kg19Z8Rp0ITp4A8GbJlA==</latexit>
✓1
yb
xb
Procédure à suivre pour déterminer le modèle géométrique direct:

1. Définir les repères associés à chacun des n + 1 segments
<latexit sha1_base64="U48xY56uHgHp/8gDVBhYuD+cGoc=">AAACl3icbVFba9swFFa8Szvvlm5P217MksFgEKzAaN/asTL6MtZC0xZiE2T5OBWxZCHJWTsh2K/p6/Z39m8mO36Y2x046OM737npZLJk2sTxn0Fw7/6Dh1vbj8LHT54+ez7ceXGmq1pRmNGqrNRFRjSUTMDMMFPChVRAeFbCebb63MTP16A0q8SpuZaQcrIUrGCUGE8thq/H4zAxcGXaUlZB7qz4gF04Hi+Go3gStxbdBbgDI9TZ8WJnAEle0ZqDMLQkWs9xLE1qiTKMluDCpNYgCV2RJcw9FISDTm3b2UXvPJNHRaW8CxO17L8ZlnCtr3nmlZyYS3071pD/jeW6KdjrbhuV0oXus7VcKoBVf9B8zaTuRr3azNpfxBR7qWVC1gYEdVEUJgK+04pzInKbrMG4OU5tAkLXCprG1ibNkxXRCDvnqx2C/y4FXz35qZSXJAOzkcgf1Nlvp9jZFnFnmV/EHwbfPsNdcDad4I+T+GQ6Oph2J9pGb9Bb9B5htIsO0BE6RjNE0U90g36h38GrYD/4EhxtpMGgy3mJehac/AV67c9w</latexit>
Mais ...
Comment définir les repères pour des manipulateurs complexes,
avec un grand nombre d’articulations ?
• Il faut trouver une procédure systématique et générale
Solution : Convention de Denavit-Hartenberg (DH)

12
Convention de Denavit-Hartenberg
Objectif: 1) déterminer les repères associés à deux segments consecutifs,
2) calculer la transformation de coordonnées entre les deux repères
articul. i 1 articul. i
<latexit sha1_base64="6QQrUlB4wstF7qf+P7jo1lUSa3c=">AAACmHicbVHLbtQwFPWEVwmPTsuObiJmkNgwSkZCsBxUJMoCUVCnrTSJRo5zM7XGdizbGVosL/iabuFz+BucTBak5UqWj84992GfXDKqTRz/GQR37t67/2DnYfjo8ZOnu8O9/VNd1YrAnFSsUuc51sCogLmhhsG5VIB5zuAsXx82+bMNKE0rcWKuJGQcrwQtKcHGU8vhwXgcpgYuTdvK5qwGZ+nrxIXj8XI4iidxG9FtkHRghLo4Xu4NIC0qUnMQhjCs9SKJpcksVoYSBi5Maw0SkzVewcJDgTnozLajXfTSM0VUVsofYaKW/bfCYq71Fc+9kmNzoW/mGvK/uUI3DXvTbaNSutR9tpYrBbDuL1psqNTdqpfbXfsPMeW7zFIhawOCuCgKUwHfScU5FoVNN2DcIslsCkLXCprB1qbNlZfRKHHOd/sA/rsUfPbkeyYvcA5mK5E/iLNfThJnW8S9N/4h3pjkpg23wel0kryZxF+no9m0s2gHHaAX6BVK0Fs0Q0foGM0RQT/RNfqFfgfPg1nwMfi0lQaDruYZ6kXw7S+Irc/k</latexit>
articul. i+1
<latexit sha1_base64="Q1hCez3qYmfstD0Fg8YIOmIEPbM=">AAAClnicbVFdb9MwFHXD1whfHbyAeIlokXiqkkqIPU1DA8ELokjrNqmJKse56azajmU7ZZtl7dfsFX4P/wYnzQPZuJLlo3PP/bBPLhnVJo7/DII7d+/df7DzMHz0+MnTZ8Pd58e6qhWBOalYpU5zrIFRAXNDDYNTqQDznMFJvj5s8icbUJpW4shcSMg4XglaUoKNp5bDV+NxmBo4N20rm7ManKUuHI+Xw1E8iduIboOkAyPUxWy5O4C0qEjNQRjCsNaLJJYms1gZShi4MK01SEzWeAULDwXmoDPbDnbRW88UUVkpf4SJWvbfCou51hc890qOzZm+mWvI/+YK3TTsTbeNSulS99larhTAur9osaFSd6ueb3ftP8SUe5mlQtYGBHFRFKYCfpKKcywKm27AuEWS2RSErhU0g61Nmysvo1HinO/2Cfx3KfjmyY9MnuEczFYiL4mz348SZ1vEvTP+Id6Y5KYNt8HxdJK8n8Q/pqODaWfRDnqN3qB3KEEf0AH6imZojgi6QtfoF/odvAz2g8/Bl600GHQ1L1AvgtlfZm3Pcg==</latexit>
<latexit sha1_base64="NKaqaxEfuw4BhRW080ZrXfPTcHo=">AAACmHicbVFdb9MwFHXD1wgf68Ybe4lokZCQqqQSgseiITEeEAOt26QmqhznprNqO5btlA3LD/yavcLP4d/gpHkgG1eyfHTuuR/2ySWj2sTxn0Fw5+69+w92HoaPHj95ujvc2z/VVa0IzEnFKnWeYw2MCpgbahicSwWY5wzO8vVhkz/bgNK0EifmSkLG8UrQkhJsPLUcHozHYWrg0rStbM5qcJa+Tlw4Hi+Ho3gStxHdBkkHRqiL4+XeANKiIjUHYQjDWi+SWJrMYmUoYeDCtNYgMVnjFSw8FJiDzmw72kUvPVNEZaX8ESZq2X8rLOZaX/HcKzk2F/pmriH/myt007A33TYqpUvdZ2u5UgDr/qLFhkrdrXq53bX/EFO+yywVsjYgiIuiMBXwnVScY1HYdAPGLZLMpiB0raAZbG3aXHkZjRLnfLcP4L9LwWdPvmfyAudgthL5gzj75SRxtkXce+Mf4o1JbtpwG5xOJ8mbSfx1OppNO4t20AF6gV6hBL1FM3SEjtEcEfQTXaNf6HfwPJgFH4NPW2kw6GqeoV4E3/4ChHPP4g==</latexit>
segm. i 1 segm. i
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<latexit sha1_base64="zFA/DNHlAP/7drIoJP+UIsWAfbA=">AAACgnicbVFNb9QwEPWmn4RStuXIJWIXCXFYxVuhcuDQqhy4VBSp2620iSrHmWytjR3LdhZayz+iV/hl/Js6uzmQlpEsP715M/PsyWTJtInjv71gY3Nre2f3Rfhy79X+6/7B4ZWuakVhQquyUtcZ0VAyARPDTAnXUgHhWQnTbHHW5KdLUJpV4tLcSUg5mQtWMEqMp6bDYcjC4fCmP4hH8Sqi5wC3YIDauLg56EGSV7TmIAwtidYzHEuTWqIMoyW4MKk1SEIXZA4zDwXhoFO78uui957Jo6JS/ggTrdh/KyzhWt/xzCs5Mbf6aa4h/5vLddOwM902KqUL3WVrOVcAi67RfMmkbq3+WnvtPsQUn1PLhKwNCOqiKEwE/KQV50TkNlmCcTOc2gSErhU0g61NmisrogF2znf7Cv67FJx78rSUtyQDs5bIe+rs90vs7ApxZ5l/iF8MfrqG5+BqPMKfRvGP8eBk3K5oF71F79AHhNExOkHf0AWaIIoW6AH9Rn+CzeBjgIOjtTTotTVvUCeCL49jkMa1</latexit>
↵i
<latexit sha1_base64="UJZtk/zL8Yiuo8mMOcWS3/vv2eA=">AAACiXicbVFNT9swGHazsbEwBh1HLtHaSTtVMdI0xAnUHbggmEQBqckqx3lTrMaOZTsdzPL/4Lr9K/4NTpvDAnsly4+e93m/M1kybeL4sRe8er3x5u3mu3Dr/faHnd3+xytd1YrChFZlpW4yoqFkAiaGmRJupALCsxKus8W48V8vQWlWiUtzLyHlZC5YwSgxnvo5HIYJKeUtmbFwOJztDuJRvLLoJcAtGKDWLmb9HiR5RWsOwtCSaD3FsTSpJcowWoILk1qDJHRB5jD1UBAOOrWrtl302TN5VFTKP2GiFftvhCVc63ueeSUn5lY/9zXkf325bhJ2qttGpXShu2wt5wpg0W00XzKp21bv1r12BzHFYWqZkLUBQV0UhYmAX7TinIjcJkswbopTm4DQtYKmsLVJ82VFNMDO+Wzfwa9LwZknT5r1Z2DWEvmbOnt+iZ1dIe4s84P4w+DnZ3gJrg5G+Oso/nEwOB61J9pE++gT+oIw+oaO0Sm6QBNEkUIP6A/6G2wFODgMjtbSoNfG7KGOBeMnQyPJuA==</latexit>
ai
<latexit sha1_base64="NliBF4XCGLJ4nqzzADtn208k6IM=">AAAChHicbVFNT9wwEPUGCjQUysexl4jdSj1Uq4SC4IRAcOilKpVYoNpEK8eZLNbGjmU7y4flX8EVfhj/ps5uDg0wkuWnN29mnj2pKKjSYfjS8RYWPywtr3z0Vz+trX/e2Ny6VGUlCQxIWZTyOsUKCsphoKku4FpIwCwt4CqdnNb5qylIRUt+oe8FJAyPOc0pwdpRf3s9H4+o3+uNNrphP5xF8BZEDeiiJs5Hmx2Is5JUDLgmBVZqGIVCJwZLTUkB1o8rBQKTCR7D0EGOGajEzBzb4KtjsiAvpTtcBzP2/wqDmVL3LHVKhvWNep2ryXdzmaobtqabWiVVrtpsJcYSYNI2mk2pUI3Vu7nX9kN0fpgYykWlgRMbBH7M4ZaUjGGemXgK2g6jxMTAVSWhHmxMXF9pHnQja123M3DfJeGXI08KcYNT0HOJeCDW/L6IrJkhZg11D3GLiV6v4S243O1H+/3wz273eK9Z0Qr6gnbQNxShA3SMfqJzNEAEMfSIntCzt+R99354+3Op12lqtlErvKN/RVfHiw==</latexit>
✓i
<latexit sha1_base64="QU7fLzW2DMDaxZ/vKmLexINzjzo=">AAACiXicbVFNT9wwEPUG2tJAy0ePvUTdrcRpFSNQEScqOPRSlUosIG3SleNMdq2NHct2loLl/8GV/qv+mzq7OTTASJaf3ryZefZksmTaxPHfXrC2/ur1m4234ebWu/fbO7t7V7qqFYURrcpK3WREQ8kEjAwzJdxIBYRnJVxn87Mmf70ApVklLs2dhJSTqWAFo8R46tdgECZmBoZMWDgYTHb68TBeRvQc4Bb0URsXk90eJHlFaw7C0JJoPcaxNKklyjBagguTWoMkdE6mMPZQEA46tUvbLvrsmTwqKuWPMNGS/b/CEq71Hc+8khMz009zDfliLtdNw85026iULnSXreVUAcy7RvMFk7q1+nvltfsQUxynlglZGxDURVGYCLilFedE5DZZgHFjnNoEhK4VNIOtTZorK6I+ds53Owf/XQq+e/JrKWckA7OSyHvq7I9L7OwScWeZf4hfDH66hufg6mCIj4bxz4P+6WG7og30EX1C+wijL+gUfUMXaIQoUugBPaI/wWaAg+PgZCUNem3NB9SJ4OwfZvfJzg==</latexit>
di
<latexit sha1_base64="8MB0KjInzbWGeoCa90SqsrPoKhs=">AAAChHicbVFNT9wwEPUGCjQUysexl4jdSj1Uq4SC4IRAcOilKpVYoNpEK8eZLNbGjmU7y4flX8EVfhj/ps5uDg0wkuWnN29mnj2pKKjSYfjS8RYWPywtr3z0Vz+trX/e2Ny6VGUlCQxIWZTyOsUKCsphoKku4FpIwCwt4CqdnNb5qylIRUt+oe8FJAyPOc0pwdpRf3s9PxtRv9cbbXTDfjiL4C2IGtBFTZyPNjsQZyWpGHBNCqzUMAqFTgyWmpICrB9XCgQmEzyGoYMcM1CJmTm2wVfHZEFeSne4Dmbs/xUGM6XuWeqUDOsb9TpXk+/mMlU3bE03tUqqXLXZSowlwKRtNJtSoRqrd3Ov7Yfo/DAxlItKAyc2CPyYwy0pGcM8M/EUtB1GiYmBq0pCPdiYuL7SPOhG1rpuZ+C+S8IvR54U4ganoOcS8UCs+X0RWTNDzBrqHuIWE71ew1twuduP9vvhn93u8V6zohX0Be2gbyhCB+gY/UTnaIAIYugRPaFnb8n77v3w9udSr9PUbKNWeEf/AEuux44=</latexit>
ai
<latexit sha1_base64="eU+F9yE+sNK60whBzaydIHQSn/A=">AAACiHicbVHJbtswEKWVLqm6JemxF6F2gV5qiEaKtLcsPfRSNAXixIAlGBQ1sgmLFEtSzkLwO3ptP6t/U8rWoYo7AMGHN29mHjmZLJk2cfynF+w8ePjo8e6T8Omz5y9e7u0fXOqqVhTGtCorNcmIhpIJGBtmSphIBYRnJVxly7Mmf7UCpVklLsythJSTuWAFo8R4Kh0MQjKz7D124WAw2+vHw3gd0TbALeijNs5n+z1I8orWHIShJdF6imNpUkuUYbQEFya1Bknoksxh6qEgHHRq165d9NYzeVRUyh9hojX7b4UlXOtbnnklJ2ah7+ca8r+5XDcNO9Nto1K60F22lnMFsOwazVdM6tbqzcZr9yGm+JhaJmRtQFAXRWEi4JpWnBOR22QFxk1xahMQulbQDLY2aa6siPrYOd/tM/jvUvDVkyelXJAMzEYi76iz3y6ws2vEnWX+IX4x+P4atsHlaIg/DOPvo/7xYbuiXfQavUHvEEZH6Bh9QedojCj6gX6iX+h3EAZxcBR82kiDXlvzCnUiOP0Ls7zJCQ==</latexit>
axe i
<latexit sha1_base64="YFA6+v0JqP/aM9Ut/5jZMwv0nUA=">AAACmHicbVFNT9wwEPUG2tL0aym3conYrdTTKlmpguNWrVR6qLpFLCBtopXjTBZrY8eynS1g+dBfw5X+nP6bOtkcGmAky09vZt6M/VJRUKXD8G/P29p+8vTZznP/xctXr9/0d9+eqbKSBGakLEp5kWIFBeUw01QXcCEkYJYWcJ6uPtf58zVIRUt+qq8FJAwvOc0pwdpRi/7+cOjHGq50I2WmlRQFWEOtPxwu+oNwFDYRPARRCwaojelitwdxVpKKAdekwErNo1DoxGCpKXGyflwpEJis8BLmDnLMQCWmGW2D947JgryU7nAdNOz/HQYzpa5Z6ioZ1pfqfq4mH81lqhbsTDd1lVS56rKVWEqAVXfRbE2Fale92uzafYjOjxJDuag0cGKDwI85/CIlY5hnJl6DtvMoMTFwVUmoBxsT11eaB4PIWqf2Bdx3SfjuyE+FuMQp6E2JuCHW/DiNrGkQc864hzhjovs2PARn41H0cRT+HA8m49aiHbSPDtAHFKFDNEHHaIpmiKDf6BbdoT/eO2/iffW+bUq9XtuzhzrhnfwDePjQVg==</latexit>
Notation:
L’axe i dénote l’axe de l’articulation qui rélie le segment i 1 au segment i
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<latexit sha1_base64="adVbcSFkS9ZGS+DeKN1EEQuCOU8=">AAAChHicbVFNT9wwEPWGlkIoFOiRS9TdSj20q5gKlRMClUMvFVRi+dAmQo4zWayNHct2lg/Lv6LX8sP6b+rs5kCgI1l+evNm5tmTyZJpE8d/e8HSq9fLb1ZWw7W36xvvNre2z3VVKwojWpWVusyIhpIJGBlmSriUCgjPSrjIpt+b/MUMlGaVODP3ElJOJoIVjBLjqavBIGRfcDgYXG/242E8j+glwC3oozZOr7d6kOQVrTkIQ0ui9RjH0qSWKMNoCS5Mag2S0CmZwNhDQTjo1M4du+ijZ/KoqJQ/wkRz9mmFJVzre555JSfmRj/PNeR/c7luGnam20aldKG7bC0nCmDaNZrPmNSt1buF1+5DTLGfWiZkbUBQF0VhIuCWVpwTkdtkBsaNcWoTELpW0Ay2NmmurIj62Dnf7Rj8dyn46cmjUt6QDMxCIh+osydn2Nk54s4y/xC/GPx8DS/B+e4Q7w3jX7v9Q9yuaAXtoA/oE8LoGzpEP9ApGiGKOPqN/qDHYDn4HHwN9hbSoNfWvEedCA7+AXXpxyY=</latexit>
<latexit sha1_base64="YFA6+v0JqP/aM9Ut/5jZMwv0nUA=">AAACmHicbVFNT9wwEPUG2tL0aym3conYrdTTKlmpguNWrVR6qLpFLCBtopXjTBZrY8eynS1g+dBfw5X+nP6bOtkcGmAky09vZt6M/VJRUKXD8G/P29p+8vTZznP/xctXr9/0d9+eqbKSBGakLEp5kWIFBeUw01QXcCEkYJYWcJ6uPtf58zVIRUt+qq8FJAwvOc0pwdpRi/7+cOjHGq50I2WmlRQFWEOtPxwu+oNwFDYRPARRCwaojelitwdxVpKKAdekwErNo1DoxGCpKXGyflwpEJis8BLmDnLMQCWmGW2D947JgryU7nAdNOz/HQYzpa5Z6ioZ1pfqfq4mH81lqhbsTDd1lVS56rKVWEqAVXfRbE2Fale92uzafYjOjxJDuag0cGKDwI85/CIlY5hnJl6DtvMoMTFwVUmoBxsT11eaB4PIWqf2Bdx3SfjuyE+FuMQp6E2JuCHW/DiNrGkQc864hzhjovs2PARn41H0cRT+HA8m49aiHbSPDtAHFKFDNEHHaIpmiKDf6BbdoT/eO2/iffW+bUq9XtuzhzrhnfwDePjQVg==</latexit>
13
La convention de Denavit Hartenberg (DH) est adoptée pour définir le
repère du segment i :
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1. Choisir l’axe zi le long de l’axe de l’articulation i + 1

