De Cuong Thi Robot Cong Nghiep

BI TP LN: RBT CNG NGHIP
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Cu hi n tp ch-ng i
Cu 1: nh ngha robot cng nghip? Nu cc ng dng ca
robot cng nghip?
Hin nay c nhiu nh ngha v Robot, c th im qua mt
s nh ngha nh- sau :
nh ngha theo tiu chun AFNOR (Php) :
Robot cng nghip l mt c cu chuyn ng t ng c th
lp trnh, lp li cc ch-ng trnh, tng hp cc ch-ng
trnh t ra trn cc trc to ; c kh nng nh v,
nh h-ng, di chuyn cc i t-ng vt cht : chi tit,
dao c, g lp . . . theo nhng hnh trnh thay i
ch-ng trnh ho nhm thc hin cc nhim v cng ngh
khc nhau.
nh ngha theo RIA (Robot institute of America) :
Robot l mt tay my vn nng c th lp li cc ch-ng
trnh -c thit k di chuyn vt liu, chi tit, dng
c hoc cc thit b chuyn dng thng qua cc ch-ng
trnh chuyn ng c th thay i hon thnh cc nhim
v khc nhau.
nh ngha theo OCT 25686-85 (Nga) :
Robot cng nghip l mt my t ng, -c t c nh
hoc di ng -c, lin kt gia mt tay my v mt h
thng iu khin theo ch-ng trnh, c th lp trnh li
hon thnh cc chc nng vn ng v iu khin trong
qu trnh sn xut.
C th ni Robot cng nghip l mt my t ng linh hot
thay th tng phn hoc ton b cc hot ng c bp v
hot ng tr tu ca con ng-i trong nhiu kh nng thch
nghi khc nhau.
Robot cng nghip c kh nng ch-ng trnh ho linh hot
trn nhiu trc chuyn ng, biu th cho s bc t do ca
chng. Robot cng nghip -c trang b nhng bn tay my
hoc cc c cu chp hnh, gii quyt nhng nhim v xc
nh trong cc qu trnh cng ngh : hoc trc tip tham
gia thc hin cc nguyn cng (sn, hn, phun ph, rt kim

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loi vo khun c, lp rp my . . .) hoc phc v cc
qu trnh cng ngh (tho lp chi tit gia cng, dao c,
g . . .) vi nhng thao tc cm nm, vn chuyn v
trao i cc i t-ng vi cc trm cng ngh, trong mt
h thng my t ng linh hot, c gi l H thng t
ng linh hot robot ho cho php thch ng nhanh v thao
tc n gin khi nhim v sn xut thay i.
Cc ng dng ca robot cng nghip:
T khi mi ra i robot cng nghip -c p dng trong
nhiu lnh vc d-i gc thay th sc ng-i. Nh vy cc
dy chuyn sn xut -c t chc li, nng sut v hiu
qu sn xut tng ln r rt.
Mc tiu ng dng robot cng nghip nhm gp phn nng
cao nng sut dy chuyn cng ngh, gim gi thnh, nng
cao cht l-ng v kh nng cnh tranh ca sn phm ng
thi ci thin iu kin lao ng. t -c cc mc tiu
trn l nh vo nhng kh nng to ln ca robot nh- : lm
vic khng bit mt mi, rt d dng chuyn ngh mt cch
thnh tho, chu -c phng x v cc mi tr-ng lm vic
c hi, nhit cao, cm thy c c t trng v
nghe c c siu m ... Robot c dng thay th con
ng-i trong cc tr-ng hp trn hoc thc hin cc cng
vic tuy khng nng nhc nh-ng n iu, d gy mt mi,
nhm ln.
Trong ngnh c kh, robot -c s dng nhiu trong cng
ngh c, cng ngh hn, ct kim loi, sn, phun ph kim
loi, tho lp vn chuyn phi, lp rp sn phm . . .
Ngy nay xut hin nhiu dy chuyn sn xut t
ng gm cc my CNC vi Robot cng nghip, cc dy chuyn
t mc t ng ho cao, mc linh hot cao . . .
y cc my v robot -c iu khin bng cng mt h
thng ch-ng trnh.
Ngoi cc phn x-ng, nh my, k thut robot cng -c s
dng trong vic khai thc thm lc a v i d-ng, trong
y hc, s dng trong quc phng, trong chinh phc v tr,

