Professional Documents
Culture Documents
de Robs
Cinemtica direta
Coordenadas articulares: r,
r1
1
x
Coordenadas articulares: r,
Mtodo geomtrico:
r1
x =r1 cos1
y =r1sen1
( x, y )
Coordenadas articulares: r,
Mtodo geomtrico:
( x, y )
r2
r1
1
x
Coordenadas articulares: r,
Mtodo geomtrico:
( x, y )
r2
r1
0
0
1
1 0 r2 0
0 1 0 0
0 0 1 1
r2
x
c 2
s
2
0
s 2
c 2
0
0 1 0 r2 0
0 0 1 0 0
1 0 0 1 1
r2
2
x
1 0 r1 c 2
0 1 0 s
2
0 0 1 0
0 1 0 r2 0
0 0 1 0 0
1 0 0 1 1
s 2
c 2
0
r2
r1
2
x
0
c
0
1
2
1
1 0
0
1 0 0 1 0
0
1 0 0 1 1
0
1
A1
A2
y
( x, y )
r2
r1
1
x
x c(1 2 )
y s( )
1 2
1
0
s(1 2 ) r1 c 1 r2 c(1 2 ) 0
c(1 2 ) r1 s 1 r2 s(1 2 ) 0
1
0
1
y
( x, y )
r2
r1
1
x
0 s
0 0
1
0
0
1
0
0
0
0
1
0
0
s
c
0
0
0
r
0
0
0
s(1 2 ) r1 c 1 r2 c(1 2 ) 0
c(1 2 ) r1 s 1 r2 s(1 2 ) 0
1
0
1
O equivalente em 3D:
x c(1 2 )
y s( )
1 2
z
0
0
1
s(1 2 )
c(1 2 )
0
0
0 r1 c 1 r2 c(1 2 ) 0
0 r1 s 1 r2 s(1 2 ) 0
0
1
0
0
1
1
Ai
A2 =0 A1 1 A2