<latexit sha1_base64="oArYQoG5mX0Ddm0L/K1XM0YFVHA=">AAAChHicbVFNT9wwEPWmlNL0C8qxl4hdJCTQKt4KtaeKih64VIDEAtUmQo4zWayNHct2tqWWfwVX+sP4N3V2cyDASJaf3ryZefZksmTaxPF9L3ix8nL11drr8M3bd+8/rG98PNdVrSiMaVVW6jIjGkomYGyYKeFSKiA8K+Eimx02+Ys5KM0qcWZuJKScTAUrGCXGU78Gg5Dt4nAwuFrvx8N4EdFTgFvQR22cXG30IMkrWnMQhpZE6wmOpUktUYbRElyY1BokoTMyhYmHgnDQqV04dtG2Z/KoqJQ/wkQL9mGFJVzrG555JSfmWj/ONeSzuVw3DTvTbaNSutBdtpZTBTDrGs3nTOrW6p+l1+5DTPE1tUzI2oCgLorCRMBvWnFORG6TORg3walNQOhaQTPY2qS5siLqY+d8tx/gv0vBT09+L+U1ycAsJfIvdfb4DDu7QNxZ5h/iF4Mfr+EpOB8N8f4wPh31D0btitbQJ7SFdhBGX9ABOkInaIwo4ugW3aF/wWqwF3wO9pfSoNfWbKJOBN/+A3H+xyU=</latexit>
<latexit sha1_base64="v+MBL0kSFqojoCHgXC6jYbwzxtQ=">AAAChHicbVFNT9wwEPWmlI/QDyhHLhG7lXqoVslWCE6Iqhy4IEBigWoTrRxnslgbO5btbAuWfwVX+GH8G5zdHAgwkuWnN29mnj2pKKjSYfjU8T4sfVxeWV3z1z99/vJ1Y/PbpSorSWBIyqKU1ylWUFAOQ011AddCAmZpAVfp9E+dv5qBVLTkF/pWQMLwhNOcEqwd9bfX8+/G1O/1xhvdsB/OI3gLogZ0URNn480OxFlJKgZckwIrNYpCoRODpaakAOvHlQKByRRPYOQgxwxUYuaObfDdMVmQl9IdroM5+7LCYKbULUudkmF9o17navLdXKbqhq3pplZJlas2W4mJBJi2jWYzKlRj9f/Ca/shOt9PDOWi0sCJDQI/5vCPlIxhnpl4BtqOosTEwFUloR5sTFxfaR50I2tdtyNw3yXhxJG/C3GDU9ALibgj1pxeRNbMEbOGuoe4xUSv1/AWXA760W4/PB90DwfNilbRNtpBP1CE9tAhOkZnaIgIYugePaBHb9n76f3ydhdSr9PUbKFWeAfPeZLHog==</latexit>
2. Placer l’origine Oi à l'intersection de l'axe zi avec la normale commune*

<latexit sha1_base64="JRSyY8BREA3zyjbWrJjeKGC7e0I=">AAAChHicbVFNT9wwEPWG8tHwDcdeou4icUCrZBGCEwKVQy8VVGL50CZaOc5ksTZ2LNvZFiz/il7bH9Z/U2c3hwYYyfLTmzczz55UFFTpMPzb8ZY+LK+srn301zc2t7Z3dvfuVFlJAkNSFqV8SLGCgnIYaqoLeBASMEsLuE+nX+r8/QykoiW/1c8CEoYnnOaUYO2ox17Pvx5Tv9cb73TDfjiP4C2IGtBFTdyMdzsQZyWpGHBNCqzUKAqFTgyWmpICrB9XCgQmUzyBkYMcM1CJmTu2wYFjsiAvpTtcB3P2/wqDmVLPLHVKhvWTep2ryXdzmaobtqabWiVVrtpsJSYSYNo2ms2oUI3Vnwuv7Yfo/CwxlItKAyc2CPyYww9SMoZ5ZuIZaDuKEhMDV5WEerAxcX2ledCNrHXdrsB9l4RvjrwsxBNOQS8k4oVYc30bWTNHzBrqHuIWE71ew1twN+hHJ/3w+6B7MWhWtIY+oc/oEEXoFF2gr+gGDRFBDP1Cv9Efb8U78o69k4XU6zQ1+6gV3vk/HrPHdw==</latexit>
aux axes zi 1 et zi . Placer aussi Oi0 à l’intersection de la normale

<latexit sha1_base64="KcprNQyHSDglXUPxjo12kt5sXDY=">AAACh3icbVFNT9wwEPWG8hUKLPTYS9RdVE5LshIfR1B74FJBJRaQNtHKcSaLtbFj2c7yYflv9Nr+Lf5Nnd0cGuhIlp/evJl59qSioEqH4WvHW/mwura+selvfdze2e3u7d+qspIERqQsSnmfYgUF5TDSVBdwLyRglhZwl86+1fm7OUhFS36jnwUkDE85zSnB2lFxv+9fTQz9av1+f9LthYNwEcF7EDWgh5q4nux1IM5KUjHgmhRYqXEUCp0YLDUlBVg/rhQITGZ4CmMHOWagErMwbYMDx2RBXkp3uA4W7L8VBjOlnlnqlAzrB/U2V5P/zWWqbtiabmqVVLlqs5WYSoBZ22g2p0I1Vp+WXtsP0flZYigXlQZObBD4MYdHUjKGeWbiOWg7jhITA1eVhHqwMXF9pXnQi6x13b6D+y4JPxx5UYgHnIJeSsQLsebqJrJmgZg11D3ELSZ6u4b34HY4iI4H4c9h73zYrGgDfUZf0CGK0Ck6R5foGo0QQQL9Qr/RH2/TO/JOvLOl1Os0NZ9QK7yLv/EeyLQ=</latexit>
<latexit sha1_base64="OQwC2ZgRiZBPLUXdi59dQ3zGQpA=">AAACiHicbVFNT9wwEPUG2kJoy0ePvUTsVuqlq3glRLlR6KGXCiqxgLSJVo4zWayNHWM7S8Hy7+i1/Vn9N3V2c2iAkSw/vXkz8+zJZMm0ieO/vWBt/cXLVxub4dbrN2+3d3b3LnVVKwpjWpWVus6IhpIJGBtmSriWCgjPSrjK5qdN/moBSrNKXJh7CSknM8EKRonxVDoYhA9Tyz5hFw4G051+PIyXET0FuAV91Mb5dLcHSV7RmoMwtCRaT3AsTWqJMoyW4MKk1iAJnZMZTDwUhINO7dK1iz54Jo+KSvkjTLRk/6+whGt9zzOv5MTc6Me5hnw2l+umYWe6bVRKF7rL1nKmAOZdo/mCSd1a/bny2n2IKT6nlglZGxDURVGYCLijFedE5DZZgHETnNoEhK4VNIOtTZorK6I+ds53+wr+uxR89+SXUt6QDMxKIh+os2cX2Nkl4s4y/xC/GPx4DU/B5WiID4bxj1H/eNSuaAO9R/voI8LoEB2jb+gcjRFFt+gX+o3+BGEQB4fB0Uoa9Nqad6gTwck/6FvJIA==</latexit>
commune avec l’axe zi 1

3. Choisir l’axe xi le long de la normal commune aux axes zi 1 et zi

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avec sens de l’articulation i à l’articulation i + 1

<latexit sha1_base64="oArYQoG5mX0Ddm0L/K1XM0YFVHA=">AAAChHicbVFNT9wwEPWmlNL0C8qxl4hdJCTQKt4KtaeKih64VIDEAtUmQo4zWayNHct2tqWWfwVX+sP4N3V2cyDASJaf3ryZefZksmTaxPF9L3ix8nL11drr8M3bd+8/rG98PNdVrSiMaVVW6jIjGkomYGyYKeFSKiA8K+Eimx02+Ys5KM0qcWZuJKScTAUrGCXGU78Gg5Dt4nAwuFrvx8N4EdFTgFvQR22cXG30IMkrWnMQhpZE6wmOpUktUYbRElyY1BokoTMyhYmHgnDQqV04dtG2Z/KoqJQ/wkQL9mGFJVzrG555JSfmWj/ONeSzuVw3DTvTbaNSutBdtpZTBTDrGs3nTOrW6p+l1+5DTPE1tUzI2oCgLorCRMBvWnFORG6TORg3walNQOhaQTPY2qS5siLqY+d8tx/gv0vBT09+L+U1ycAsJfIvdfb4DDu7QNxZ5h/iF4Mfr+EpOB8N8f4wPh31D0btitbQJ7SFdhBGX9ABOkInaIwo4ugW3aF/wWqwF3wO9pfSoNfWbKJOBN/+A3H+xyU=</latexit>
4. Choisir l’axe yi pour completer le triplet d’un repère direct

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(on utilise la règle de la main droite)
droite 1 droite 2
*Remarque o
90o
90
La normale commune entre deux droites
est la droite qui contient le segment à distance
minimale entre les deux droites Normale
commune
14
Remarque [Cas particuliers]:

La convention de DH ne donne pas une définition unique de repère
d’un segment dans les cas suivants:
• Pour le repère 0: seulement la direction de l’axe z0 est specifiée.

<latexit sha1_base64="aQK/RdVflVWFECzxG8SuHLhoJUo=">AAAChHicbVHJbtswEKWVZqmavcdehNoBcggMyUGQnIIEyaGXoikQZ4ElGBQ1cgiLFEFSzkLwK3JtP6x/U8rWoUo6AMGHN29mHjmpKKjSYfin4y19WF5ZXfvof1rf2Nza3tm9UWUlCQxJWZTyLsUKCsphqKku4E5IwCwt4DadXtT52xlIRUt+rZ8FJAxPOM0pwdpR972e/zIO/V5vvN0N++E8gvcgakAXNXE13ulAnJWkYsA1KbBSoygUOjFYakoKsH5cKRCYTPEERg5yzEAlZu7YBnuOyYK8lO5wHczZfysMZko9s9QpGdYP6m2uJv+by1TdsDXd1CqpctVmKzGRANO20WxGhWqsPi28th+i85PEUC4qDZzYIPBjDo+kZAzzzMQz0HYUJSYGrioJ9WBj4vpK86AbWeu6XYL7LgnfHXleiAecgl5IxAux5sd1ZM0cMWuoe4hbTPR2De/BzaAfHfXDn4Pu2aBZ0Rr6gr6ifRShY3SGvqErNEQEMfSKfqHf3op34B16Rwup12lqPqNWeKd/AQGPx2k=</latexit>
Par consequent, O0 et x0 peuvent être choisis arbitrairement

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<latexit sha1_base64="/APMfecaer4j02raq66UpSu3Qqg=">AAAChHicbVHJbtswEKWVZqmavcdehNoBcggMyUGQnIIE6SGXoikQZ4ElGBQ1cgiLFEFSzkLwK3ptPqx/U8rWoUo6AMGHN29mHjmpKKjSYfin4y19WF5ZXfvof1rf2Nza3tm9UWUlCQxJWZTyLsUKCsphqKku4E5IwCwt4DadXtT52xlIRUt+rZ8FJAxPOM0pwdpR972e/zQO/V5vvN0N++E8gvcgakAXNXE13ulAnJWkYsA1KbBSoygUOjFYakoKsH5cKRCYTPEERg5yzEAlZu7YBnuOyYK8lO5wHczZfysMZko9s9QpGdYP6m2uJv+by1TdsDXd1CqpctVmKzGRANO20WxGhWqsPi28th+i85PEUC4qDZzYIPBjDo+kZAzzzMQz0HYUJSYGrioJ9WBj4vpK86AbWeu6fQP3XRK+O/K8EA84Bb2QiBdizY/ryJo5YtZQ9xC3mOjtGt6Dm0E/OuqHPwfds0GzojX0BX1F+yhCx+gMXaIrNEQEMfQL/Uav3op34B16Rwup12lqPqNWeKd/Af1Gx2c=</latexit>
• Pour le repère n : puisqu'il n'y a pas l’articulation n + 1 , zn n’est pas

<latexit sha1_base64="qTY65Bz+s5oGsE+ScOpIJ2izL5M=">AAAChnicbVFNa9wwENW6abt1+pG0x15EdwuFwmIFQnrc0B5yKUkhmwTWJsjyeCPWkoUkb5MK/Yxek9+VfxN514c66YDQ482bmSdNripubJLcD6JnW89fvBy+irdfv3n7bmf3/ZmpG81gxuqq1hc5NVBxCTPLbQUXSgMVeQXn+fJ7mz9fgTa8lqf2RkEm6ELykjNqAzUfj2OJv2ISj8eXO6NkkqwDPwWkAyPUxcnl7gDSomaNAGlZRY2Zk0TZzFFtOavAx2ljQFG2pAuYByipAJO5tWePPwemwGWtw5EWr9l/KxwVxtyIPCgFtVfmca4l/5srTNuwN921Km1K02cbtdAAy77RYsWV6axeb7z2H2LLb5njUjUWJPMYx6mE36wWgsrCpSuwfk4yl4I0jYZ2sHNpe+UlHhHvQ7cfEL5Lw89AHlbqiuZgNxL1h3l3fEq8WyPhHQ8PCYshj9fwFJztTcj+JPm1N5qSbkVD9BF9Ql8QQQdoio7QCZohhmr0F92iu2gYTaL96GAjjQZdzQfUi2j6AFBOx30=</latexit>
<latexit sha1_base64="qDtRXCh1qBShIufKQgjixLHfWwQ=">AAAChHicbVFNT9wwEPUGSiH0A8qRS8RupR6qVUyF2lNFRQ+9IEBigWoTrRxnslgbO5btbAuWf0Wv9Ifxb3B2cyDASJaf3ryZefZksmTaxPF9L1hZfbX2en0j3Hzz9t37re0PF7qqFYURrcpKXWVEQ8kEjAwzJVxJBYRnJVxms6MmfzkHpVklzs2NhJSTqWAFo8R46vdgEN5ORDgYTLb68TBeRPQc4Bb0URunk+0eJHlFaw7C0JJoPcaxNKklyjBagguTWoMkdEamMPZQEA46tQvHLvromTwqKuWPMNGCfVxhCdf6hmdeyYm51k9zDfliLtdNw85026iULnSXreVUAcy6RvM5k7q1+nfptfsQU3xLLROyNiCoi6IwEfCHVpwTkdtkDsaNcWoTELpW0Ay2NmmurIj62Dnf7Sf471Jw7MkfpbwmGZilRN5SZ0/OsbMLxJ1l/iF+MfjpGp6Di/0hPhjGZ/v9Q9yuaB3toj30CWH0FR2iX+gUjRBFHP1Dd+h/sBZ8Dr4EB0tp0GtrdlAngu8Pg8zHpg==</latexit>
défini de manière unique, tandis que xn doit être orthogonal à l’axe zn 1.

