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BI TP CHNG MN ROBOT CNG NGHIP

Cho m hnh robot:

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1. Tnh bc t do ca robot.
2. M hnh ha robot v dng n gin
3. T t h ta cho robot(gm h ta gn vi gi c nh v h ta gn ti trng tm
mi khu).Vit cc ma trn cosin ch hng tng ng, t tnh vn tc gc, gia tc gc
tng i v tuyt i ca cc khu.
4. Tnh ma trn m men qun tnh i vi mi khu (tham kho ti liu c hc phn ng hc,
ng lc hc)
5. S dng phng php DH gii bi ton ng hc thun cho robot. (Ch th hin cc h
ta trn c bn v 3D v m hnh n gin)
6. Gii bi ton ng hc ngc cho robot. Kho st th bin i ca cc ta suy rng khi
bit qu o im chp hnh cui (i theo mt ng trn ).
7. Vit h phng trnh vi phn ca robot.
8. Gii bi ton ng lc hc ngc vi qu o chuyn ng trn. Kho st th lc pht
ng cho cc khp ch ng.
9. Tm min lm vic ca robot
10. Nu mt vi ng dng ca m hnh robot trn.
Yu cu v trnh by:
1. Bi tp chngc in trn mt mt giy trng kh A4 (210 x 297mm), c mc lc t ng ,
mc lc hnh v, bng biu, th v danh mc ti liu tham kho.
2. Bi tp chng s dng ch Times New Roman c 13 H son tho Winword hoc tng
ng; mt ch bnh thng, khng c nn hoc ko dn khong cch gia cc ch; dn
dng t ch 1,5 lines; l trn 3,5cm; l di 3,0cm; l tri 3,5cm, l phi 2 cm. S trang
c nh gia, pha di trang giy.
3. G cng thc s dng phn mm Mathtype.

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