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trong cng nghip nguyn t, trong cc lnh vc x hi . .
.
R rng l kh nng lm vic ca robot trong mt s iu
kin v-t hn kh nng ca con ng-i; do n l ph-ng
tin hu hiu t ng ho, nng cao nng sut lao ng,
gim nh cho con ng-i nhng cng vic nng nhc v c
hi. Nh-c im ln nht ca robot l ch-a linh hot nh-
con ng-i, trong dy chuyn t ng, nu c mt robot b
hng c th lm ngng hot ng ca c dy chuyn, cho nn
robot vn lun hot ng d-i s gim st ca con ng-i.
Cc ng dng c th ca robot:
ng dng robot trong cng nghip: Robot gp vt liu
hn im, phun sn, phc v my cng c lm khun trong
cng nghip nha.
ng dng robot trong phng th nghim: dng thc
hin cc cng vic th cng, thc hin cc cng vic lp
i lp li.
ng dng robot trong thao tc cn khuch i lc: Dng
trong nhng khu vc nguy him(phng x ) bc d hng ha,
vt liu, phi c trng l-ng ln cng knh trong cc
nghnh cng nghip nng
ng dng robot trong nng nghip: Robot ct lng cu,
m x tht heoTrong lnh vc ny robot m nhim c ngay
cc cng vic mang tnh lp li, nhiu thao tc i hi s
phi hp tay ngh cao v s lanh li ca i mt.
ng dng robot trong khng gian: Tay my -c ch to
nhm tng c-ng kh nng bc d hng ha tip t, lp ghp
vi cc trm khng gian khc nhau. Cc xe t hnh trang b
tay my linh hot, cc robot cng dng chung trong cc
trm khng gian, bo tr v tinh, xy dng trong khng
gian
ng dng robot trong tu ln: Pht trin cc tu ln
khng ng-i li trong cng tc kim tra, d tm, bo tr
thm him d-i y i d-ng.

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ng dng robot trong gio dc: Robot -c s dng lm
ph-ng tin ging dy trong cc ch-ng trnh gio dc.
Robot -c kt hp vi ngn ng LOGO ging dy v nhn
thc my tnh, to ra phng hc robot.
ng dng robot trong h tr ng-i tn tt: thng qua
xung no iu khin cc tay my lm nhng thao tc mong
mun, nhng b phn thay th c th.
ng dng robot trong sinh hot v gii tr: Cc loi
chi tr em, robot htoong minh s dng trong nh v vn
phng

Cu 2: Nu khi nim min lm vic, bc t do? C nhng
loi khp no? Bc t do ca mi loi?
Khi nim min lm vic ca robot:
Min lm vic (hay vng lm vic, tr-ng cng tc,
khng gian cng tc) ca robot l ton b th tch -c
qut bi khu chp hnh cui khi robot thc hin tt c
cc chuyn ng c th. Min lm vic b rng buc bi cc
thng s hnh hc ca robot cng nh- cc rng buc c hc
ca cc khp; v d, mt khp quay c chuyn ng nh hn
mt gc 360
0
. Ng-i ta th-ng dng hai hnh chiu m t
min lm vic ca mt robot.


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Bc t do ca robot (DOF : Degrees Of Freedom) :
Bc t do l s kh nng chuyn ng ca mt c
cu (chuyn ng quay hoc tnh tin) trong khng gian
hot ng. dch chuyn -c mt vt th trong khng
gian, c cu chp hnh ca robot phi t -c mt s
bc t do. Ni chung c h ca robot l mt c cu h,
do bc t do ca n c th tnh theo cng thc :
=
=
5
1
. 6
i
i
p i n w

y: w - S bc t do ca tay my.
n - S khp ca tay my;

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p
i
- S khp loi i (i = 1,2,. . .,5 : S bc t do b
hn ch hay loi khp).
i vi cc c cu c cc khu -c ni vi nhau bng
khp quay hoc tnh tin (khp ng loi 5) th s bc t
do bng vi s khu ng . i vi c cu h, s bc t do
bng tng s bc t do ca cc khp ng.
nh v v nh h-ng khu chp hnh cui mt cch
tu trong khng gian 3 chiu robot cn c 6 bc t do,
trong 3 bc t do nh v v 3 bc t do nh
h-ng. Mt s cng vic n gin nng h, sp xp... c
th yu cu s bc t do t hn. Cc robot hn, sn...
th-ng yu cu 6 bc t do. Trong mt s tr-ng hp cn s
kho lo, linh hot hoc khi cn phi ti -u ho qu
o,... ng-i ta dng robot vi s bc t do ln hn 6.
Cc bc chuyn ng -c phn ra bc chuyn ng c bn
(chuyn ng nh v) v bc chuyn ng b xung (chuyn
ng nh h-ng).
Chuyn ng c bn th-ng l chuyn ng tnh tin
hoc l chuyn ng quay, mi bc chuyn ng c ngun dn
ng ring.
Chuyn ng b xung th-ng l cc chuyn ng quay
nhm tng kh nng linh hot, m bo cho khu chp hnh
cui hon thnh nhim v.
Khp v bc t do ca mi loi:
Ty theo cu trc, mi khp hn ch mt s chuyn ng
gia 2 khu. B mt tip xc ca mi khu ti khp gi l
mt thnh phn khp. Hai thnh phn khp to thnh mt
khp ng. Khp ng c th phn thnh khp thp v khp
cao ty thuc vo dng tip xc.
Khp thp : nu hai thnh phn tip xc l mt.
Khp cao : nu hai thnh phn tip xc l im hoc
-ng.
C 6 loi khp thp v hai loi khp cao c bn th-ng
dng trong cc c cu my v cc robot l:

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Khp quay (Revolute Joint - R): khp li chuyn ng
quay ca khu ny i vi khu khc quanh 1 trc quay.
Ngha l khp quay hn ch 5 kh nng chuyn ng t-ng
i gia hai thnh phn khp v c 1 bc t do. Khp quay
th-ng -c gi l khp bn l.
Khp lng tr (Prismatic Joint - P): Cho php hai khu
tr-t trn nhau theo 1 trc. Do khp lng tr hn ch 5
kh nng chuyn ng t-ng i gia hai khu v c 1 bc
t do. Ng-i ta cn gi khp lng tr l khp tnh tin
(Join - T).
Khp tr (Cylindrical Joint - C): Cho php 2 chuyn ng
c lp gm 1 chuyn ng quay quanh trc v chuyn ng
tnh tin dc trc quay. Do khp tr hn ch 4 kh nng
chuyn ng gia 2 khu v c 2 bc t do.
Khp ren (Helical Joint - H): Cho php chuyn ng quay
quanh trc ng thi tnh tin theo trc quay. Tuy nhin
chuyn ng tnh tin ph thuc vo chuyn ng quay bi
b-c ca ren vt. Do khp ren hn ch 5 kh nng chuyn
ng t-ng i gia hai khu v cn lai 1 bc t do.
Khp cu (Spherical Joint - S): Cho php thc hin chuyn
ng quay gia 2 thnh phn khp quanh tm cu theo tt c
cc h-ng , nh-ng khng c chuyn ng tnh tin gia 2
thnh phn khp ny. Do khp cu hn ch 3 kh nng
chuyn ng v cn li 3 bc t do.
Khp phng (Plane Joint - E): Cho 2 kh nng chuyn ng
tnh tin theo 2 trc trong mt phng tip xc v mt kh
nng quay quanh trc vung gc vi mt phng tip xc. Do
khp cu hn ch 3 kh nng chuyn ng v cn li 3
bc t do.
Khp bnh rng (Geat Pair - G): Cho hai bnh rng n khp
vi nhau cc mt rng tip xc y nhau chng th-ng tr-t
trn nhau. Do khp bnh rng phng hn ch 4 kh nng
chuyn ng t-ng i gia 2 thnh phn khp cn li 2 bc
t do.

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Khp cam phng (Cam Pi - Cp): T-ng t nh- khp bnh rng
hai thnh phn khp lun tip xc vi nhau. Do , khp
cam phng c 2 bc t do.

Cu 3: Cng thc tnh bc t do ca tay my? Tnh bc t
do ca nhng tay my sau:
Cng thc tnh bc t do ca tay my:
=
=
5
1
. 6
i
i
p i n w

Trong : w - S bc t do ca tay my.
n - S khp ca tay my;
p
i
- S khp loi i (i = 1,2,. . .,5 : S bc t do b
hn ch hay loi khp).
Tnh bc t do ca nhng tay my sau:

Hnh a Hnh b Hnh c

Hnh a: S khp n = 4

i 1 2 3 4 5
p
i
0 0 0 2 2

Vy: S bc t do ca tay my l:
ADCT:
=
=
5
1
. 6
i
i
p i n w

Thay s:
6 ) 2 . 5 2 . 4 ( 4 . 6 = + = w


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Hnh b: S khp n = 4

i 1 2 3 4 5
p
i
0 0 1 1 2

ADCT:
=
=
5
1
. 6
i
i
p i n w

Thay s:
7 ) 2 . 5 1 . 4 1 . 3 ( 4 . 6 = + + = w

Hnh c: S khp n = 4

i 1 2 3 4 5
p
i
0 0 0 1 3

ADCT:
=
=
5
1
. 6
i
i
p i n w

Thay s:
5 ) 3 . 5 1 . 4 ( 4 . 6 = + = w

Hnh d Hnh e
Hnh f

Hnh d: S khp n = 4

i 1 2 3 4 5

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p
i
0 0 1 1 2

ADCT:
=
=
5
1
. 6
i
i
p i n w

Thay s:
7 ) 2 . 5 1 . 4 1 . 3 ( 4 . 6 = + + = w

Hnh e: S khp n = 4

i 1 2 3 4 5
p
i
0 0 2 0 2

ADCT:
=
=
5
1
. 6
i
i
p i n w

Thay s:
8 ) 2 . 5 2 . 3 ( 4 . 6 = + = w

Hnh f: S khp n = 4

i 1 2 3 4 5
p
i
0 0 1 0 3

ADCT:
=
=
5
1
. 6
i
i
p i n w

Thay s:
6 ) 3 . 5 1 . 3 ( 4 . 6 = + = w


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Hnh g Hnh h
Hnh i
Hnh g: S khp n = 3

i 1 2 3 4 5
p
i
0 0 0 1 2

ADCT:
=
=
5
1
. 6
i
i
p i n w

Thay s:
4 ) 2 . 5 1 . 4 ( 3 . 6 = + = w

Hnh h: S khp n = 3

i 1 2 3 4 5
p
i
0 0 0 0 3

ADCT:
=
=
5
1
. 6
i
i
p i n w

Thay s: 3 3 . 5 3 . 6 = = w

Hnh i: S khp n = 4

i 1 2 3 4 5
p
i
0 0 0 1 3

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ADCT:
=
=
5
1
. 6
i
i
p i n w