<latexit sha1_base64="dlMeAVl63LKA7jM3e2PwpCvUhKs=">AAACiHicbVFNb9QwEPWmtJRQ+sWRS8QuEhdW8UpV4davAxdEkbptpU20cpzJ1trYcW1naWv5d/QKP4t/g7ObA2kZyfLTmzczz55MlkybOP7TC9ZerG+83HwVvt56s72zu7d/qataURjTqqzUdUY0lEzA2DBTwrVUQHhWwlU2P23yVwtQmlXiwtxLSDmZCVYwSoyn0sEgfJha8Qm7cDCY7vbjYbyM6DnALeijNs6nez1I8orWHIShJdF6gmNpUkuUYbQEFya1BknonMxg4qEgHHRql65d9MEzeVRUyh9hoiX7b4UlXOt7nnklJ+ZGP8015H9zuW4adqbbRqV0obtsLWcKYN41mi+Y1K3Vu5XX7kNM8Tm1TMjagKAuisJEwE9acU5EbpMFGDfBqU1A6FpBM9japLmyIupj53y3M/DfpeCbJ49LeUMyMCuJfKDOfr/Azi4Rd5b5h/jF4KdreA4uR0N8MIx/jPpHuF3RJnqH3qOPCKNDdIS+onM0RhTdokf0C/0OwiAODoMvK2nQa2veok4EJ38B8qTJJA==</latexit>
<latexit sha1_base64="F+eKpMzAv7L23fbWi4Yzi6EMnGY=">AAAChnicbVHLbtswEKTVRxz1lTTHXITaBXoyxABBenTRHnopmgDxA7AEg6JWDmGRIkjKSUrwM3pNvqt/U8rWoYq7AMHB7OzukJvJkmkTx396wbPnL14e9A/DV6/fvH13dPx+qqtaUZjQqqzUPCMaSiZgYpgpYS4VEJ6VMMvWX5v8bANKs0pcm3sJKScrwQpGifHUYjgM75ZWuHA4XB4N4lG8jWgf4BYMUBuXy+MeJHlFaw7C0JJovcCxNKklyjBagguTWoMkdE1WsPBQEA46tVvPLvromTwqKuWPMNGW/bfCEq71Pc+8khNzo5/mGvK/uVw3DTvTbaNSutBdtpYrBbDuGs03TOrW6t3Oa/chpvicWiZkbUBQF0VhIuCWVpwTkdtkA8YtcGoTELpW0Ay2NmmurIgG2Dnf7Rv471Lww5NfSnlDMjA7ifxFnf15jZ3dIu4s8w/xi8FP17APpmcjfD6Kr84GY9yuqI9O0Qf0CWF0gcboO7pEE0RRhX6jB/QY9INRcB5c7KRBr605QZ0Ixn8B2KDIsA==</latexit>
Typiquement, l’articulation n est rotoïde et donc zn doit être aligné

<latexit sha1_base64="XeN82bN1Yv8/a6Ki7vs2kpbLN5s=">AAAChnicbVHLbtswEKTVRxz1lTTHXITaBXoyxABBenTRHnopmgDxA7AEg6JWDmGRIkjKaULwM3pNvqt/U8rWoYq7AMHB7OzukJvJkmkTx396wbPnL14e9A/DV6/fvH13dPx+qqtaUZjQqqzUPCMaSiZgYpgpYS4VEJ6VMMvWX5v8bANKs0pcmzsJKScrwQpGifHUYjgM75dWuHA4XB4N4lG8jWgf4BYMUBuXy+MeJHlFaw7C0JJovcCxNKklyjBagguTWoMkdE1WsPBQEA46tVvPLvromTwqKuWPMNGW/bfCEq71Hc+8khNzo5/mGvK/uVw3DTvTbaNSutBdtpYrBbDuGs03TOrW6q+d1+5DTPE5tUzI2oCgLorCRMAtrTgnIrfJBoxb4NQmIHStoBlsbdJcWRENsHO+2zfw36Xghye/lPKGZGB2EnlPnf15jZ3dIu4s8w/xi8FP17APpmcjfD6Kr84GY9yuqI9O0Qf0CWF0gcboO7pEE0RRhX6jB/QY9INRcB5c7KRBr605QZ0Ixn8B3N7Isg==</latexit>
avec la direction de zn 1
<latexit sha1_base64="dlMeAVl63LKA7jM3e2PwpCvUhKs=">AAACiHicbVFNb9QwEPWmtJRQ+sWRS8QuEhdW8UpV4davAxdEkbptpU20cpzJ1trYcW1naWv5d/QKP4t/g7ObA2kZyfLTmzczz55MlkybOP7TC9ZerG+83HwVvt56s72zu7d/qataURjTqqzUdUY0lEzA2DBTwrVUQHhWwlU2P23yVwtQmlXiwtxLSDmZCVYwSoyn0sEgfJha8Qm7cDCY7vbjYbyM6DnALeijNs6nez1I8orWHIShJdF6gmNpUkuUYbQEFya1BknonMxg4qEgHHRql65d9MEzeVRUyh9hoiX7b4UlXOt7nnklJ+ZGP8015H9zuW4adqbbRqV0obtsLWcKYN41mi+Y1K3Vu5XX7kNM8Tm1TMjagKAuisJEwE9acU5EbpMFGDfBqU1A6FpBM9japLmyIupj53y3M/DfpeCbJ49LeUMyMCuJfKDOfr/Azi4Rd5b5h/jF4KdreA4uR0N8MIx/jPpHuF3RJnqH3qOPCKNDdIS+onM0RhTdokf0C/0OwiAODoMvK2nQa2veok4EJ38B8qTJJA==</latexit>
• Si deux axes consécutifs sont parallèles (↵i = 0), la normale commune

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entre les deux n’est pas définie de manière unique. On place Oi tel
<latexit sha1_base64="/UL14zSnD7adQwXhBKwL1sjD/L4=">AAAChHicbVFNb9QwEPWGtpTQTzhyibpbqYdqFbeq6KkqggMX1CJ1+6FNtHKcya61sWPZzkKx/Cu4wg/j3+Ds5kBaRrL89ObNzLMnkyXTJo7/9IIXa+sbLzdfha+3tnd29/bf3OqqVhRGtCordZ8RDSUTMDLMlHAvFRCelXCXzT82+bsFKM0qcWMeJaScTAUrGCXGUw+DQXg1YeFgMNnrx8N4GdFzgFvQR21cT/Z7kOQVrTkIQ0ui9RjH0qSWKMNoCS5Mag2S0DmZwthDQTjo1C4du+jQM3lUVMofYaIl+2+FJVzrR555JSdmpp/mGvK/uVw3DTvTbaNSutBdtpZTBTDvGs0XTOrW6veV1+5DTHGeWiZkbUBQF0VhIuAbrTgnIrfJAowb49QmIHStoBlsbdJcWRH1sXO+2yfw36Xgiyc/lHJGMjArifxBnb26wc4uEXeW+Yf4xeCna3gObk+G+GwYfz3pX+J2RZvoHTpARwij9+gSfUbXaIQo4ugn+oV+BxvBcXAanK2kQa+teYs6EVz8BR5mx3Y=</latexit>
que di = 0
<latexit sha1_base64="WFEFbYsKlWnWqRBci4JPsDFcHYg=">AAACiHicbVFNb9QwEPWGAiV8tfTIxeouEqdVXAkVDkgFeuBStZW6baVNtHKcydba2DG2s1As/w6u8LP4N3V2c2jajmT56c2bmWdPripubJL8H0SPNh4/ebr5LH7+4uWr11vbb85N3WgGE1ZXtb7MqYGKS5hYbiu4VBqoyCu4yBff2vzFErThtTyz1woyQeeSl5xRG6hsNIqLGcefcRKPRrOtYTJOVoHvA9KBIeriZLY9gLSoWSNAWlZRY6YkUTZzVFvOKvBx2hhQlC3oHKYBSirAZG7l2uN3gSlwWetwpMUr9naFo8KYa5EHpaD2ytzNteSDucK0DXvTXavSpjR9tlFzDbDoGy2WXJnO6q+11/5DbPkxc1yqxoJkHuM4lfCT1UJQWbh0CdZPSeZSkKbR0A52Lm2vvMRD4n3odgjhuzQcBfJLpa5oDnYtUb+Zd8dnxLsVEt7x8JCwGHJ3DffB+d6YfBgnp3vDA9KtaBO9RbvoPSJoHx2g7+gETRBDP9Af9Bf9i+IoifajT2tpNOhqdlAvoq83VELIYA==</latexit>
• Si deux axes consécutifs se coupent ( ai = 0), le sens de xi est arbitraire.

<latexit sha1_base64="ONJNW85E1XOvL6d/EXmfW/Dlhvg=">AAACiHicbVFNb9QwEPWGAiV8tfTIxeouEqdVXAkVDkgFeuBStZW6baVNtHKcydba2DG2s1As/w6u8LP4N3V2c2jajmT56c2bmWdPripubJL8H0SPNh4/ebr5LH7+4uWr11vbb85N3WgGE1ZXtb7MqYGKS5hYbiu4VBqoyCu4yBff2vzFErThtTyz1woyQeeSl5xRG6hsNIrpjOPPOIlHo9nWMBknq8D3AenAEHVxMtseQFrUrBEgLauoMVOSKJs5qi1nFfg4bQwoyhZ0DtMAJRVgMrdy7fG7wBS4rHU40uIVe7vCUWHMtciDUlB7Ze7mWvLBXGHahr3prlVpU5o+26i5Blj0jRZLrkxn9dfaa/8htvyYOS5VY0Eyj3GcSvjJaiGoLFy6BOunJHMpSNNoaAc7l7ZXXuIh8T50O4TwXRqOAvmlUlc0B7uWqN/Mu+Mz4t0KCe94eEhYDLm7hvvgfG9MPoyT073hAelWtIneol30HhG0jw7Qd3SCJoihH+gP+ov+RXGURPvRp7U0GnQ1O6gX0dcbTd/IXQ==</latexit>
<latexit sha1_base64="qQ3mkjPduVLh1Bn7YyHHI5vFg/g=">AAAChHicbVHJbtswEKWVZqmavcdehNoBcggMyUGQnIIE6SGXoikQZ4ElGBQ1cgiLFEFSzkLwK3ptPqx/U8rWoUo6AMGHN29mHjmpKKjSYfin4y19WF5ZXfvof1rf2Nza3tm9UWUlCQxJWZTyLsUKCsphqKku4E5IwCwt4DadXtT52xlIRUt+rZ8FJAxPOM0pwdpR972e/zSmfq833u6G/XAewXsQNaCLmrga73QgzkpSMeCaFFipURQKnRgsNSUFWD+uFAhMpngCIwc5ZqASM3dsgz3HZEFeSne4DubsvxUGM6WeWeqUDOsH9TZXk//NZapu2JpuapVUuWqzlZhIgGnbaDajQjVWnxZe2w/R+UliKBeVBk5sEPgxh0dSMoZ5ZuIZaDuKEhMDV5WEerAxcX2ledCNrHXdvoH7LgnfHXleiAecgl5IxAux5sd1ZM0cMWuoe4hbTPR2De/BzaAfHfXDn4Pu2aBZ0Rr6gr6ifRShY3SGLtEVGiKCGPqFfqNXb8U78A69o4XU6zQ1n1ErvNO/dVjHoA==</latexit>
On place Oi à l’intersection des axes zi 1 et zi

• Si l’articulation i est prismatique, la direction de zi 1 est arbitraire

15
Paramètres de Denavit-Hartenberg
Une fois que les repères des segments ont été fixés, la position et l’orientation
du repère i par rapport au repère i 1 est complètement spécifiée par les
quatre paramètres suivants:
• ai : distance entre Oi et Oi0

<latexit sha1_base64="no6rXPdDV4FsxGoD1kn3ubPry4Y=">AAACh3icbVFBb9MwFHYDgzUDtsGRS0Q7sVOJJw123DQOXFCL1G6TmqhynJfOauxYtlMYlv/GrvC3+Dc4bQ5k40mWP33ve+999stkybSJ4z+94MnTnWfPd/vh3ouXr/YPDl9f6apWFGa0Kit1kxENJRMwM8yUcCMVEJ6VcJ2tLpv89RqUZpWYmjsJKSdLwQpGifFUMhyG44Vl7104HC4OBvEo3kT0GOAWDFAbk8VhD5K8ojUHYWhJtJ7jWJrUEmUYLcGFSa1BEroiS5h7KAgHndqNaRcdeSaPikr5I0y0Yf+tsIRrfcczr+TE3OqHuYb8by7XTcPOdNuolC50l63lUgGsukbzNZO6tfpj67X7EFOcpZYJWRsQ1EVRmAj4TivOichtsgbj5ji1CQhdK2gGW5s0V1ZEA+yc7/YZ/Hcp+OrJi1LekgzMViJ/UmfHU+zsBnFnmX+IXwx+uIbH4OpkhE9H8beTwTluV7SL3qJ36Bhh9Amdoy9ogmaIIonu0S/0O+gHH4KPwdlWGvTamjeoE8HFX/DRyLM=</latexit>
<latexit sha1_base64="7AgWSwOCApklfaUhGCPIcxrxp+4=">AAACmHicbVHLbtQwFPWER0t4TWFHNxEzSKxGSStUloNAoiyqFtRpK02ikePcTK2xHct2hhbLC76Gbfkc/gYnkwVpudKVj8499+WbS0a1ieM/g+De/QcPt7YfhY+fPH32fLjz4kxXtSIwIxWr1EWONTAqYGaoYXAhFWCeMzjPVx+b+PkalKaVODXXEjKOl4KWlGDjqcVwdzwOUwNXpi1lc1aDs3hBXTgeL4ajeBK3Ft0FSQdGqLOTxc4A0qIiNQdhCMNaz5NYmsxiZShh4MK01iAxWeElzD0UmIPObNvaRW88U0RlpbwLE7XsvxkWc62vee6VHJtLfTvWkP+NFbop2OtuG5XSpe6ztVwqgFV/0GJNpe5GvdrM2l/ElO8zS4WsDQjioihMBXwnFedYFDZdg3HzJLMpCF0raBpbmzZPXkajxDlf7RP471Jw5MkPTF7iHMxGIn8QZ49PE2dbxJ2lfhF/mOT2Ge6Cs71J8m4Sf90bTfe7E22jXfQavUUJOkBTdIhO0AwR9BP9Qjfod/AqmAafgy8baTDocl6ingXf/gJX49BH</latexit>
di : coordonnée de Oi0 le long de l’axe zi 1

<latexit sha1_base64="qNSSJ4W/ljwJ/kCJWId7p7r/Rtk=">AAACmHicbVHLbtQwFPWER0t4TWFHNxEzSKxGSStUloNAoiyqFtRpK02ikePcTK2xHct2hhbLC76Gbfkc/gYnkwVpudKVj8499+WbS0a1ieM/g+De/QcPt7YfhY+fPH32fLjz4kxXtSIwIxWr1EWONTAqYGaoYXAhFWCeMzjPVx+b+PkalKaVODXXEjKOl4KWlGDjqcVwdzwOUwNXpi1lc1aDs8WCunA8XgxH8SRuLboLkg6MUGcni50BpEVFag7CEIa1niexNJnFylDCwIVprUFissJLmHsoMAed2ba1i954pojKSnkXJmrZfzMs5lpf89wrOTaX+nasIf8bK3RTsNfdNiqlS91na7lUAKv+oMWaSt2NerWZtb+IKd9nlgpZGxDERVGYCvhOKs6xKGy6BuPmSWZTELpW0DS2Nm2evIxGiXO+2ifw36XgyJMfmLzEOZiNRP4gzh6fJs62iDtL/SL+MMntM9wFZ3uT5N0k/ro3mu53J9pGu+g1eosSdICm6BCdoBki6Cf6hW7Q7+BVMA0+B1820mDQ5bxEPQu+/QVePdBK</latexit>
<latexit sha1_base64="no6rXPdDV4FsxGoD1kn3ubPry4Y=">AAACh3icbVFBb9MwFHYDgzUDtsGRS0Q7sVOJJw123DQOXFCL1G6TmqhynJfOauxYtlMYlv/GrvC3+Dc4bQ5k40mWP33ve+999stkybSJ4z+94MnTnWfPd/vh3ouXr/YPDl9f6apWFGa0Kit1kxENJRMwM8yUcCMVEJ6VcJ2tLpv89RqUZpWYmjsJKSdLwQpGifFUMhyG44Vl7104HC4OBvEo3kT0GOAWDFAbk8VhD5K8ojUHYWhJtJ7jWJrUEmUYLcGFSa1BEroiS5h7KAgHndqNaRcdeSaPikr5I0y0Yf+tsIRrfcczr+TE3OqHuYb8by7XTcPOdNuolC50l63lUgGsukbzNZO6tfpj67X7EFOcpZYJWRsQ1EVRmAj4TivOichtsgbj5ji1CQhdK2gGW5s0V1ZEA+yc7/YZ/Hcp+OrJi1LekgzMViJ/UmfHU+zsBnFnmX+IXwx+uIbH4OpkhE9H8beTwTluV7SL3qJ36Bhh9Amdoy9ogmaIIonu0S/0O+gHH4KPwdlWGvTamjeoE8HFX/DRyLM=</latexit>
•
• ↵i : angle entre les axes zi 1 et zi autour de l’axe xi . ↵i > 0 si la rotation

