您好,欢迎访问三七文档
当前位置:首页 > 机械/制造/汽车 > 综合/其它 > LJY-5机器人的雅可比矩阵
Power Electronics & Electrical DrivePower Electronics & Electrical DriveLabLab5Click to buy NOW!PDFXCHANGEtrack.comClick to buy NOW!PDFXCHANGEtrack.comPower Electronics & Electrical DrivePower Electronics & Electrical DriveLabLab2/13Click to buy NOW!PDFXCHANGEtrack.comClick to buy NOW!PDFXCHANGEtrack.comPower Electronics & Electrical DrivePower Electronics & Electrical DriveLabLab3/13nm:)(f=r[][]121121,,,,××∈⋅⋅⋅⋅=∈⋅⋅⋅⋅=nTnmTmrrrRRrθθθ),,2,1(),,(21mjfrnjj⋅⋅⋅=⋅⋅⋅⋅=θθθ&5.1Click to buy NOW!PDFXCHANGEtrack.comClick to buy NOW!PDFXCHANGEtrack.comPower Electronics & Electrical DrivePower Electronics & Electrical DriveLabLab4/13&&Jr=nmnmmnTfffff×∈⎥⎥⎥⎥⎥⎥⎦⎤⎢⎢⎢⎢⎢⎢⎣⎡∂∂∂∂∂∂⋅⋅⋅∂∂=∂∂=RJθθθθ1111)(MMddJr=&5.1Click to buy NOW!PDFXCHANGEtrack.comClick to buy NOW!PDFXCHANGEtrack.comPower Electronics & Electrical DrivePower Electronics & Electrical DriveLabLab5/1312211CLCLx+=12211SLSLy+=)sin();cos(;sin;cos211221121111θθθθθθ+=+===SCSC1222122111,SLxSLSLx-=∂∂--=∂∂θθ1121221212,yyLCLCLCθθ∂∂=+=∂∂⎥⎦⎤⎢⎣⎡+---=1221221112212211SLCLCLSLSLSLJ&5.1Click to buy NOW!PDFXCHANGEtrack.comClick to buy NOW!PDFXCHANGEtrack.comPower Electronics & Electrical DrivePower Electronics & Electrical DriveLabLab6/13Click to buy NOW!PDFXCHANGEtrack.comClick to buy NOW!PDFXCHANGEtrack.comPower Electronics & Electrical DrivePower Electronics & Electrical DriveLabLab7/13[]1221,×∈=RJJJJi⎥⎦⎤⎢⎣⎡-=⎥⎦⎤⎢⎣⎡+--=122122212211122111,CLSLCLCLSLSLJJ2211θθ&&&JJr+=&5.2 )cos(cos21211θθθ++=LLx)sin(sin21211θθθ++=LLyClick to buy NOW!PDFXCHANGEtrack.comClick to buy NOW!PDFXCHANGEtrack.comPower Electronics & Electrical DrivePower Electronics & Electrical DriveLabLab8/131122111221112211122111,0110)2/cos()2/sin()2/sin()2/cos(Jp=⎥⎦⎤⎢⎣⎡+--=⎥⎦⎤⎢⎣⎡++⎥⎦⎤⎢⎣⎡-=⎥⎦⎤⎢⎣⎡-CLCLSLSLSLSLCLCLEππππ21221221221222,0110)2/cos()2/sin()2/sin()2/cos(Jp=⎥⎦⎤⎢⎣⎡-=⎥⎦⎤⎢⎣⎡⎥⎦⎤⎢⎣⎡-=⎥⎦⎤⎢⎣⎡-CLSLSLCLEππππ&5.2 90Click to buy NOW!PDFXCHANGEtrack.comClick to buy NOW!PDFXCHANGEtrack.comPower Electronics & Electrical DrivePower Electronics & Electrical DriveLabLab9/13Click to buy NOW!PDFXCHANGEtrack.comClick to buy NOW!PDFXCHANGEtrack.comPower Electronics & Electrical DrivePower Electronics & Electrical DriveLabLab10/130001limlimlim()()tttvdxwtdDxtJqqtDJqdqδδΔ→Δ→Δ→⎡⎤⎡⎤==⎢⎥⎢⎥Δ⎣⎦⎣⎦⎡⎤==Δ=Δ⎢⎥⎣⎦=&&&12121122121212vxvxvxnxvyvyvynyvzvzvznzwxwxwxnxwywywynnywzwzwznzJJJvJJJqvJJJqvJJJwJJJqwJJJw⎡⎤⎡⎤⎢⎥⎢⎥⎡⎤⎢⎥⎢⎥⎢⎥⎢⎥⎢⎥⎢⎥=⎢⎥⎢⎥⎢⎥⎢⎥⎢⎥⎢⎥⎢⎥⎢⎥⎢⎥⎣⎦⎢⎥⎢⎥⎢⎥⎢⎥⎣⎦⎣⎦L&L&LLM&LL&5.3 Click to buy NOW!PDFXCHANGEtrack.comClick to buy NOW!PDFXCHANGEtrack.comPower Electronics & Electrical DrivePower Electronics & Electrical DriveLabLab11/13,00iiiivzzqJw⎡⎤⎡⎤⎡⎤==⎢⎥⎢⎥⎢⎥⎣⎦⎣⎦⎣⎦&,ioioininiiiivzpzpqJwzz⎡⎤⎡⎤××⎡⎤==⎢⎥⎢⎥⎢⎥⎣⎦⎣⎦⎣⎦&nioionipRp=&5.3 Click to buy NOW!PDFXCHANGEtrack.comClick to buy NOW!PDFXCHANGEtrack.comPower Electronics & Electrical DrivePower Electronics & Electrical DriveLabLab12/13&5.3 Click to buy NOW!PDFXCHANGEtrack.comClick to buy NOW!PDFXCHANGEtrack.com
本文标题:LJY-5机器人的雅可比矩阵
链接地址:https://www.777doc.com/doc-6328688 .html