Thay s:
5 ) 3 . 5 1 . 4 ( 4 . 6 = + = w

Cu 4: Phn loi robot cng nghip theo h thng dn ng
v khng gian lm vic?
Phn loi theo h thng truyn ng :
C cc dng truyn ng ph bin l :
H truyn ng in : Th-ng dng cc ng c in 1
chiu (DC : Direct Current) hoc cc ng c b-c (step
motor). Loi truyn ng ny d iu khin, tc ng nhanh
v chnh xc, kt cu gn, gi thnh khng cao, mmen quay
cao, trng l-ng gim v p ng nhanh, p dng -c k
thut iu khin phc tp. Tuy nhin, bn cht l tc
cao, khe h bnh rng lm gim chnh xc, gy qu
nhit khi qu ti, cn s dng phanh ghim v tr v
khp.
H truyn ng thu lc : c th t -c cng sut
cao, p ng nhng iu kin lm vic nng, tc chy
m, c th kha cng khp ti v tr xc nh (khng nn
-c), an ton p sut chy n. Tuy nhin h thng thu
lc th-ng c kt cu cng knh, chi ph cao, khng thch
hp cho c cu quay vi tc nhanh, cn c -ng hi
du, tn ti phi tuyn ln kh x l khi iu khin.
H truyn ng kh nn : c kt cu gn nh hn do
khng cn dn ng-c, gi thnh khng cao, kh thi khng
gy nhim mi tr-ng nh-ng li phi gn lin vi trung
tm ta ra kh nn, gy n kh iu chnh tc , phi s
dng b lc. H ny lm vic vi cng sut trung bnh v
nh, km chnh xc, th-ng ch thch hp vi cc robot
hot ng theo ch-ng trnh nh sn vi cc thao tc n

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gin nhc ln - t xung (Pick and Place or PTP :
Point To Point).
Phn loi theo dng khng gian lm vic:
Khng gian lm vic ca c cu chp hnh -c xc
nh l th tch khng gian tc ng c th vi ti.
Th-ng s dng hai nh ngha v khng gian lm vic.
Th nht l khng gian c th vi ti, th tch khng
gian trong c cu tc ng c th vi ti tng im
theo t nht 1 chiu. Th hai l khng gian linh hot,
th tch khng gian trong c cu tc ng c th
vi ti tng im theo mi chiu c th. Khng gian
linh hot l mt phn ca khng gian c th vi ti.
Mt s robot cu trc ni tip in hnh:
Robot kiu to cc (Robot ta vung gc):
l tay my c 3 chuyn ng c
bn tnh tin theo ph-ng ca
cc trc h to gc (cu
hnh T.T.T). Tr-ng cng tc c
dng khi ch nht. Do kt cu
n gin, loi tay my ny c
cng vng cao, chnh xc
c kh d m bo v vy n
thung dng vn chuyn phi
liu, lp rp, hn trong mt phng

Robot kiu to tr : Vng
lm vic ca robot c dng hnh
tr rng. Th-ng khp th nht
chuyn ng quay, cc khp cn
li chuyn ng tnh tin hoc
c mt trc tnh tin v 2 trc
quay. V d robot 3 bc t do,
cu hnh R.T.T nh- hnh v. C

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nhiu robot kiu to tr nh- : robot Versatran ca hng
AMF (Hoa K).

Robot kiu to cu : Vng lm vic ca robot c dng
hnh cu, th-ng cng vng ca loi robot ny thp hn
so vi hai loi trn. V d robot 3 bc t do, cu hnh
R.R.R hoc R.R.T lm vic theo kiu to cu (hnh).

Robot kiu ta gc (H ta phng sinh) : y l kiu
robot -c dng nhiu hn c. Ba chuyn ng u tin l
cc chuyn ng quay, trc quay th nht vung gc vi hai
trc kia. Cc chuyn ng nh h-ng khc cng l cc
chuyn ng quay. Vng lm vic ca tay my ny gn ging
mt phn khi cu. Tt c cc khu u nm trong mt phng
thng ng nn cc tnh ton c bn l bi ton phng. u
im ni bt ca cc loi robot hot ng theo h to
gc l gn nh, tc l c vng lm vic t-ng i ln so
vi kch c ca bn thn robot, linh hot cao.
Cc robot hot ng theo h to gc nh- : Robot PUMA
ca hng Unimation - Nokia (Hoa K - Phn Lan), IRb-6,
IRb-60 (Thu in), Toshiba, Mitsubishi, Mazak (Nht Bn)
.V.V...
V d mt robot hot ng theo h to gc (H to
phng sinh), c cu hnh RRR.RRR :

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Robot kiu SCARA : Robot SCARA
ra i vo nm 1979 ti tr-ng
i hc Yamanashi (Nht Bn) l
mt kiu robot mi nhm p ng
s a dng ca cc qu trnh sn
xut. Tn gi SCARA l vit tt
ca "Selective Compliant
Articulated Robot Arm" : Tay my
mm do tu . Loi robot ny
th-ng dng trong cng vic lp
rp nn SCARA i khi -c gii
thch l t vit tt ca "Selective Compliance Assembly
Robot Arm". Ba khp u tin ca kiu Robot ny c cu
hnh R.R.T, cc trc khp u theo ph-ng thng ng. S
ca robot SCARA nh- hnh. Vng lm vic ca tay my
SCARA l mt phn ca hnh tr rng.