<latexit sha1_base64="rWXpVyBX5YGl0xXzojnUlkNO4Oc=">AAACj3icbVFNb9MwGHbD1whf7ThysWiROFXxpGmcpk7jAAfEkNZtUhNVjvOmsxo7lu2UDct/hSv8Jf4NTpsD2Xgly4+e9+uxn1xV3Ngk+TOIHjx89PjJ3tP42fMXL18NR/sXpm40gzmrq1pf5dRAxSXMLbcVXCkNVOQVXObr0zZ/uQFteC3P7a2CTNCV5CVn1AZqOdyfTOKUVuqaLjk+xkk8mSyH42SabAPfB6QDY9TF2XI0gLSoWSNAWlZRYxYkUTZzVFvOKvBx2hhQlK3pChYBSirAZG4r3uN3gSlwWetwpMVb9t8OR4UxtyIPlYLaa3M315L/zRWmHdjb7toqbUrTZxu10gDrvtBiw5XppN7stPYfYssPmeNSNRYk8xjHqYTvrBaCysKlG7B+QTKXgjSNhnaxc2l75SUeE+/DtI8QvkvDl0CetBbkYHcl6gfz7us58W6LhHc8PCQYQ+7acB9cHEzJ4TT5djCekc6iPfQGvUXvEUFHaIY+oTM0RwzdoJ/oF/odjaKj6Dia7UqjQdfzGvUi+vwX4cDKwg==</latexit>
<latexit sha1_base64="q7cNBt0x6qnAR63hoN6eQU7YnM0=">AAACnXicbVHLjtMwFHXDq4RXB5YsiKZFYlUlgxAsiwCJBY9Bmk5HaqLKcW5aq7Zj2U6ZwfKWr2EL/8Lf4KRZkJm5kuWjc89955JRbeL47yC4cfPW7TvDu+G9+w8ePhodPD7VVa0IzEnFKnWWYw2MCpgbahicSQWY5wwW+fZd41/sQGlaiRNzISHjeC1oSQk2nlqNoskkTA2cmzaVzVkNzqaYyQ1eURdOJqvROJ7GrUVXQdKBMerseHUwgLSoSM1BGMKw1sskliazWBlKGLgwrTVITLZ4DUsPBeagM9vWd9FzzxRRWSn/hIla9v8Ii7nWFzz3So7NRl/2NeS1vkI3CXvVbaNSutR9tpZrBbDtN1rsqNRdq+f7XvuDmPJNZqmQtQFBXBSFqYDvpOIci8KmOzBumWQ2BaFrBU1ha9Pmy8tonDjns70Hvy4Fnz35ttl/DmYvkT+Is19PEmdbxJ2lfhB/mOTyGa6C06Np8moafzsaz152Jxqip+gQvUAJeo1m6CM6RnNE0E/0C/1Gf4JnwYfgU/BlLw0GXcwT1LNg8Q9/lNJ6</latexit>
<latexit sha1_base64="OQwC2ZgRiZBPLUXdi59dQ3zGQpA=">AAACiHicbVFNT9wwEPUG2kJoy0ePvUTsVuqlq3glRLlR6KGXCiqxgLSJVo4zWayNHWM7S8Hy7+i1/Vn9N3V2c2iAkSw/vXkz8+zJZMm0ieO/vWBt/cXLVxub4dbrN2+3d3b3LnVVKwpjWpWVus6IhpIJGBtmSriWCgjPSrjK5qdN/moBSrNKXJh7CSknM8EKRonxVDoYhA9Tyz5hFw4G051+PIyXET0FuAV91Mb5dLcHSV7RmoMwtCRaT3AsTWqJMoyW4MKk1iAJnZMZTDwUhINO7dK1iz54Jo+KSvkjTLRk/6+whGt9zzOv5MTc6Me5hnw2l+umYWe6bVRKF7rL1nKmAOZdo/mCSd1a/bny2n2IKT6nlglZGxDURVGYCLijFedE5DZZgHETnNoEhK4VNIOtTZorK6I+ds53+wr+uxR89+SXUt6QDMxKIh+os2cX2Nkl4s4y/xC/GPx4DU/B5WiID4bxj1H/eNSuaAO9R/voI8LoEB2jb+gcjRFFt+gX+o3+BGEQB4fB0Uoa9Nqad6gTwck/6FvJIA==</latexit> <latexit sha1_base64="v+MBL0kSFqojoCHgXC6jYbwzxtQ=">AAAChHicbVFNT9wwEPWmlI/QDyhHLhG7lXqoVslWCE6Iqhy4IEBigWoTrRxnslgbO5btbAuWfwVX+GH8G5zdHAgwkuWnN29mnj2pKKjSYfjU8T4sfVxeWV3z1z99/vJ1Y/PbpSorSWBIyqKU1ylWUFAOQ011AddCAmZpAVfp9E+dv5qBVLTkF/pWQMLwhNOcEqwd9bfX8+/G1O/1xhvdsB/OI3gLogZ0URNn480OxFlJKgZckwIrNYpCoRODpaakAOvHlQKByRRPYOQgxwxUYuaObfDdMVmQl9IdroM5+7LCYKbULUudkmF9o17navLdXKbqhq3pplZJlas2W4mJBJi2jWYzKlRj9f/Ca/shOt9PDOWi0sCJDQI/5vCPlIxhnpl4BtqOosTEwFUloR5sTFxfaR50I2tdtyNw3yXhxJG/C3GDU9ALibgj1pxeRNbMEbOGuoe4xUSv1/AWXA760W4/PB90DwfNilbRNtpBP1CE9tAhOkZnaIgIYugePaBHb9n76f3ydhdSr9PUbKFWeAfPeZLHog==</latexit>
<latexit sha1_base64="qQ3mkjPduVLh1Bn7YyHHI5vFg/g=">AAAChHicbVHJbtswEKWVZqmavcdehNoBcggMyUGQnIIE6SGXoikQZ4ElGBQ1cgiLFEFSzkLwK3ptPqx/U8rWoUo6AMGHN29mHjmpKKjSYfin4y19WF5ZXfvof1rf2Nza3tm9UWUlCQxJWZTyLsUKCsphqKku4E5IwCwt4DadXtT52xlIRUt+rZ8FJAxPOM0pwdpR972e/zSmfq833u6G/XAewXsQNaCLmrga73QgzkpSMeCaFFipURQKnRgsNSUFWD+uFAhMpngCIwc5ZqASM3dsgz3HZEFeSne4DubsvxUGM6WeWeqUDOsH9TZXk//NZapu2JpuapVUuWqzlZhIgGnbaDajQjVWnxZe2w/R+UliKBeVBk5sEPgxh0dSMoZ5ZuIZaDuKEhMDV5WEerAxcX2ledCNrHXdvoH7LgnfHXleiAecgl5IxAux5sd1ZM0cMWuoe4hbTPR2De/BzaAfHfXDn4Pu2aBZ0Rr6gr6ifRShY3SGLtEVGiKCGPqFfqNXb8U78A69o4XU6zQ1n1ErvNO/dVjHoA==</latexit>
est faite dans le sens antihoraire (↵i = 0 si les axes sont parallèles)
<latexit sha1_base64="9bFxDlXOamEB/2TZxePUQeLDDGA=">AAACj3icbVFNb9MwGHbD1whf7ThysWiROFXxpGlcmIrgAAfEkNZtUhNVjvOmsxo7lu10G5b/Clf4S/wbnDYHsvFKlh8979djP7mquLFJ8mcQ3bv/4OGjvcfxk6fPnr8YjvbPTN1oBnNWV7W+yKmBikuYW24ruFAaqMgrOM/XH9v8+Qa04bU8tTcKMkFXkpecURuo5XB/MolTWqlLuuT4PU7iyWQ5HCfTZBv4LiAdGKMuTpajAaRFzRoB0rKKGrMgibKZo9pyVoGP08aAomxNV7AIUFIBJnNb8R6/CUyBy1qHIy3esv92OCqMuRF5qBTUXprbuZb8b64w7cDedtdWaVOaPtuolQZY94UWG65MJ/V6p7X/EFu+yxyXqrEgmcc4TiVcsVoIKguXbsD6BclcCtI0GtrFzqXtlZd4TLwP0z5B+C4NXwP5obUgB7srUT+Yd99OiXdbJLzj4SHBGHLbhrvg7GBKDqfJ94PxjHQW7aFX6DV6iwg6QjP0GZ2gOWLoGv1Ev9DvaBQdRcfRbFcaDbqel6gX0Ze/36PKwQ==</latexit>
✓i : angle entre les axes xi

1 et xi autour de l’axe zi 1. ✓i > 0 si la rotation
<latexit sha1_base64="9M//O7Mkr3FlkThjtSiXFkb77t4=">AAACnXicbVHLbtQwFPWER0t4TWHJgogZJFajpKhql0WA1AWPInU6lSbRyHFuZqyxHct2hhbLW76mW/gX/gYnkwVpudKVj8499+WbS0a1ieM/g+DO3Xv3d3YfhA8fPX7ydLj37FxXtSIwJRWr1EWONTAqYGqoYXAhFWCeM5jl6/dNfLYBpWklzsyVhIzjpaAlJdh4ajGMxuMwNXBp2lI2ZzU4m5oVGLygLhyPF8NRPIlbi26DpAMj1NnpYm8AaVGRmoMwhGGt50ksTWaxMpQwcGFaa5CYrPES5h4KzEFntu3voteeKaKyUt6FiVr23wyLudZXPPdKjs1K34w15H9jhW4K9rrbRqV0qftsLZcKYN0ftNhQqbtRL7ez9hcx5VFmqZC1AUFcFIWpgO+k4hyLwqYbMG6eZDYFoWsFTWNr0+bJy2iUOOerfQD/XQo+e/Idkyucg9lK5A/i7NezxNkWcWepX8QfJrl5htvgfH+SHEzib/uj47fdiXbRC/QKvUEJOkTH6ASdoiki6Ce6Rr/Q7+Bl8DH4FHzZSoNBl/Mc9SyY/QWhqtKK</latexit>
•
<latexit sha1_base64="/rEyj2iLA36N+IoLjBT2H6pZGHs=">AAACj3icbVFNbxMxEHWWr7J8JeXIxSJB4hStK1XlVAXBAQ6IIjVtpewq8npnEytrr2V7Q4vlv8IV/hL/Bm+yB7ZlJMtPb97MPHtyVXFjk+TPILp3/8HDRweP4ydPnz1/MRwdXpi60QzmrK5qfZVTAxWXMLfcVnClNFCRV3CZbz60+cstaMNreW5vFGSCriQvOaM2UMvh4WQSp3YNli45PsVJPJksh+NkmuwC3wWkA2PUxdlyNIC0qFkjQFpWUWMWJFE2c1RbzirwcdoYUJRt6AoWAUoqwGRuZ97jN4EpcFnrcKTFO/bfCkeFMTciD0pB7drczrXkf3OFaRv2prtWpU1p+myjVhpg0zdabLkyndXrvdf+Q2z5LnNcqsaCZB7jOJXwndVCUFm4dAvWL0jmUpCm0dAOdi5tr7zEY+J96PYRwndp+BLI95Va0xzsXqJ+MO++nhPvdkh4x8NDwmLI7TXcBRdHU3I8Tb4djWekW9EBeoVeo7eIoBM0Q5/QGZojhq7RT/QL/Y5G0Ul0Gs320mjQ1bxEvYg+/wUEFcrS</latexit>
<latexit sha1_base64="S85/chENwetC3ODZgL4BHu8c1T4=">AAAChHicbVFNbxMxEHW20Jblqy1HLisSJA4oWgdF5YSK4NALokhNWpRdRV7vbGpl7bVsb2ix/Cu40h/Wf1Nvsge2YSTLT2/ezDx7MlkybeL4rhfsPHq8u7f/JHz67PmLlweHR1Nd1YrChFZlpS4zoqFkAiaGmRIupQLCsxIusuWXJn+xAqVZJc7NjYSUk4VgBaPEeOrnYBBez1k4GMwP+vEwXke0DXAL+qiNs/lhD5K8ojUHYWhJtJ7hWJrUEmUYLcGFSa1BErokC5h5KAgHndq1Yxe99UweFZXyR5hozf5bYQnX+oZnXsmJudIPcw3531yum4ad6bZRKV3oLlvLhQJYdo3mKyZ1a/V647X7EFN8TC0TsjYgqIuiMBHwi1acE5HbZAXGzXBqExC6VtAMtjZprqyI+tg53+0r+O9S8M2Tn0t5RTIwG4n8TZ39fo6dXSPuLPMP8YvBD9ewDaajIR4P4x+j/gluV7SPXqM36B3C6BidoFN0hiaIIo7+oL/oNtgN3gcfgvFGGvTamleoE8Gne3ULx58=</latexit>
<latexit sha1_base64="QD0nNPDzvBHZYn/R9e4mKlHlKIM=">AAACiHicbVHLbtswEKTVR1K1aZ322ItQO0AuMcQAgZNb+jj0UjQF4sSAJRgUtXIIixRLUk5Sgt/Ra/tZ/ZtStg6V0wUIDmZnd4fcTJZMmzj+0wsePX7ydGf3Wfj8xd7LV/3911e6qhWFCa3KSk0zoqFkAiaGmRKmUgHhWQnX2fJjk79egdKsEpfmXkLKyUKwglFiPJUOh+Hd3LIj7MLhcN4fxKN4HdFDgFswQG1czPd7kOQVrTkIQ0ui9QzH0qSWKMNoCS5Mag2S0CVZwMxDQTjo1K5du+jAM3lUVMofYaI1+2+FJVzre555JSfmRm/nGvK/uVw3DTvTbaNSutBdtpYLBbDsGs1XTOrW6t3Ga/chpjhNLROyNiCoi6IwEXBLK86JyG2yAuNmOLUJCF0raAZbmzRXVkQD7Jzv9gn8dyn44sn3pbwhGZiNRP6gzn69xM6uEXeW+Yf4xeDtNTwEV8cjfDKKvx0PznG7ol30Fr1DhwijMTpHn9EFmiCKvqOf6Bf6HYRBHIyDs4006LU1b1Angg9/AePMyR0=</latexit>
est faite dans le sens antihoraire
segm. i 1 segm. i
↵i
ai
✓i
articul. i 1
di
articul. i+1
<latexit sha1_base64="dREmDM8ZmLeO/HKpHmFZ2xwxOTQ=">AAAChHicbVFNT9wwEPWGlkIoFOiRS9TdSpVarWIqVE4IVA69VFCJ5UObCDnOZLE2dizbWT4s/4peyw/rv6mzmwOBjmT56c2bmWdPJkumTRz/7QVLr14vv1lZDdferm+829zaPtdVrSiMaFVW6jIjGkomYGSYKeFSKiA8K+Eim35v8hczUJpV4szcS0g5mQhWMEqMp64Gg5B9xuFgcL3Zj4fxPKKXALegj9o4vd7qQZJXtOYgDC2J1mMcS5NaogyjJbgwqTVIQqdkAmMPBeGgUzt37KKPnsmjolL+CBPN2acVlnCt73nmlZyYG/0815D/zeW6adiZbhuV0oXusrWcKIBp12g+Y1K3Vu8WXrsPMcV+apmQtQFBXRSFiYBbWnFORG6TGRg3xqlNQOhaQTPY2qS5siLqY+d8t2Pw36XgpyePSnlDMjALiXygzp6cYWfniDvL/EP8YvDzNbwE57tDvDeMf+32D3G7ohW0gz6gTwijb+gQ/UCnaIQo4ug3+oMeg+XgS/A12FtIg15b8x51Ijj4B3GxxyQ=</latexit>
ai
articul. i
16
Paramètres de Denavit-Hartenberg
• Deux des quatre paramètres (ai and ↵i ) sont toujours constants:
<latexit sha1_base64="TpT3RAvqK/3gAGiLi2/gFPGzEIg=">AAACiXicbVFNb9MwGHYzPkYG7IPjLhEtEqcqroSYdhoaBy5oQ2q7SU2oHOdNZzV2LNspDMv/gyv8q/2bOW0OpOWVLD963uf9zmTJtInjh16w9+Tps+f7L8KDl69eHx4dn0x1VSsKE1qVlbrNiIaSCZgYZkq4lQoIz0q4yZaXjf9mBUqzSozNvYSUk4VgBaPEeOr7YBAmpJR3ZM7CwWB+1I+H8dqiXYBb0EetXc+Pe5DkFa05CENLovUMx9KklijDaAkuTGoNktAlWcDMQ0E46NSu23bRO8/kUVEp/4SJ1uy/EZZwre955pWcmDu97WvI//py3STsVLeNSulCd9laLhTAsttovmJSt63+3PTaHcQUZ6llQtYGBHVRFCYCftCKcyJym6zAuBlObQJC1wqawtYmzZcVUR8757N9Br8uBV89+alZfwZmI5G/qLNXY+zsGnFnmR/EHwZvn2EXTEdD/GEYfxv1L0btifbRKXqL3iOMPqIL9AVdowmiSKHf6A/6GxwEODgLzjfSoNfGvEEdCy4fAURXybw=</latexit>
<latexit sha1_base64="h2oE+/K0iSoIs1SbTmSHC+Fjh+U=">AAAChHicbVFNT9wwEPUGCjSUzx57idhF6qFaJYsQnBAIDr1UpRLLhzbRynEmi7WxY9nO8mH5V3Btf1j/TZ3dHBpgJMtPb97MPHtSUVClw/Bvx1ta/rCyuvbRX/+0sbm1vbN7rcpKEhiSsijlbYoVFJTDUFNdwK2QgFlawE06Pa/zNzOQipb8Sj8JSBiecJpTgrWj7no9H4+p3+uNt7thP5xH8BZEDeiiJi7HOx2Is5JUDLgmBVZqFIVCJwZLTUkB1o8rBQKTKZ7AyEGOGajEzB3bYN8xWZCX0h2ugzn7f4XBTKknljolw/pevc7V5Lu5TNUNW9NNrZIqV222EhMJMG0bzWZUqMbq48Jr+yE6P04M5aLSwIkNAj/m8EBKxjDPTDwDbUdRYmLgqpJQDzYmrq80D7qRta7bBbjvkvDDkWeFuMcp6IVEPBNrfl5F1swRs4a6h7jFRK/X8BZcD/rRYT/8NeieDpoVraEvaA99RRE6QqfoO7pEQ0QQQy/oN/rjrXjfvAPvcCH1Ok3NZ9QK7+QfRL3HiQ==</latexit>
ils ne dépendent que de la géométrie de connection des articulations

consecutives définie par le segment i
• Des paramètres restants, seulement un est variable et dépend du type

d’articulation qui rélie le segment i 1 avec le segment i . En particulier:
• Si l’articulation i est rotoïde, la variable est ✓i