CU HI N TP CHNG 2
Cu 1:Trnh by cng thc ma trn cosin ch hng? Nu v chng minh nhng tnh
cht c bn ca ma trn cosin ch hng.
Cng thc ma trn cosin ch hng:

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Cho vt rn B v h quy chiu R
0
=
{ }
) 0 (
3
) 0 (
2
) 0 (
1
, , e e e

trong
) 0 (
3
) 0 (
2
) 0 (
1
, , e e e

l
ba vc t n v trn cc trc Ox
0
, Oy
0
, Oz
0
. Ta gn cht vt rn vo mt h quy chiu
R
1
=
{ }
) 1 (
3
) 1 (
2
) 1 (
1
, , e e e

vi
) 1 (
3
) 1 (
2
) 1 (
1
, , e e e

l ba vc t n v trn cc trc Ax, Ay,
Az (Hnh).

Ma trn vung cp ba:

=
) 1 (
3
) 0 (
3
) 1 (
2
) 0 (
3
) 1 (
1
) 0 (
3
) 1 (
3
) 0 (
2
) 1 (
2
) 0 (
2
) 1 (
1
) 0 (
2
) 1 (
3
) 0 (
1
) 1 (
2
) 0 (
1
) 1 (
1
) 0 (
1
. . .
. . .
. . .
e e e e e e
e e e e e e
e e e e e e
A

c gi l ma trn cosin ch hng ca vt rn B i vi h quy chiu R
0
.
Nu ta a vo k hiu:
) . cos( .
) 1 ( ) 0 ( ) 1 ( ) 0 (
j i j i ij
e e e e a

= =
, (i,j = 1,2,3)
th ma trn cosin ch hng c dng:

=
33 32 31
23 22 21
13 12 11
a a a
a a a
a a a
A

T nh ngha trn, trong h quy chiu R
0
ta c cc h thc hin h:

) 0 (
3 31
) 0 (
2 21
) 0 (
1 11 1
. . . e a e a e a e

+ + =

) 0 (
3 32
) 0 (
2 22
) 0 (
1 12 2
. . . e a e a e a e

+ + =

) 0 (
3 33
) 0 (
2 23
) 0 (
1 13 3
. . . e a e a e a e

+ + =

Nu ta k hiu
i
e
l ma trn ct gm cc phn t ca vc t
i
e
trong h qui chiu R

0
.

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Ta c:

=
31
21
11
1
a
a
a
e
,
=
32
22
12
2
a
a
a
e
,
=
33
23
13
1
a
a
a
e

Th ma trn cosin ch hng c dng:

| |
3 2 1
e e e A =

Ma trn cosin ch hng A cn c gi l ma trn quay ca vt rn.
Nhng tnh cht c bn ca ma trn cosin ch hng:
nh l 1:Ma trn cosin ch hng l ma trn trc giao.
Chng minh:
T cc phng trnh :

Ta suy ra:
0
11
21
31
(1)
1
R
a
a
a
e

=

,
0
12
22
32
(1)
2
R
a
a
a
e

=

,
0
13
23
33
(1)
3
R
a
a
a
e

=

T ma trn cosin ch hng c th vit di dng :
A=[
0
(1)
1
R
e
0
(1)
2
R
e
0
(1)
3
R
e ] (1.12)
Ta thy ma trn cosin ch hng Al ma trn c ba ct l ba vec t trc chun. do A
l mt ma trn trc giao. T tnh cht ca ma trn trc giao ta suy ra A
-1
=A
T
. Do , t
cng thc (1.11) ta c th bin i ngc :
u
(1)
=A
-1
.u
(0)
=A
T
.u
(0)
nh l 2: nh thc ca ma trn csin ch hng bng 1, detA= 1.
Chng minh: theo biu thc tnh tch hn hp ca ba vct
1 1 1
2 2 2
3 3 3
.( )
a b c
a b c a b c
a b c
| |
|
=
|
|
\ .
=| |
V cng thc (1.12) ta suy ra:
detA= |
(1) (1) (1)
1 2 3
, , e e e
|=
2 3
1, = =
;
Do R
1
l h quy chiu thun nn ta c:

Trang:18
LP : CTK8LC1
GVHD: Trn Xun Tin
(1) (1) (1)
2 3 1
e e e =

Th (2) vo (1) ta c :
detA=
2
(1) (1)
1
. 1 e e =

inh l 3: Ma trn csin ch hng c t nht mt tr s ring bng 1
Chng minh: trc ht ta chng minh cc tr ring ca ma trn csin ch hng A u c
tr tuyt i l 1. Ga s l tr ring ca ma trn A, u l vc t ring tng ng. Theo
bi ton tr s ring ta c:
A. u = u
T ta suy ra :
2
( ).( ) ( ) .( ) . . .
T T T T
Au Au Au Au u A Au u u u = = = =
.
Vy :
. 1 Au u u = = =

By gi ta chng minh trong ba tr ring
ca ma trn A c mt tr ring l 1 .
Theo trn ta c |
| |
| |
| . Do A l ma trn vung cp ba vi cc phn t l

cc s thc nn phng trnh c trng ca n l phng trnh i s bc ba vi h s
thc :

Do cc tr s ring ca ma trn A c th c hai kh nng:

l cc s thc .

c mt tr s ring thc v mt cp tr ring lin hp.

Ga s
l tr ring ca A. Theo (3) ta thy c hai kh nng xy ra hoc
hoc
. Nu
, nh l c chng minh. Nu
, ta c :
detA=

Ta thy c hai kh nng xy ra: hoc
l hai s thc , hoc
l hai s phc
lin hp. Nu
l hai s phc lin hp (
ta c h thc :

2

2
2

H thc (6) mu thun vi h thc (5) . Vy
phi l hai s thc , do

2 3
1, = =

nn ta suy ra:
Hoc
2
1 = ,
3
1 = hoc
2
1 = ,
3
1 =
Nh th ma trn csin ch hng A lun c mt tr ring bng 1.
Cu 2: Trnh by nhng ma trn quay c bn, cc gc euler, cc gc Roll- Pitch-
Yaw.
Trnh by nhng ma trn quay c bn:
Trc ht ta quy c hng quay dng quanh mt trc l hng quay ngc chiu kim
ng h nh hnh v:


Trang:19
LP : CTK8LC1
GVHD: Trn Xun Tin

Cc php quay quanh trc x,y,z ca h to vung gc Oxyz c l php quay c
bn. Ta tm ra ma trn quay ca php quay quanh trc mt gc . Hnh:

Theo cng thc nh ngha ma trn csin ch hng:
=
) 1 (
3
) 0 (
3
) 1 (
2
) 0 (
3
) 1 (
1
) 0 (
3
) 1 (
3
) 0 (
2
) 1 (
2
) 0 (
2
) 1 (
1
) 0 (
2
) 1 (
3
) 0 (
1
) 1 (
2
) 0 (
1
) 1 (
1
) 0 (
1
. . .
. . .
. . .
e e e e e e
e e e e e e
e e e e e e
A

Ta d dng xc nh c ma trn csin ch hng:
( )
=
m m
m m m
cos sin 0
sin cos 0
0 0 1
x
A

Ma trn trn c gi l ma trn quay ca php quay c bn quanh trc x
0
. Bng cch
tng t ta xc nh c cc ma trn quay c bn quanh cc trc y
0
v z
0
.

Trang:20
LP : CTK8LC1
GVHD: Trn Xun Tin

( )
=
v v
v v
v
cos 0 sin
0 1 0
sin 0 cos
y
A

( )

=
1 0 0
0 cos sin
0 sin cos
u u
u u
u
z
A

Cc gc Euler:
V tr ca vt rn B quay xung quanh im O c nh xc nh bi v tr ca h quy chiu
ng Oxyz (gn cht vo vt rn B) i vi h quy chiu c nh Ox
0
y
0
z
0
.Ga s giao
ca mt phng quy chiu ) v mt phng Oxy (mt phng ng ) l ng OK. Trc OK
ny c gi l ng nt .
Ta a cc k hiu sau:
-Gc gia trc Ox
0
v OK l ,
-Gc gia trc Oz
0
v Oz l ,
-Gc gia trc OK v Ox l
Ba gc , , c gi l ba gc Euler. S dng cc gc Euler ta c th quay h quy
chiu Ox
0
y
0
z
0
sang h quy chiu Oxyz bng php quay nh sau:

Trang:21
LP : CTK8LC1
GVHD: Trn Xun Tin

Quay h quy chiu R
0
= Ox
0
y
0
z
0
quanh trc Oz
0
mt gc trc Ox
0
chuyn ti ng
OK. Vi php quay ny, h quy chiu Ox
0
y
0
x
0
chuyn sang h quy chiu R
1
= Ox
1
y
1
z
1
vi Oz
0
Oz
1.
Quay h quy chiu R
1
= Ox
1
y
1
z
1
quanh trc Ox
1
OK mt gc trc Oz
1
chuyn ti
trc Oz
2
Oz

h quy chiu Ox
1
y
1
z
1
chuyn thnh h quy chiu Ox
2
y
2
z
2
vi Ox
1
Ox
2

OK.
Quay h quy chiu R
2
= Ox
2
y
2
z
2
quanh trc Oz
2
Oz mt gc trc Ox
2
OK
chuyn ti trc Ox.