<latexit sha1_base64="1H4Gb6V2ikD4xfCP7e2pWie8wgk=">AAACiXicbVHBTtwwEPWmtKWhLdAee4nYReppFa9UFXECwaGXqlRiAWkTVo4z2bU2dizb2QKW/6NX+Cv+Bmc3hwY6kuWnN29mnj2ZLJk2cfzYC15tvH7zdvNduPX+w8ftnd1PF7qqFYUxrcpKXWVEQ8kEjA0zJVxJBYRnJVxmi5Mmf7kEpVklzs2thJSTmWAFo8R46nowCBMzB0OmLBwMpjv9eBivInoJcAv6qI2z6W4PkryiNQdhaEm0nuBYmtQSZRgtwYVJrUESuiAzmHgoCAed2pVtF+17Jo+KSvkjTLRi/62whGt9yzOv5MTM9fNcQ/43l+umYWe6bVRKF7rL1nKmABZdo/mSSd1avVl77T7EFAepZULWBgR1URQmAv7QinMicpsswbgJTm0CQtcKmsHWJs2VFVEfO+e7nYL/LgU/PXlcyjnJwKwl8o46++scO7tC3FnmH+IXg5+v4SW4GA3xt2H8e9Q/GrUr2kRf0B76ijD6jo7QD3SGxogihf6ie/QQbAU4OAgO19Kg19Z8Rp0ITp4AZl3JzA==</latexit>
• Si l’articulation i est prismatique, la variable est di

<latexit sha1_base64="qVtVBzSLEUAkF8y+O0L3PoQEEbU=">AAAChHicbVFNT9wwEPUGCjSUzx57idhF6qFaJYsQnBAIDr1UpRLLhzbRynEmi7WxY9nO8mH5V3Btf1j/TZ3dHBpgJMtPb97MPHtSUVClw/Bvx1ta/rCyuvbRX/+0sbm1vbN7rcpKEhiSsijlbYoVFJTDUFNdwK2QgFlawE06Pa/zNzOQipb8Sj8JSBiecJpTgrWj7no9PxtTv9cbb3fDfjiP4C2IGtBFTVyOdzoQZyWpGHBNCqzUKAqFTgyWmpICrB9XCgQmUzyBkYMcM1CJmTu2wb5jsiAvpTtcB3P2/wqDmVJPLHVKhvW9ep2ryXdzmaobtqabWiVVrtpsJSYSYNo2ms2oUI3Vx4XX9kN0fpwYykWlgRMbBH7M4YGUjGGemXgG2o6ixMTAVSWhHmxMXF9pHnQja123C3DfJeGHI88KcY9T0AuJeCbW/LyKrJkjZg11D3GLiV6v4S24HvSjw374a9A9HTQrWkNf0B76iiJ0hE7Rd3SJhogghl7Qb/THW/G+eQfe4ULqdZqaz6gV3sk/SxTHjA==</latexit>
segm. i 1 segm. i
↵i
ai
✓i
articul. i 1
di
articul. i + 1
<latexit sha1_base64="dREmDM8ZmLeO/HKpHmFZ2xwxOTQ=">AAAChHicbVFNT9wwEPWGlkIoFOiRS9TdSpVarWIqVE4IVA69VFCJ5UObCDnOZLE2dizbWT4s/4peyw/rv6mzmwOBjmT56c2bmWdPJkumTRz/7QVLr14vv1lZDdferm+829zaPtdVrSiMaFVW6jIjGkomYGSYKeFSKiA8K+Eim35v8hczUJpV4szcS0g5mQhWMEqMp64Gg5B9xuFgcL3Zj4fxPKKXALegj9o4vd7qQZJXtOYgDC2J1mMcS5NaogyjJbgwqTVIQqdkAmMPBeGgUzt37KKPnsmjolL+CBPN2acVlnCt73nmlZyYG/0815D/zeW6adiZbhuV0oXusrWcKIBp12g+Y1K3Vu8WXrsPMcV+apmQtQFBXRSFiYBbWnFORG6TGRg3xqlNQOhaQTPY2qS5siLqY+d8t2Pw36XgpyePSnlDMjALiXygzp6cYWfniDvL/EP8YvDzNbwE57tDvDeMf+32D3G7ohW0gz6gTwijb+gQ/UCnaIQo4ug3+oMeg+XgS/A12FtIg15b8x51Ijj4B3GxxyQ=</latexit>
ai
articul. i
17
Transformation homogène de DH
En conclusion, nous pouvons exprimer la transformation de coordonnées
entre les repères i et i 1 selon les étapes suivantes:
<latexit sha1_base64="lNpb2gspC5rKKztC+IXjuCtr0Ik=">AAACgnicbVFNT9wwEPUG2kLoBx9HLlF3K1U9rGJQVQ4cQOXABZVKLIu0iZDjTBZrY8eynW3B8o/oFX4Z/wZnN4cGGMny05s3M8+eTJZMmzh+7AUrq2/evltbDzfef/j4aXNr+1JXtaIwolVZqauMaCiZgJFhpoQrqYDwrIRxNvvZ5MdzUJpV4sLcSkg5mQpWMEqMp8aDQcjCweB6sx8P40VELwFuQR+1cX691YMkr2jNQRhaEq0nOJYmtUQZRktwYVJrkITOyBQmHgrCQad24ddFXzyTR0Wl/BEmWrD/V1jCtb7lmVdyYm7081xDvprLddOwM902KqUL3WVrOVUAs67RfM6kbq3+XXrtPsQUB6llQtYGBHVRFCYC/tCKcyJym8zBuAlObQJC1wqawdYmzZUVUR8757udgP8uBWeePC7lDcnALCXyjjr76wI7u0DcWeYf4heDn6/hJbjcG+Lvw/j3Xv8ItytaQ7voM/qKMPqBjtApOkcjRNEM/UP36CFYDb4FONhfSoNeW7ODOhEcPgFjQ8a0</latexit> <latexit sha1_base64="adVbcSFkS9ZGS+DeKN1EEQuCOU8=">AAAChHicbVFNT9wwEPWGlkIoFOiRS9TdSj20q5gKlRMClUMvFVRi+dAmQo4zWayNHct2lg/Lv6LX8sP6b+rs5kCgI1l+evNm5tmTyZJpE8d/e8HSq9fLb1ZWw7W36xvvNre2z3VVKwojWpWVusyIhpIJGBlmSriUCgjPSrjIpt+b/MUMlGaVODP3ElJOJoIVjBLjqavBIGRfcDgYXG/242E8j+glwC3oozZOr7d6kOQVrTkIQ0ui9RjH0qSWKMNoCS5Mag2S0CmZwNhDQTjo1M4du+ijZ/KoqJQ/wkRz9mmFJVzre555JSfmRj/PNeR/c7luGnam20aldKG7bC0nCmDaNZrPmNSt1buF1+5DTLGfWiZkbUBQF0VhIuCWVpwTkdtkBsaNcWoTELpW0Ay2NmmurIj62Dnf7Rj8dyn46cmjUt6QDMxCIh+osydn2Nk54s4y/xC/GPx8DS/B+e4Q7w3jX7v9Q9yuaAXtoA/oE8LoGzpEP9ApGiGKOPqN/qDHYDn4HHwN9hbSoNfWvEedCA7+AXXpxyY=</latexit>
1. Choisir un repère aligné avec le repère i 1

2. Faire une translation de di du repère choisi le long de l’axe zi 1 et faire

<latexit sha1_base64="qVtVBzSLEUAkF8y+O0L3PoQEEbU=">AAAChHicbVFNT9wwEPUGCjSUzx57idhF6qFaJYsQnBAIDr1UpRLLhzbRynEmi7WxY9nO8mH5V3Btf1j/TZ3dHBpgJMtPb97MPHtSUVClw/Bvx1ta/rCyuvbRX/+0sbm1vbN7rcpKEhiSsijlbYoVFJTDUFNdwK2QgFlawE06Pa/zNzOQipb8Sj8JSBiecJpTgrWj7no9PxtTv9cbb3fDfjiP4C2IGtBFTVyOdzoQZyWpGHBNCqzUKAqFTgyWmpICrB9XCgQmUzyBkYMcM1CJmTu2wb5jsiAvpTtcB3P2/wqDmVJPLHVKhvW9ep2ryXdzmaobtqabWiVVrtpsJSYSYNo2ms2oUI3Vx4XX9kN0fpwYykWlgRMbBH7M4YGUjGGemXgG2o6ixMTAVSWhHmxMXF9pHnQja123C3DfJeGHI88KcY9T0AuJeCbW/LyKrJkjZg11D3GLiV6v4S24HvSjw374a9A9HTQrWkNf0B76iiJ0hE7Rd3SJhogghl7Qb/THW/G+eQfe4ULqdZqaz6gV3sk/SxTHjA==</latexit>
une rotation de ✓i autour de l’axe zi 1

<latexit sha1_base64="1H4Gb6V2ikD4xfCP7e2pWie8wgk=">AAACiXicbVHBTtwwEPWmtKWhLdAee4nYReppFa9UFXECwaGXqlRiAWkTVo4z2bU2dizb2QKW/6NX+Cv+Bmc3hwY6kuWnN29mnj2ZLJk2cfzYC15tvH7zdvNduPX+w8ftnd1PF7qqFYUxrcpKXWVEQ8kEjA0zJVxJBYRnJVxmi5Mmf7kEpVklzs2thJSTmWAFo8R46nowCBMzB0OmLBwMpjv9eBivInoJcAv6qI2z6W4PkryiNQdhaEm0nuBYmtQSZRgtwYVJrUESuiAzmHgoCAed2pVtF+17Jo+KSvkjTLRi/62whGt9yzOv5MTM9fNcQ/43l+umYWe6bVRKF7rL1nKmABZdo/mSSd1avVl77T7EFAepZULWBgR1URQmAv7QinMicpsswbgJTm0CQtcKmsHWJs2VFVEfO+e7nYL/LgU/PXlcyjnJwKwl8o46++scO7tC3FnmH+IXg5+v4SW4GA3xt2H8e9Q/GrUr2kRf0B76ijD6jo7QD3SGxogihf6ie/QQbAU4OAgO19Kg19Z8Rp0ITp4AZl3JzA==</latexit>
Cette séquence aligne le repère courant avec le repère i0 et elle est