Vi php quay ny, h quy chiu Ox
2
y
2
x
2
chuyn sang h quy chiu
Oxyz

vi Oz
2
Oz.
Nh th , bng ba php quay Euler quanh trc Oz
0
mt gc , quanh trc OK mt gc ,
quanh trc Oz mt gc , h quy chiu Ox
0
y
0
z
0
chuyn sang h quy chiu Oxyz. Th t
cc php quay l z-x-z. cc ma trn ng vi cc php quay Euler c dng:

[

]

[

]

[

]

Cc gc Roll - Pitch Yaw
Cc php quay Roll - Pitch Yaw ln lt quanh cc trc z y x. Ta c th quay h
quy chiu c nh Ox
0
y
0
z
0
sang h quy chiu ng Oxyz bng ba php quay Roll - Pitch
Yaw nh hnh:
u
z
2
z
z
1
z
y
2
y
1
x
x
2
m +
z
0
z
1
x
1
K
x
0
y
0
y
1
x
1
x
2
z
0
z
1
y
0
y
1

Trang:22
LP : CTK8LC1
GVHD: Trn Xun Tin

Quay h Ox
0
y
0
z
0
quanh trc Oz
0
mt gc ty (gc Roll). H Ox
0
y
0
z
0
chuyn thnh h
Ox
1
y
1
z
1
vi Oz
0
Oz
1.
Quay h Ox
1
y
1
z
1
quanh trc Oy
1
mt gc ty (gc Pitch) sao cho trc Ox
1
chuyn
n trc Ox. H Ox
1
y
1
z
1
chuyn thnh h Ox
2
y
2
z
2
vi Oy
1
Oy
2.
Quay h Ox
2
y
2
z
2
quanh trc Ox
2
Ox

mt gc ty (gc Yaw) sao cho trc Oz
2
chuyn n trc Oz. H Ox
2
y
2
z
2
chuyn thnh h Oxyz.
Cc ma trn quay tng ng vi cc php quay Roll, Pitch, v Yaw c dng nh sau:

[

]

[

]

z
x
y
+
u
m
R o l l
P i t c h
Y a w
z
0
z
1
x
1
x
0
y
0
y
1
m
m
z
1
z
0
x
2
x
x
1
z
2
y
1
u
u
u
x
2
x
z
y
2
z
2
O O O
+
y
+
+

Trang:23
LP : CTK8LC1
GVHD: Trn Xun Tin
[

]

Cu 3: Trnh by v chng minh cc nh l v vn tc gc v gia tc gc ca vt rn.
nh v vn tc c ca vt rn
Xc nh vn tc gc ca vt rn qua cc vc t n v ca h quy chiu gn lin vo
vt rn.
nh l 1: Trong c s vung gc R
1
= {
}

gn lin vo vt rn B,
vn tc gc ca vt rn B i vi h quy chiu R
0
c xc nh bi cng thc :
0 0 0
0
(1) (1) (1)
(1) (1) (1) (1) (1) (1)
2 3 1
1 3 2 1 3 2 . . .
R R R
R B
de de de
e e e e e e
dt dt dt
e
| | | | | |
| | | = + +
| | |
\ . \ . \ .

Chng minh:
Trong h qui chiu R
1
={
} vc t vn tc gc ca vt rn B c th vit
di dng:
0 0 0 0
(1) (1) (1) (1) (1) (1)
1 1 2 2 3 3 ( . ). ( . ). ( . ).
R B R B R B R B
e e e e e e e e e e = + +
(1)
Do

l ba vc t n v trn ba trc ca h ta vung gc nn ta c
cng thc quen bit:

(2)
Th cc biu thc 2 vo 1 ta c :
0 0 0 0
(1) (1) (1) (1) (1) (1) (1) (1) (1)
3 1 1 2 2 3
1 3 1
[ .( ]. [ .( ]. [ .( ].
R B R B R B R B
e e e e e e e e e e e e e = + +
(3)
Da vo tnh cht ca tch hn hp ba vc t
.( ) .( ) .( ) a b c b c a c a b = =

V nh ngha vn tc gc ca vt rn , h thc (3) c dng
0 0 0 0
(1) (1) (1) (1) (1) (1) (1) (1) (1)
3 2 1 1 3 2 2 1 3 [ .( )]. [ .( )]. [ .( )].
R B R B R B R B
e e e e e e e e e e e e e = + +

0 0 0
(1) (1) (1)
(1) (1) (1) (1) (1) (1)
2 3 1
3 1 2 2 2 3 . . . . . .
R R R
de de de
e e e e e e
dt dt dt
| | | | | |
| | | = + +
| | |
\ . \ . \ .
(4)
Do tch v hng ca hai vc t c tnh cht giao hon, t (4) ta suy ra cng thc
0 0 0
0
(1) (1) (1)
(1) (1) (1) (1) (1) (1)
2 3 1
1 3 2 1 3 2 . . .
R R R
R B
de de de
e e e e e e
dt dt dt
e
| | | | | |
| | | = + +
| | |
\ . \ . \ .