<latexit sha1_base64="2I6DQ38Cnouf99vU+4R184TjSe8=">AAACg3icbVFNT9wwEPWmhUJavtojl6i7iEpIq2RFBRckqnLopSqVWFhpEyHHmSzW2o5lO0up5T/Ra/vH+Dd1dnNooCNZfnrzZubZk0tGtYnjx17w4uXa+quNzfD1m63tnd29t9e6qhWBMalYpSY51sCogLGhhsFEKsA8Z3CTzz83+ZsFKE0rcWUeJGQczwQtKcHGU5PBIKSH4WBwu9uPh/EyoucgaUEftXF5u9eDtKhIzUEYwrDW0ySWJrNYGUoYuDCtNUhM5ngGUw8F5qAzuzTsogPPFFFZKX+EiZbsvxUWc60feO6VHJs7/TTXkP/NFbpp2JluG5XSpe6ytZwpgHnXaLGgUrdWf6y8dh9iytPMUiFrA4K4KApTAfek4hyLwqYLMG6aZDYFoWsFzWBr0+bKy6ifOOe7XYD/LgVfPfmJyTucg1lJ5E/i7LerxNkl4s5S/xC/mOTpGp6D69Ew+TiMv4/656N2RRtoH71HH1CCTtA5+oIu0RgRxNAv9Bv9CdaCo2AUHK+kQa+teYc6EZz9BdvsxuY=</latexit>
décrite par la matrice homogène suivante:
2 3
cos ✓i sin ✓i 0 0
<latexit sha1_base64="kLDsL2D3AcTzQMIB36sHFrnf/1M=">AAADXXicdVLdb9MwEHdaBiOMrYMHHnixaPl42KpkAsEL0iYQ4gUxpHWbVIfIcS6t1cSJbKdsWP5DeYI/BSeLxNqNk04+/+7Dv7tzUuVc6SD45fX6dzbu3tu87z/Yeri9M9h9dKrKWjKYsDIv5XlCFeRcwERzncN5JYEWSQ5nyeJD4z9bglS8FCf6soKooDPBM86odlA8+DMa+WQJ2hzZ74bvhzY2/KXFZO892cMkh0xPfZLAjAtTUC35hfUJKxXRc9A05vgF3ieKi2v3oFGyVBVlYIJxyApLiL8WtFbj9pyg84RO05j/19/GEBDpP4qSz+Y6wv5oFA+GwThoBd80ws4Yok6O410PSFqyugChWU6VmoZBpSNDpeYsB1e8VuCILOgMps4UtAAVmXYVFj93SIqzUjoVGrfo9QxDC6Uui8RFOrJzte5rwFt9qWoKrrzetDuXKlOraF3NJMBilWi65JXqqF5ccV1tRGfvIsNFVWsQzGLsEwE/WFkU1M21+SF2GkbGTVnVEpqHjSHNkWR4GFrrqn0ENy4JXxx4lFdzmrhf1YZUP5k1X09Ca1qrsIa7RtxiwvU13DROD8bhm3Hw7WB4+Lpb0SZ6ip6hVyhEb9Eh+oyO0QQx75OXe7W37P3ub/S3+ttXoT2vy3mMVqT/5C98LQ2Y</latexit>
6 sin ✓ cos ✓i 0 07
6 i 7
Aii0 1
= 6 7
4 0 0 1 di 5
0 0 0 1
18
articul. i 1 articul. i
<latexit sha1_base64="6QQrUlB4wstF7qf+P7jo1lUSa3c=">AAACmHicbVHLbtQwFPWEVwmPTsuObiJmkNgwSkZCsBxUJMoCUVCnrTSJRo5zM7XGdizbGVosL/iabuFz+BucTBak5UqWj84992GfXDKqTRz/GQR37t67/2DnYfjo8ZOnu8O9/VNd1YrAnFSsUuc51sCogLmhhsG5VIB5zuAsXx82+bMNKE0rcWKuJGQcrwQtKcHGU8vhwXgcpgYuTdvK5qwGZ+nrxIXj8XI4iidxG9FtkHRghLo4Xu4NIC0qUnMQhjCs9SKJpcksVoYSBi5Maw0SkzVewcJDgTnozLajXfTSM0VUVsofYaKW/bfCYq71Fc+9kmNzoW/mGvK/uUI3DXvTbaNSutR9tpYrBbDuL1psqNTdqpfbXfsPMeW7zFIhawOCuCgKUwHfScU5FoVNN2DcIslsCkLXCprB1qbNlZfRKHHOd/sA/rsUfPbkeyYvcA5mK5E/iLNfThJnW8S9N/4h3pjkpg23wel0kryZxF+no9m0s2gHHaAX6BVK0Fs0Q0foGM0RQT/RNfqFfgfPg1nwMfi0lQaDruYZ6kXw7S+Irc/k</latexit>
articul. i+1
<latexit sha1_base64="Q1hCez3qYmfstD0Fg8YIOmIEPbM=">AAAClnicbVFdb9MwFHXD1whfHbyAeIlokXiqkkqIPU1DA8ELokjrNqmJKse56azajmU7ZZtl7dfsFX4P/wYnzQPZuJLlo3PP/bBPLhnVJo7/DII7d+/df7DzMHz0+MnTZ8Pd58e6qhWBOalYpU5zrIFRAXNDDYNTqQDznMFJvj5s8icbUJpW4shcSMg4XglaUoKNp5bDV+NxmBo4N20rm7ManKUuHI+Xw1E8iduIboOkAyPUxWy5O4C0qEjNQRjCsNaLJJYms1gZShi4MK01SEzWeAULDwXmoDPbDnbRW88UUVkpf4SJWvbfCou51hc890qOzZm+mWvI/+YK3TTsTbeNSulS99larhTAur9osaFSd6ueb3ftP8SUe5mlQtYGBHFRFKYCfpKKcywKm27AuEWS2RSErhU0g61Nmysvo1HinO/2Cfx3KfjmyY9MnuEczFYiL4mz348SZ1vEvTP+Id6Y5KYNt8HxdJK8n8Q/pqODaWfRDnqN3qB3KEEf0AH6imZojgi6QtfoF/odvAz2g8/Bl600GHQ1L1AvgtlfZm3Pcg==</latexit>
<latexit sha1_base64="NKaqaxEfuw4BhRW080ZrXfPTcHo=">AAACmHicbVFdb9MwFHXD1wgf68Ybe4lokZCQqqQSgseiITEeEAOt26QmqhznprNqO5btlA3LD/yavcLP4d/gpHkgG1eyfHTuuR/2ySWj2sTxn0Fw5+69+w92HoaPHj95ujvc2z/VVa0IzEnFKnWeYw2MCpgbahicSwWY5wzO8vVhkz/bgNK0EifmSkLG8UrQkhJsPLUcHozHYWrg0rStbM5qcJa+Tlw4Hi+Ho3gStxHdBkkHRqiL4+XeANKiIjUHYQjDWi+SWJrMYmUoYeDCtNYgMVnjFSw8FJiDzmw72kUvPVNEZaX8ESZq2X8rLOZaX/HcKzk2F/pmriH/myt007A33TYqpUvdZ2u5UgDr/qLFhkrdrXq53bX/EFO+yywVsjYgiIuiMBXwnVScY1HYdAPGLZLMpiB0raAZbG3aXHkZjRLnfLcP4L9LwWdPvmfyAudgthL5gzj75SRxtkXce+Mf4o1JbtpwG5xOJ8mbSfx1OppNO4t20AF6gV6hBL1FM3SEjtEcEfQTXaNf6HfwPJgFH4NPW2kw6GqeoV4E3/4ChHPP4g==</latexit>
segm. i 1 segm. i
↵i
<latexit sha1_base64="sBHj2PhU/mIbilv8OaKrcowHeYo=">AAACiXicbVFNT9swGHbDNljYB7DjLtHaSTtVMWgCcQKVwy7TmEQBqckqx3lTrMaOZTuFYvl/7Dr+Ff9mTpvDAnsly4+e93m/M1kybeL4sRdsvHj5anPrdbj95u279zu7e5e6qhWFMa3KSl1nREPJBIwNMyVcSwWEZyVcZfNR479agNKsEhdmKSHlZCZYwSgxnvo1GIQJKeUNmbJwMJju9ONhvLLoOcAt6KPWzqe7PUjyitYchKEl0XqCY2lSS5RhtAQXJrUGSeiczGDioSAcdGpXbbvos2fyqKiUf8JEK/bfCEu41kueeSUn5kY/9TXkf325bhJ2qttGpXShu2wtZwpg3m00XzCp21bv1r12BzHFUWqZkLUBQV0UhYmAW1pxTkRukwUYN8GpTUDoWkFT2Nqk+bIi6mPnfLYz8OtS8N2Tp836MzBribynzv64wM6uEHeW+UH8YfDTMzwHl/tD/HUY/9zvnxy0J9pCH9En9AVhdIhO0Dd0jsaIIoV+oz/oIdgOcHAUHK+lQa+N+YA6Foz+AkSkyb0=</latexit>
étape 3
ai
<latexit sha1_base64="NliBF4XCGLJ4nqzzADtn208k6IM=">AAAChHicbVFNT9wwEPUGCjQUysexl4jdSj1Uq4SC4IRAcOilKpVYoNpEK8eZLNbGjmU7y4flX8EVfhj/ps5uDg0wkuWnN29mnj2pKKjSYfjS8RYWPywtr3z0Vz+trX/e2Ny6VGUlCQxIWZTyOsUKCsphoKku4FpIwCwt4CqdnNb5qylIRUt+oe8FJAyPOc0pwdpRf3s9H4+o3+uNNrphP5xF8BZEDeiiJs5Hmx2Is5JUDLgmBVZqGIVCJwZLTUkB1o8rBQKTCR7D0EGOGajEzBzb4KtjsiAvpTtcBzP2/wqDmVL3LHVKhvWNep2ryXdzmaobtqabWiVVrtpsJcYSYNI2mk2pUI3Vu7nX9kN0fpgYykWlgRMbBH7M4ZaUjGGemXgK2g6jxMTAVSWhHmxMXF9pHnQja123M3DfJeGXI08KcYNT0HOJeCDW/L6IrJkhZg11D3GLiV6v4S243O1H+/3wz273eK9Z0Qr6gnbQNxShA3SMfqJzNEAEMfSIntCzt+R99354+3Op12lqtlErvKN/RVfHiw==</latexit>
✓i
<latexit sha1_base64="QU7fLzW2DMDaxZ/vKmLexINzjzo=">AAACiXicbVFNT9wwEPUG2tJAy0ePvUTdrcRpFSNQEScqOPRSlUosIG3SleNMdq2NHct2loLl/8GV/qv+mzq7OTTASJaf3ryZefZksmTaxPHfXrC2/ur1m4234ebWu/fbO7t7V7qqFYURrcpK3WREQ8kEjAwzJdxIBYRnJVxn87Mmf70ApVklLs2dhJSTqWAFo8R46tdgECZmBoZMWDgYTHb68TBeRvQc4Bb0URsXk90eJHlFaw7C0JJoPcaxNKklyjBagguTWoMkdE6mMPZQEA46tUvbLvrsmTwqKuWPMNGS/b/CEq71Hc+8khMz009zDfliLtdNw85026iULnSXreVUAcy7RvMFk7q1+nvltfsQUxynlglZGxDURVGYCLilFedE5DZZgHFjnNoEhK4VNIOtTZorK6I+ds53Owf/XQq+e/JrKWckA7OSyHvq7I9L7OwScWeZf4hfDH66hufg6mCIj4bxz4P+6WG7og30EX1C+wijL+gUfUMXaIQoUugBPaI/wWaAg+PgZCUNem3NB9SJ4OwfZvfJzg==</latexit>
di
<latexit sha1_base64="8MB0KjInzbWGeoCa90SqsrPoKhs=">AAAChHicbVFNT9wwEPUGCjQUysexl4jdSj1Uq4SC4IRAcOilKpVYoNpEK8eZLNbGjmU7y4flX8EVfhj/ps5uDg0wkuWnN29mnj2pKKjSYfjS8RYWPywtr3z0Vz+trX/e2Ny6VGUlCQxIWZTyOsUKCsphoKku4FpIwCwt4CqdnNb5qylIRUt+oe8FJAyPOc0pwdpRf3s9PxtRv9cbbXTDfjiL4C2IGtBFTZyPNjsQZyWpGHBNCqzUMAqFTgyWmpICrB9XCgQmEzyGoYMcM1CJmTm2wVfHZEFeSne4Dmbs/xUGM6XuWeqUDOsb9TpXk+/mMlU3bE03tUqqXLXZSowlwKRtNJtSoRqrd3Ov7Yfo/DAxlItKAyc2CPyYwy0pGcM8M/EUtB1GiYmBq0pCPdiYuL7SPOhG1rpuZ+C+S8IvR54U4ganoOcS8UCs+X0RWTNDzBrqHuIWE71ew1twuduP9vvhn93u8V6zohX0Be2gbyhCB+gY/UTnaIAIYugRPaFnb8n77v3w9udSr9PUbKNWeEf/AEuux44=</latexit>
étape 2
ai
axe i
19
3. Faire une translation du repère aligné avec le repère i0 de ai le long de
<latexit sha1_base64="2I6DQ38Cnouf99vU+4R184TjSe8=">AAACg3icbVFNT9wwEPWmhUJavtojl6i7iEpIq2RFBRckqnLopSqVWFhpEyHHmSzW2o5lO0up5T/Ra/vH+Dd1dnNooCNZfnrzZubZk0tGtYnjx17w4uXa+quNzfD1m63tnd29t9e6qhWBMalYpSY51sCogLGhhsFEKsA8Z3CTzz83+ZsFKE0rcWUeJGQczwQtKcHGU5PBIKSH4WBwu9uPh/EyoucgaUEftXF5u9eDtKhIzUEYwrDW0ySWJrNYGUoYuDCtNUhM5ngGUw8F5qAzuzTsogPPFFFZKX+EiZbsvxUWc60feO6VHJs7/TTXkP/NFbpp2JluG5XSpe6ytZwpgHnXaLGgUrdWf6y8dh9iytPMUiFrA4K4KApTAfek4hyLwqYLMG6aZDYFoWsFzWBr0+bKy6ifOOe7XYD/LgVfPfmJyTucg1lJ5E/i7LerxNkl4s5S/xC/mOTpGp6D69Ew+TiMv4/656N2RRtoH71HH1CCTtA5+oIu0RgRxNAv9Bv9CdaCo2AUHK+kQa+teYc6EZz9BdvsxuY=</latexit>
<latexit sha1_base64="h2oE+/K0iSoIs1SbTmSHC+Fjh+U=">AAAChHicbVFNT9wwEPUGCjSUzx57idhF6qFaJYsQnBAIDr1UpRLLhzbRynEmi7WxY9nO8mH5V3Btf1j/TZ3dHBpgJMtPb97MPHtSUVClw/Bvx1ta/rCyuvbRX/+0sbm1vbN7rcpKEhiSsijlbYoVFJTDUFNdwK2QgFlawE06Pa/zNzOQipb8Sj8JSBiecJpTgrWj7no9H4+p3+uNt7thP5xH8BZEDeiiJi7HOx2Is5JUDLgmBVZqFIVCJwZLTUkB1o8rBQKTKZ7AyEGOGajEzB3bYN8xWZCX0h2ugzn7f4XBTKknljolw/pevc7V5Lu5TNUNW9NNrZIqV222EhMJMG0bzWZUqMbq48Jr+yE6P04M5aLSwIkNAj/m8EBKxjDPTDwDbUdRYmLgqpJQDzYmrq80D7qRta7bBbjvkvDDkWeFuMcp6IVEPBNrfl5F1swRs4a6h7jFRK/X8BZcD/rRYT/8NeieDpoVraEvaA99RRE6QqfoO7pEQ0QQQy/oN/rjrXjfvAPvcCH1Ok3NZ9QK7+QfRL3HiQ==</latexit>
l’axe xi0 et faire une rotation de ↵i autour de l’axe xi0 . Cette séquence
<latexit sha1_base64="Vpsg6P2tJc/MyqZSnYrGWiIAQxc=">AAACh3icbVFNT9wwEPWmUCAtZSnHXiJ2q3JakpX4OILKgUtVkFhA2kQrx5ks1saOZTsL1PLf6LX8Lf4Nzm4ODTCS5ac3b2aePakoqNJh+NzxPqysflxb3/A/fd78stXd/nqtykoSGJGyKOVtihUUlMNIU13ArZCAWVrATTr7Wedv5iAVLfmVfhSQMDzlNKcEa0fF/b7/MDH0h/X7/Um3Fw7CRQRvQdSAHmriYrLdgTgrScWAa1JgpcZRKHRisNSUFGD9uFIgMJnhKYwd5JiBSszCtA2+OyYL8lK6w3WwYP+vMJgp9chSp2RY36nXuZp8N5epumFruqlVUuWqzVZiKgFmbaPZnArVWH1Yem0/ROfHiaFcVBo4sUHgxxzuSckY5pmJ56DtOEpMDFxVEurBxsT1leZBL7LWdTsD910SfjnytBB3OAW9lIg/xJrfV5E1C8Ssoe4hbjHR6zW8BdfDQXQwCC+HvZNhs6J19A3toj0UoSN0gs7RBRohggT6i/6hJ2/D2/cOveOl1Os0NTuoFd7pC0hNyN0=</latexit>
<latexit sha1_base64="TpT3RAvqK/3gAGiLi2/gFPGzEIg=">AAACiXicbVFNb9MwGHYzPkYG7IPjLhEtEqcqroSYdhoaBy5oQ2q7SU2oHOdNZzV2LNspDMv/gyv8q/2bOW0OpOWVLD963uf9zmTJtInjh16w9+Tps+f7L8KDl69eHx4dn0x1VSsKE1qVlbrNiIaSCZgYZkq4lQoIz0q4yZaXjf9mBUqzSozNvYSUk4VgBaPEeOr7YBAmpJR3ZM7CwWB+1I+H8dqiXYBb0EetXc+Pe5DkFa05CENLovUMx9KklijDaAkuTGoNktAlWcDMQ0E46NSu23bRO8/kUVEp/4SJ1uy/EZZwre955pWcmDu97WvI//py3STsVLeNSulCd9laLhTAsttovmJSt63+3PTaHcQUZ6llQtYGBHVRFCYCftCKcyJym6zAuBlObQJC1wqawtYmzZcVUR8757N9Br8uBV89+alZfwZmI5G/qLNXY+zsGnFnmR/EHwZvn2EXTEdD/GEYfxv1L0btifbRKXqL3iOMPqIL9AVdowmiSKHf6A/6GxwEODgLzjfSoNfGvEEdCy4fAURXybw=</latexit> <latexit sha1_base64="Vpsg6P2tJc/MyqZSnYrGWiIAQxc=">AAACh3icbVFNT9wwEPWmUCAtZSnHXiJ2q3JakpX4OILKgUtVkFhA2kQrx5ks1saOZTsL1PLf6LX8Lf4Nzm4ODTCS5ac3b2aePakoqNJh+NzxPqysflxb3/A/fd78stXd/nqtykoSGJGyKOVtihUUlMNIU13ArZCAWVrATTr7Wedv5iAVLfmVfhSQMDzlNKcEa0fF/b7/MDH0h/X7/Um3Fw7CRQRvQdSAHmriYrLdgTgrScWAa1JgpcZRKHRisNSUFGD9uFIgMJnhKYwd5JiBSszCtA2+OyYL8lK6w3WwYP+vMJgp9chSp2RY36nXuZp8N5epumFruqlVUuWqzVZiKgFmbaPZnArVWH1Yem0/ROfHiaFcVBo4sUHgxxzuSckY5pmJ56DtOEpMDFxVEurBxsT1leZBL7LWdTsD910SfjnytBB3OAW9lIg/xJrfV5E1C8Ssoe4hbjHR6zW8BdfDQXQwCC+HvZNhs6J19A3toj0UoSN0gs7RBRohggT6i/6hJ2/D2/cOveOl1Os0NTuoFd7pC0hNyN0=</latexit>
aligne le repère courant avec le repère i et elle est décrite par la

matrice homogène: 2 3 <latexit sha1_base64="VYcRec5ukQ4pM3H3SZLXHSo92L4=">AAADYHicbVJLj9MwEHa2PEp4bAs3uFi0PA7dKqmE4IK0KzjAAbFI292V6lA57qS1mjiR7ZQWyz+UK/wRnG5Am25HGnn8zcPfzDguUq50EPzyDlq3bt+5277n33/w8NFhp/v4XOWlZDBmeZrLy5gqSLmAseY6hctCAs3iFC7i5YfKf7ECqXguzvSmgCijc8ETzqh20LTzp9/3yQq0ObFTw+13w19ZTAbvyQCTFBI9IQOfxDDnwmRUS762fohf4qBWOuVkpQrKwATDkGWWEL/CCcsVoWmxcAHuekQUF9fuwf6kZtBOjf05/zT0CYjZf45kQCSfL3SE/X5/2ukFw2Ar+KYR1kYP1XI67XpAZjkrMxCapVSpSRgUOjJUas5ScOVLBY7Lks5h4kxBM1CR2W7D4hcOmeEkl06Fxlv0eoahmVKbLHaRju5C7foqcK9vpqqCjderhhdSJaqJlsVcAiybRGcrXqia6vqKa7MRnbyLDBdFqUEwi7FPBPxgeZZRN9nqk9hJGBk3Z1VKqB42hlRHnOBeaK2r9hHcuCR8ceBJtbjYfaxtSPGTWfP1LLRma2XWcNeIW0y4u4abxvloGL4ZBt9GveNRvaI2eoaeo9coRG/RMfqETtEYMe+zl3trb3Pwu9VuHba6V6EHXp3zBDWk9fQv5dsOLQ==</latexit>
1 0 0 ai
6 0 cos ↵ sin ↵i 07
0 6 i 7
Aii = 6 7
4 0 sin ↵i cos ↵i 05
0 0 0 1
4. La transformation finale est obtenue en multipliant à droite les deux
transformations précédentes:
<latexit sha1_base64="1vIEAhIPeR0X5Exg+o1cy6f5wsg=">AAAEDHicfVLNbhMxEHay/JTlr4VjLyuS0iIl0W4k1F6QWsGBC6JITVspXlZe72xiZf+wvaHF8iv0abghrrwDD8Idb7pANi0dyfJ4vpn5xjMTFgkT0nV/ttrWrdt37q7ds+8/ePjo8frGk2ORl5zCiOZJzk9DIiBhGYwkkwmcFhxIGiZwEs5eV/jJHLhgeXYkzwvwUzLJWMwokcYUbLQuul0bz0GqAx0opj8q1vf0zqeAvXBw7xXuOf/A7RrFvWbAtq5dbZxALMe4Z+MQJixTKZGcnWmbBgrLKUgSMO08d/pi6V1hJCmmNbYMiSZkruVEeC4KQkG5A4+mGmNbNFno/0n69EYWcROLWxe5FLKSPQrYtVF/jmdjyKK/zTHt5Gwylb5jd7vBescduAtxriperXRQLYdmgoCjnJYpZJImRIix5xbSV4RLRhMw6UsBppYZmcDYqBlJQfhqsTna2TKWyIlzbk4mnYV1OUKRVIjzNDSeptypWMUq47VYJKqEDfbqw1MuYtG0lsWEA8yahUZzVoi61LPLWpsfkfGer1hWlBIyqh2zehl8pnmaEtPZaj312POV6bMoOVTESuHqCmOn42ltsr0B0y4O74zxoJpdaFZ64VJ8oVq9P/K0WmipVsx8xAzGWx3DVeV4OPBeDtwPw87+sB7RGtpEz9AO8tAu2kdv0SEaIdr61d5sd9tb1oX11fpmfb90bbfqmKeoIdaP37RdVM8=</latexit>
2 3
c ✓i s ✓i c ↵ i s ✓i s ↵ i a i c ✓i
6s c ✓i c ↵ i c ✓i s ↵ i a i s ✓i 7
0 6 ✓i 7
Aii 1
(qi ) = Aii0 1
Aii = 6 7
4 0 s ↵i c ↵i di 5
0 0 0 1
Fonction seulement de qi
<latexit sha1_base64="29SrQV+3SiG4+otwirZEPlmNU9c=">AAAChHicbVFNT9wwEPUGSiH0g48jl4hdpB6qVbIVKqcKVA69IKjE8qFNtHKcya61sWNsZwu1/Ct6bX8Y/wZnN4cGGMny05s3M8+eVBRU6TB87Hgrq2/W3q5v+Jvv3n/4uLW9c6XKShIYkrIo5U2KFRSUw1BTXcCNkIBZWsB1Ovte56/nIBUt+aV+EJAwPOE0pwRrR932ev7dmPq93nirG/bDRQQvQdSALmriYrzdgTgrScWAa1JgpUZRKHRisNSUFGD9uFIgMJnhCYwc5JiBSszCsQ0OHJMFeSnd4TpYsP9XGMyUemCpUzKsp+p5riZfzWWqbtiabmqVVLlqs5WYSIBZ22g2p0I1Vu+XXtsP0flRYigXlQZObBD4MYdfpGQM88zEc9B2FCUmBq4qCfVgY+L6SvOgG1nrup2C+y4JZ448KcQUp6CXEvGbWHN+GVmzQMwa6h7iFhM9X8NLcDXoR4f98OegezxoVrSO9tA++oQi9BUdox/oAg0RQQz9QX/RP2/N++x98Q6XUq/T1OyiVnjfngBmjceZ</latexit>
Comme d’habitude:
qi = ✓i si l’articulation est rotoïde
<latexit sha1_base64="5jVsRVmDkVBfKS99tdrm2d8TkJc=">AAACkXicbVFdb9MwFHXD1whfHeONF4sWiacqqTTBHpDKxwMSQgxp3SY1UeQ4N63V2PFsp7BZ/i+8wj/i3+C0eSAbV7J8dO659x775rJi2kTRn0Fw6/adu/f27ocPHj56/GS4//RU142iMKd1VavznGiomIC5YaaCc6mA8LyCs3z9oc2fbUBpVosTcykh5WQpWMkoMZ7Khs/G4/AiY/gtTswKDMlYOB5nw1E0ibaBb4K4AyPUxXG2P4CkqGnDQRhaEa0XcSRNaokyjFbgwqTRIAldkyUsPBSEg07t1r7DLz1T4LJW/giDt+y/FZZwrS957pWcmJW+nmvJ/+YK3TbsTbetSulS99lGLhXAum+02DCpO6s/dl77DzHlm9QyIRsDgjqMw0TAd1pzTkRhkw0Yt4hTm4DQjYJ2sLVJe+UlHsXO+W4fwX+Xgi+efFfJFcnB7CTyijr79SR2dou4s8w/xC8mvr6Gm+B0OokPJ9G36Wg27Va0h56jF+gVitFrNEOf0DGaI4qu0E/0C/0ODoKjYBa830mDQVdzgHoRfP4LgaXL7w==</latexit>
c✓i = cos ✓i , s✓i = sin ✓i

<latexit sha1_base64="mcuVVnWDHLi24d53wzjLPFqibz8=">AAACvXicbVFbi9QwFM7U21pvs/roS3BG8EGGdmBREHFEH3wRV9jZXZiWkqanM2GaNCTprGvI3/HX+KrgvzGd6YKd9UDIl+9855aTy4ppE0V/BsGNm7du3zm4G967/+Dho+Hh41NdN4rCnNZVrc5zoqFiAuaGmQrOpQLC8wrO8vWH1n+2AaVZLU7MpYSUk6VgJaPEeCobzsbjkGY2MSswJGMOv8UJrfXV+2XyBus9t2bi6h2Ox9lwFE2ireHrIO7ACHV2nB0OIClq2nAQhlZE60UcSZNaogyjFbgwaTRIQtdkCQsPBeGgU7sd1eHnnilwWSt/hMFb9t8IS7jWlzz3Sk7MSu/7WvK/vkK3CXvVbatSutR9tpFLBbDuN1psmNRdq992vfYHMeXr1DIhGwOCOozDRMAFrTknorDJBoxbxKlNQOhGQVvY2qS98hKPYud8to/gv0vBZ0++r+SK5GB2EvmdOvvlJHZ2i7izzA/iFxPvr+E6OJ1O4qNJ9HU6mk27FR2gp+gZeoFi9ArN0Cd0jOaIoh/oJ/qFfgfvAgiqQOykwaCLeYJ6Flz8BV9p3kc=</latexit>
qi = di si l’articulation est prismatique

<latexit sha1_base64="bJTr+zw55jF/59hNZsuX7ih690o=">AAACjHicbVFNb9QwEPWmfJQA7RaOXCx2kTitklURSFWlIlDFBVGkbltpE0WOM9laGzuu7Sy0ln8J1/Kj+Dc4uzmQlpEsP715M/PsyWXFtImiP4Ng68HDR4+3n4RPnz3f2R3uvTjTdaMozGhd1eoiJxoqJmBmmKngQiogPK/gPF9+avPnK1Ca1eLUXEtIOVkIVjJKjKey4e54HF5lDB/iImPheJwNR9EkWge+D+IOjFAXJ9neAJKipg0HYWhFtJ7HkTSpJcowWoELk0aDJHRJFjD3UBAOOrVr5w6/8UyBy1r5Iwxes/9WWMK1vua5V3JiLvXdXEv+N1fotmFvum1VSpe6zzZyoQCWfaPFikndWf258dp/iCk/pJYJ2RgQ1GEcJgJ+0JpzIgqbrMC4eZzaBIRuFLSDrU3aKy/xKHbOd/sM/rsUfPXkx0pekhzMRiJvqLPfTmNn14g7y/xD/GLiu2u4D86mk/jdJPo+HR1NuxVto1foNXqLYvQeHaEv6ATNEEUN+oVu0e9gJ9gPDoLDjTQYdDUvUS+C479c98mv</latexit>
20
Exemples

d’un manipulateur
21
1 – Manipulateur planaire à 3 segments
✓3
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a3
<latexit sha1_base64="YVBJQ6DJjO4DWWlsHeu1jPEk6bk=">AAAChHicbVFNT9wwEPUGSmmgBcqRS8QuEodqlUARnCoQHLhUpRLLhzbRynEmi7WxY9nOtmD5V3CFH8a/qbObQwOMZPnpzZuZZ08qCqp0GL50vIXFD0sflz/5K6ufv6ytb3y9UmUlCQxIWZTyJsUKCsphoKku4EZIwCwt4DqdnNb56ylIRUt+qe8FJAyPOc0pwdpRt72ej0f7fq83Wu+G/XAWwVsQNaCLmrgYbXQgzkpSMeCaFFipYRQKnRgsNSUFWD+uFAhMJngMQwc5ZqASM3Nsgx3HZEFeSne4Dmbs/xUGM6XuWeqUDOs79TpXk+/mMlU3bE03tUqqXLXZSowlwKRtNJtSoRqrf+de2w/R+VFiKBeVBk5sEPgxhz+kZAzzzMRT0HYYJSYGrioJ9WBj4vpK86AbWeu6nYH7Lgk/HXlSiDucgp5LxAOx5tdlZM0MMWuoe4hbTPR6DW/B1V4/OuiHv/e6x9+bFS2jLbSNdlGEDtExOkcXaIAIYugRPaFnb8n75u17B3Op12lqNlErvB//ANOWx1U=</latexit>
a2
<latexit sha1_base64="Y50PhMn/Qt3fXA4/0S6FNQzaCtg=">AAAChHicbVFdT9swFHWzDVjYR9ke9xKtnbSHqUo6KniaQPCwl2kgUejURJXj3BSrsWPZTjdm+VfsFX4Y/2ZOmwdCuZLlo3PPvffYNxUFVToM7zves+cvtrZ3Xvq7r16/edvde3epykoSGJOyKOUkxQoKymGsqS5gIiRglhZwlS5O6vzVEqSiJb/QNwIShuec5pRg7ahf/b6PZ0O/3591e+EgXEWwCaIG9FATZ7O9DsRZSSoGXJMCKzWNQqETg6WmpADrx5UCgckCz2HqIMcMVGJWjm3wyTFZkJfSHa6DFfuwwmCm1A1LnZJhfa0e52ryyVym6oat6aZWSZWrNluJuQRYtI1mSypUY/XP2mv7ITo/TAzlotLAiQ0CP+bwm5SMYZ6ZeAnaTqPExMBVJaEebExcX2ke9CJrXbdTcN8l4YcjjwtxjVPQa4n4S6z5eRFZs0LMGuoe4hYTPV7DJrgcDqLRIDwf9o72mxXtoA/oI/qMInSAjtB3dIbGiCCG/qFbdOdteV+8r95oLfU6Tc171Arv23/Re8dU</latexit>
✓2
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a1
<latexit sha1_base64="5+EuJPRVT3JaCpMd4mBmZ/sGy80=">AAAChHicbVFNT9wwEPWmlELoB9Ajl4jdSj1Uq5gWtacKRA9cECCxQLWJVo4zWayNHct2tlDLv6LX9of13+Ds5kCAkSw/vXkz8+zJZMm0ieP/veDFysvVV2vr4cbrN2/fbW5tX+qqVhRGtCordZ0RDSUTMDLMlHAtFRCelXCVzY6a/NUclGaVuDB3ElJOpoIVjBLjqZ+DQUgmOBwMJpv9eBgvInoKcAv6qI2zyVYPkryiNQdhaEm0HuNYmtQSZRgtwYVJrUESOiNTGHsoCAed2oVjF33wTB4VlfJHmGjBPqywhGt9xzOv5MTc6Me5hnw2l+umYWe6bVRKF7rL1nKqAGZdo/mcSd1avV167T7EFN9Sy4SsDQjqoihMBPyiFedE5DaZg3FjnNoEhK4VNIOtTZorK6I+ds53+wH+uxScePKwlDckA7OUyN/U2dML7OwCcWeZf4hfDH68hqfgcm+I94fx+V7/4Eu7ojW0g3bRR4TRV3SAjtEZGiGKOPqD/qJ/wWrwKfgc7C+lQa+teY86EXy/B89gx1M=</latexit>
✓1
<latexit sha1_base64="TGLK9xB3MHgvuQ8tUwave7yhQKo=">AAACiXicbVFNT9wwEPUG2tJAy0ePvUTdrcRpFSNQEScqOPRSlUosIG3SleNMdq2NHct2loLl/8GV/qv+mzq7OTTASJaf3ryZefZksmTaxPHfXrC2/ur1m4234ebWu/fbO7t7V7qqFYURrcpK3WREQ8kEjAwzJdxIBYRnJVxn87Mmf70ApVklLs2dhJSTqWAFo8R46tdgECZmBoZMcDgYTHb68TBeRvQc4Bb0URsXk90eJHlFaw7C0JJoPcaxNKklyjBagguTWoMkdE6mMPZQEA46tUvbLvrsmTwqKuWPMNGS/b/CEq71Hc+8khMz009zDfliLtdNw85026iULnSXreVUAcy7RvMFk7q1+nvltfsQUxynlglZGxDURVGYCLilFedE5DZZgHFjnNoEhK4VNIOtTZorK6I+ds53Owf/XQq+e/JrKWckA7OSyHvq7I9L7OwScWeZf4hfDH66hufg6mCIj4bxz4P+6WG7og30EX1C+wijL+gUfUMXaIQoUugBPaI/wWaAg+PgZCUNem3NB9SJ4Owf8QDJlg==</latexit>
• Les axes des articulations rotoïdes sont tous parallèles

• Choix le plus simple des repères: axes xi le long de la direction des segments
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correspondants (la direction de x0 est arbitraire) et tous situés dans le plan (x0 , y0 )
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<latexit sha1_base64="/APMfecaer4j02raq66UpSu3Qqg=">AAAChHicbVHJbtswEKWVZqmavcdehNoBcggMyUGQnIIE6SGXoikQZ4ElGBQ1cgiLFEFSzkLwK3ptPqx/U8rWoUo6AMGHN29mHjmpKKjSYfin4y19WF5ZXfvof1rf2Nza3tm9UWUlCQxJWZTyLsUKCsphqKku4E5IwCwt4DadXtT52xlIRUt+rZ8FJAxPOM0pwdpR972e/zQO/V5vvN0N++E8gvcgakAXNXE13ulAnJWkYsA1KbBSoygUOjFYakoKsH5cKRCYTPEERg5yzEAlZu7YBnuOyYK8lO5wHczZfysMZko9s9QpGdYP6m2uJv+by1TdsDXd1CqpctVmKzGRANO20WxGhWqsPi28th+i85PEUC4qDZzYIPBjDo+kZAzzzMQz0HYUJSYGrioJ9WBj4vpK86AbWeu6fQP3XRK+O/K8EA84Bb2QiBdizY/ryJo5YtZQ9xC3mOjtGt6Dm0E/OuqHPwfds0GzojX0BX1F+yhCx+gMXaIrNEQEMfQL/Uav3op34B16Rwup12lqPqNWeKd/Af1Gx2c=</latexit>
22
Manipulateur planaire à 3 segments
Segment ai ai di qi
1 a1 0 0 q1
2 a2 0 0 q2
3 a3 0 0 q3
Tableau des paramètres de DH
Toutes les articulations sont rotoïdes, donc la matrice de transformation

homogène a la même structure pour chaqu’une des trois articulations:
2 3
cos ✓i sin ✓i 0 ai cos ✓i
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6 sin ✓ cos ✓i 0 ai sin ✓i 7

6 i 7
Aii 1 (✓i ) = 6 7 , i 2 {1, 2, 3}
4 0 0 1 0 5
0 0 0 1
23
Manipulateur planaire à 3 segments
La matrice de transformation totale (à savoir, le modèle géometrique) est donc:
<latexit sha1_base64="ORbcCodhilauxAHdqGxIscv6mCA=">AAADzXicdVLLbhMxFJ1peJTh1cKSjUUKKiJE44kQbJBawYINSpGStlIcIo9zk1iZF2NPaDFmyx/xL0hs4Tu4Mx1C0lJLlo/Pvff4PhxmkVTa93+4G40rV69d37zh3bx1+87dre17hyotcgF9kUZpfhxyBZFMoK+ljuA4y4HHYQRH4fx1aT9aQK5kmvT0aQbDmE8TOZGCa6RG2253Z8djC9CmZz8Y345Mx+5W94/2CWGtV6xFqut+baaWtZYERSJYJYJK4G9cBBM9YC2PhTCViYm5zuWJ9QSqBOj1mDxTS+jj5iNKBO6niAJSudnq0iF1DFuojAswfpuK2DLm/RMQF6TUUkqtSqlLpPw6lJbnpdbKg0EyXpaD5edyOtND4mEvR1tNv+1Xi1wEtAZNp14HOAJg41QUMSRaRFypAfUzPTQ811JEgPqFAsxlzqcwQJjwGNTQVKO35BEyYzJJc9yJJhW7GmF4rNRpHKIn5jtT520l+V/bWJWCa6+XFc9yNVHrbJFNc4D5eqLjhcxUnerJWa7rhejJy6GRSVZoSIQlxGMJfBJpHHNsbfmf7IAODTZaFTmUDxvDyiOckCa1FtXeALYrh3dI7kfZjIf4ByuX7LOwptuj1lQotkZiITgYen4MF8Fh0KbP2/77oLnXqUe06TxwHjq7DnVeOHvOW+fA6TvC/e7+dH+5vxvdRtH40vh65rrh1jH3nbXV+PYHD88vpg==</latexit>
2 3
c123 s123 0 a1 c1 + a2 c12 + a3 c123
6s c123 0 a1 s1 + a2 s12 + a3 s123 7
0 0 1 2 6 123 7
T3 (q) = A1 A2 A3 = 6 7
4 0 0 1 0 5
0 0 0 1
où q = [✓1 , ✓2 , ✓3 ]T et c12 = cos(✓1 + ✓2 ), s123 = sin(✓1 + ✓2 + ✓3 )
<latexit sha1_base64="v21iExNUXqyUREgj9/bMta/43lw=">AAACsXicbVHLbtQwFPWER0t4dApLNhZTJBbVKJ6CygapCBZsEEWaaYsmYXCcmxlrYifYzkCx/CN8DVv4A/4GJ40EabmS5aNz3/ekVcG1iaLfg+Da9Rs3t7Zvhbfv3L23M9y9f6LLWjGYsbIo1VlKNRRcwsxwU8BZpYCKtIDTdP2q8Z9uQGleyqk5ryARdCl5zhk1nloMn+7thfEGjP3s8As8j80KDF2Q/Xi/g5O/8CD5OMWhT1gMR9E4ag1fBaQDI9TZ8WJ3AHFWslqANKygWs9JVJnEUmU4K8CFca2homxNlzD3UFIBOrHteg4/9kyG81L5Jw1u2X8zLBVan4vURwpqVvqyryH/68t0U7DX3TZRSue6z9bVUgGs+4NmG17pbtSvF7P2FzH588RyWdUGJHMYh7GEL6wUgsrMNld3c5LYGKSuFTSNrY2bL83xiDjnq70Gfy4Fbz35sqhWNPVKtSHVN+bsuylxtkXCWe4X8cKQyzJcBSeTMXk2jt5PRkekk2gbPUSP0BNE0CE6Qm/QMZohhr6jH+gn+hUcBB+CT0F6ERoMupwHqGfB+g8GqdfU</latexit>
<latexit sha1_base64="+ZLUCfur8uG39h8HUBXR2H3t/K0=">AAAC2HicbVHdatRAFJ6NfzX+bfXSm8Gt0KIsmS1ioQgVvfBGrNBti5sQJpOT3WGTyZCZrNZhwDvx1jfyMXwCb/UNnGQDmrYHhvn4znf+E5lzpYPg58C7cvXa9RsbN/1bt+/cvTfcvH+syrpiMGVlXlanCVWQcwFTzXUOp7ICWiQ5nCTLV43/ZAWV4qU40mcSooLOBc84o9pR8XC2teWz2JCJxS9wyEq1HeoFaBoT/AR3cLLzNNzHqlHttjLFxWWyf3B3x3d54+EoGAet4YuAdGCEOjuMNwcQpiWrCxCa5VSpGQmkjgytNGc5WD+sFUjKlnQOMwcFLUBFpt2CxY8dk+KsrNwTGrfs/xGGFkqdFYlTFlQv1HlfQ17qS1WTsFfdNKpKZarP1nJeASz7jaYrLlXX6qd1r/1BdLYXGS5krUEwi7EfCvjIyqKgIjXhCrSdkciEIFRdQVPYmLD5kgyPiLUu22tw66rgrSNf5nJBE9BrifzMrHl3RKxpUWENd4O4w5DzZ7gIjidj8mwcvJ+MDkh3og30ED1C24ig5+gAvUGHaIoY+oF+od/oj/fB++J99b6tpd6gi3mAeuZ9/wsX6+Rg</latexit>
Remarque:
Le repère 3 ne coïncide pas avec le repère de l’effecteur: en effet, la direction
de rapprochement de l’object à saisir par la pince est alignée avec le vecteur
unitaire x03 et pas avec z03 (cf. la diapo “Choix du repère de la pince”)
<latexit sha1_base64="iJakzFDiq4QB6HecSokO6nuUw6A=">AAACj3icbVHLTtwwFPWkLwhtmaHLbqIOlboaxSBEV9VU7aJdVIDEANIkHTnOzWBN7Fi2MwUs/0q37S/1b+qELAhwJcvH55778s1kybSJ43+D4MnTZ89fbGyGWy9fvd4ejnbOdFUrCjNalZW6yIiGkgmYGWZKuJAKCM9KOM9WXxr/+RqUZpU4NdcSUk6WghWMEuOpxXBndzdM1mDsjVvs/4xD/1wMx/Ekbi16CHAHxqiz48VoAEle0ZqDMLQkWs9xLE1qiTKMluDCpNYgCV2RJcw9FISDTm3bvIveeyaPikr5I0zUsncjLOFaX/PMKzkxl/q+ryEf9eW6SdirbhuV0oXus7VcKoBVv9F8zaTuWr267bU/iCk+ppYJWRsQ1EVRmAj4RSvOicht86dujlObgNC1gqawtUlzZUU0xs75bF/Bf5eCH578XMpLkvk9tBJ5Q509OsXOtog7y/wgfjH4/hoegrO9CT6YxCd74ynuVrSB3qJ36APC6BBN0Td0jGaIoiv0G/1Bf4NRcBh8Cqa30mDQxbxBPQu+/wfOfcsx</latexit>
<latexit sha1_base64="I1j2wOfwJ2G7nWWI/ktII53uAUg=">AAACj3icbVHLTtwwFPWkL0hfM3TZTdShUlejmKqiq2qqsqCLCpAYQJqkI8e5GayJHct2pgOWf4Vt+0v9mzohCwK9kuXjc899+WayZNrE8d9B8Ojxk6fPtrbD5y9evno9HO2c6apWFGa0Kit1kRENJRMwM8yUcCEVEJ6VcJ6tvjX+8zUozSpxaq4kpJwsBSsYJcZTi+HO7m6YrMHYjVt8/BmH/rkYjuNJ3Fr0EOAOjFFnx4vRAJK8ojUHYWhJtJ7jWJrUEmUYLcGFSa1BEroiS5h7KAgHndq2eRe990weFZXyR5ioZe9GWMK1vuKZV3JiLvV9X0P+15frJmGvum1UShe6z9ZyqQBW/UbzNZO6a3Vz22t/EFN8Ti0TsjYgqIuiMBHwi1acE5Hb5k/dHKc2AaFrBU1ha5PmyopojJ3z2Q7Af5eCH578WspLkvk9tBJ5TZ09OsXOtog7y/wgfjH4/hoegrO9Cf40iU/2xlPcrWgLvUXv0AeE0T6aokN0jGaIog26Qb/Rn2AU7AdfgumtNBh0MW9Qz4Lv/wDKO8sv</latexit>
Il faudra donc calculer:

T0e (q) = T03 (q) T3e
<latexit sha1_base64="7tatSn/4uLh7ChemlspAovO5o/o=">AAAC33icbVFNj9MwEHXD11K+unDkEtEiLVJVJVshuCAtggMXxCK1uyvVoXKcSddq7BjbKbtYPnNDXPlH/AX+BFc44mQjILuMZPn5zfP4eSaVBdMmir73gkuXr1y9tnW9f+Pmrdt3Btt3D3RZKQpzWhalOkqJhoIJmBtmCjiSCghPCzhM1y/q/OEGlGalmJlTCQknK8FyRonx1HKQjkZ9vAFjZ+6djdzSgttpzu/doxCPn+Fx2ElP/6bxGBs4MY0HmxYVOPtHOm0quTDsj0bLwTCaRE2EF0HcgiFqY3+53QOclbTiIAwtiNaLOJImsUQZRgtwfVxpkISuyQoWHgrCQSe2MeLCh57JwrxUfgkTNuy/NyzhWp/y1Cs5Mcf6fK4m/5vLdF2w87qtVUrnustWcqUA1l2j2YZJ3Vo9OfPa/YjJnyaWCVkZELRuHRbwgZacE5E1nXWLOLEYhK4U1A9bi+stzcNh7Jyv9hJ8uxS89uTzQh6T1E+jkciP1Nk3s9jZBnFnmf+IH0x8fgwXwcHuJH48id7uDvem7Yi20H30AO2gGD1Be+gV2kdzRNE39AP9RL8CEnwKPgdfzqRBr71zD3Ui+PobkxPtfw==</latexit>
où, si les deux repères ont la même origine, la transformation constante T3e
<latexit sha1_base64="ABP3zh13TBFhRicpU3xuZUAJdWs=">AAAClHicbVHLTtwwFPWEPuj0wUClsmATdaZSV6OYqioLFlS0UjcFKs0A0iQdOc7NYE3sWLYzQC1/DVv6Qf2bOiGLBnoly0fnnvtOZcG0iaI/vWDt0eMnT9ef9Z+/ePlqY7C5darLSlGY0rIo1XlKNBRMwNQwU8C5VEB4WsBZujys/WcrUJqVYmKuJSScLATLGSXGU/PB9mjUj1dg7MT9tB/c3IILw/5oNB8Mo3HUWPgQ4BYMUWsn880exFlJKw7C0IJoPcORNIklyjBagOvHlQZJ6JIsYOahIBx0YpsJXPjOM1mYl8o/YcKG/TfCEq71NU+9khNzoe/7avK/vkzXCTvVba1SOtddtpILBbDsNpqtmNRtq1d3vXYHMfleYpmQlQFB69XFAi5pyTkRma0X62Y4sTEIXSmoC1sb11+ah0PsnM/2Bfy6FHz35OdCXpDUH6ORyF/U2eMJdrZB3FnmB/GHwffP8BCc7o7xx3H0Y3d4gNsTraMd9Ba9Rxh9QgfoGzpBU0SRQzfoFv0O3gT7wWHw9U4a9NqY16hjwdFfTvzNmA==</latexit>
(une rotation pure autour de l’axe y ) est:

<latexit sha1_base64="TrEwoMIREHe/eFzzXzIq70TURKI=">AAACgnicbVHBTtwwEPWm0NJAC7THXqLuVqp6WMWLUDlwAJVDL6hUYlmkTYQcZ7JYGzuW7Wy7WP6IXumX9W9wdnNogJEsP715M/PsyWTJtInjf73gxcbmy1dbr8PtnTdvd/f2313pqlYUxrQqK3WdEQ0lEzA2zJRwLRUQnpUwyebfmvxkAUqzSlyapYSUk5lgBaPEeGoyGITLcDC42evHw3gV0VOAW9BHbVzc7PcgyStacxCGlkTrKY6lSS1RhtESXJjUGiShczKDqYeCcNCpXfl10SfP5FFRKX+EiVbs/xWWcK2XPPNKTsytfpxryGdzuW4adqbbRqV0obtsLWcKYN41mi+Y1K3V32uv3YeY4ii1TMjagKAuisJEwC9acU5EbpMFGDfFqU1A6FpBM9japLmyIupj53y3M/DfpeDck6elvCUZmLVE3lFnf1xiZ1eIO8v8Q/xi8OM1PAVXoyE+HMY/R/2TUbuiLfQBfUSfEUZf0Qn6ji7QGFE0R3/QPfobbARfAhwcrKVBr615jzoRHD8AhUDGxQ==</latexit>
2 3 <latexit sha1_base64="5CrJ53ez7YrpAgcG47anssde+I8=">AAADvHicdVJLj9MwEHY2PJbw2oUjl4gWtEilxK0QXFgtggMXxILa3ZXqUjnOpLUaJ1HslC2Wfw6/hisc+Dc4aejSfViyPPpmvplvZhzmCZcqCP44W+616zdubt/ybt+5e+/+zu6DI5mVBYMhy5KsOAmphISnMFRcJXCSF0BFmMBxOH9X+Y8XUEiepQO1zGEs6DTlMWdUWWiy6+y32x5ZgNID81X3zUSD8UnnDen4JIFYjUjHIyFMeaoFVQU/NavoL2ay3CM5f9F75j/1ayiw5L5PFBcgfWzIQuaUgQ66mAlDiLcOwv+C+sZysUcgjc6yd0jBpzM1XqnwrlIRWGp1cfWe1QqaYmvX5e7na9/V9HWFqwT6Xrs92WlZVn38iwZujBZqzqGdOJAoY6WAVLGESjnCQa7GmhaKswRs/lKCVTOnUxhZM6V2UmNdb9r4TywS+XFW2Jsqv0b/Z2gqpFyK0EZavTN53leBl/oiWSXcqF51PCtkLDfRMp8WAPNNodGC57KRerrSutmIil+PNU/zUkHKjB0dSeEby4SgdrTVzzAjPNZ20LIsoCqsNameMPZb2Bib7T3YcRXw0YJvk3xGQ/ub6pD8OzP60wAbXVvCaG4bsYvB59dw0TjqdfHLbvC51zroNSvaRo/QY7SHMHqFDtAHdIiGiDk/nJ/OL+e3u+9G7twVq9Atp+E8RBvHXfwFOBMq8g==</latexit>
" # 0 0 1 0
Ry (⇡/2) 03⇥1 6 0 1 0 07
T3e = = 6
4 1 0 0 05
7
01⇥3 1
0 0 0 1
24

RobInd Ch3p1

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Robotique Industrielle

UPJV, Département EEA

M1 3EA, Parcours RoVA, EC15

Lundi 13h30-16h30 (CM ou TD, salle CURI 305)

Année Universitaire 2021-2022

1.2 Constituants d’un robot

1.3 Classification des robots

1.4 Caractéristiques d’un robot

1.5 Générations de robots

1.6 Programmation des robots

1.7 Utilisation des robots

Chapitre 2 : Fondements Théoriques

2.1 Pose d’un corps rigide

Chapitre 3 : Modélisation d’un Robot

3.1 Modèle géométrique

3.2 Modèle cinématique

La conception et la commande d’un robot nécessitent le calcul de certains

• Les modèles géométriques direct et inverse qui expriment la pose

• Les modèles cinématiques direct

l’effecteur en fonction des vitesses

• Les modèles dynamiques définissant

Il faut donc un référentiel commun afin de ramener les diverses

vecteur des variables

Modèle géométrique direct (MGD): Étant données les positions

Modèle géométrique inverse (MGI): Étant donnée une pose de

Par rapport au repère de la base Ob -xb yb zb , le modèle géométrique direct

est exprimé par la matrice de transformation homogène suivante:

: vecteurs unitaires du repère de l’effecteur exprimés par rapport à la base

: vecteur qui décrit l’origine du repère de l’effecteur par rapport à la base

Segm. 1 Segm. 2 ....... Segm.

Articul. 1 Articul. 2 Articul. 3 Articul. n 1 Articul. n

Manipulateur à chaîne ouverte simple avec n + 1 segments liés par n

articulations (rotoïdes ou prismatiques):

Procédure pour déterminer

le modèle géométrique direct:

2. Determiner la transformation de coordonnées entre deux segments

3. Déterminer, de façon recursive, la transformation totale entre le repère n

T0n (q) = A01 (q1 ) A12 (q2 ) · · · Ann 1

Attention: la transformation de coordonnées effective qui décrit la pose

Tbe (q) = Tb0 T0n (q) Tne

Matrice de transformation (constante)

• Origin Oe : au centre de la pince

• Axe ze : direction de rapprochement de l’objet à saisir

• Axe ye : orthogonal à ze dans le plan de glissement des becs de la pince

• Axe xe : orthogonal aux autres axes, pour avoir un repère

Procédure à suivre pour déterminer le modèle géométrique direct:

Solution : Convention de Denavit-Hartenberg (DH)

1. Choisir l’axe zi le long de l’axe de l’articulation i + 1

2. Placer l’origine Oi à l'intersection de l'axe zi avec la normale commune*

aux axes zi 1 et zi . Placer aussi Oi0 à l’intersection de la normale

commune avec l’axe zi 1

3. Choisir l’axe xi le long de la normal commune aux axes zi 1 et zi

avec sens de l’articulation i à l’articulation i + 1

4. Choisir l’axe yi pour completer le triplet d’un repère direct

(on utilise la règle de la main droite)

Remarque [Cas particuliers]:

• Pour le repère 0: seulement la direction de l’axe z0 est specifiée.

Par consequent, O0 et x0 peuvent être choisis arbitrairement

• Pour le repère n : puisqu'il n'y a pas l’articulation n + 1 , zn n’est pas

défini de manière unique, tandis que xn doit être orthogonal à l’axe zn 1.

Typiquement, l’articulation n est rotoïde et donc zn doit être aligné

• Si deux axes consécutifs sont parallèles (↵i = 0), la normale commune

• Si deux axes consécutifs se coupent ( ai = 0), le sens de xi est arbitraire.