Trang:24
LP : CTK8LC1
GVHD: Trn Xun Tin
nh l c chng minh.
Xc nh vn tc c ca vt rn t a trn csn ch hn
nh l 2: cho A l ma trn cosin ch hng ca vt rn B trong h quy chiu
R
0
={x
0
y
0
z
0
}. Khi ton t sng ca vc t vn tc gc ca vt rn trong h quy chiu
c nh R
0
c xc nh bi cng thc:

Trong :
0 0 0
0 0 0
(0)
, ,
T
R R R B B B
B x y z
e e e e

=

,
=
0
R
dA
dt

Chng minh: chn P l mt im ty thuc vt rn B. Ta c:
p
p A
r r u = +
(1)
o hm phng trnh (1) theo thi gian trong h quy chiu c nh
0
ta c:
0 0
R R
p A
p p A p
dr dr
u v v u
dt dt
e e = + = +
(2)
Trong e
0
R B
e
l vn tc gc ca vt rn.
Nu s dng k hiu ma trn th phng trnh (2) c dng

(4)
Cn phng trnh (1) c dng:

T cng thc u
(0)
=Au
(1)
ta c
(5)
Trong
l ma trn ct gm c ba thnh phn l hnh chiu ca vct p u trong h

Ox
0
y
0
z
0
cn
(1)
p u
l ma trn ct gm ba thnh phn l cc hnh chiu ca vct
p
u
trong
h Ax
1
y
1
z
1 .
Th (5) vo (4) ta c:

(6)
o hm phng trnh (6) theo thi gian trong h
0
ta c:

(0) (0) (1)
A
p p A
v v u = =
(7)
Do ma trn cosin ch hng la ma trn trc giao nn t h thc (5) ta suy ra

(1) 1 (0) (0)
T
p p p
u A u A u
= =
(8)
Th (8) vo (7) ta c

(0) (0) (0)
AA
T
p p A
v v u = =
(9)
o snh (9) vi (3) ta suy ra cng thc

Trang:25
LP : CTK8LC1
GVHD: Trn Xun Tin
e

a tc c ca vt rn
nh nha a tc c ca vt rn v h ta
0
t n vect
hu
0
R B
o
bn h the th an trn h quy chu
0
ca vc t vn tc
c
0
0 0
( )
R
R B R B
d
dt
o e =

nh trn h quy chu
1
n n v vt nu vct vn tc c ca vt rn
c bu dn d dn
( ) ( ) ( )
0
(1) (1) (1)
1 1 1
1 2 3
1 2 3
. . .
R B
e e e e e e e = + +

Th biu thc tnh gia tc gc ca vt rn c dng nh sau:
0
(1) (1) (1)
(1) (1) (1)
1 2 3
1 2 3
R B
e e e o e e e = + +

hn nh theo nh ngha gia tc gc ta c :

( ) ( ) ( )
0 0
0 0
(1) (1) (1)
1 1 1
1 2 3
1 2 3
( ) ( . . . )
R R
R B R B
d d
e e e
dt dt
o e e e e = = + +

( ) ( ) ( )
0 0 0
(1) (1) (1)
(1) (1) (1)
1 2 3
1 1 1 (1) (1) (1)
1 2 3
1 2 3 1 2 3
R R R
de de de
e e e
dt dt dt
e e e e e e = + + + + +
(1)
Do
0
(1)
(1) R B
i
i
de
e
dt
e =
(i 1,2,3) nn ta c
( ) ( ) ( ) ( ) ( ) ( )
0 0 0
0
(1) (1) (1)
(1) (1) (1)
1 2 3
1 1 1 1 1 1
1 2 3
1 2 3 1 2 3
( . . . )
R R R
R B
de de de
e e e
dt dt dt
e e e e e e e + + = + +

0 0
0
R B R B
e e = =
(2)
Th (2) vo (1) ta c
0
(1) (1) (1)
(1) (1) (1)
1 2 3
1 2 3
R B
e e e o e e e = + +

Cu 4:Trnh by cng thc cng vn tc gc v cng thc cng gia tc gc ca vt
rn.
Cng thc cng vn tc gc:

Trang:26
LP : CTK8LC1
GVHD: Trn Xun Tin
Xt mt vct ty ca vt rn B. Vt rn B chuyn n i vi h quy
chiu
, h quy chiu
li chuyn n i vi h quy chiu
. The nh nha
vn tc gc ta c cng thc:

Hnh 1

0
0
R
R B
dc
c
dt
e =
(1)

1
1
R
R B
dc
c
dt
e =
(2)

Mt khc t cng thc:
0 1
0 1
R R
R R
dc dc
a
dt dt
e = +
(.)
Ta c phng trnh:

0 1
0 1
R R
R R
dc dc
c
dt dt
e = +
(3)
Th cc h thc (1) v (2) vo phng trnh (3) c

0 0 0 1 1 1 1
( )
R R R R R R R B B B
c c c c e e e e e = + = +
(4)
T (4) suy ra

0 0 1 1
R R R R B B
e e e = +
(3.1)
Cng thc (3.1) l cng thc cng vn tc vt rn.

Trang:27
LP : CTK8LC1
GVHD: Trn Xun Tin

Hnh 2
Chuyn ng ca vt rn B i vi h quy chiu 1 c gi l chuyn ng tng
i, chuyn ng ca vt rn B i vi h quy chiu 0 c gi l chuyn ng tuyt
i. Chuyn ng ca h quy chiu ng 1 i vi h quy chiu c nh 0 c gi
l chuyn ng theo. K hiu
0
R B
a
e e =
, (vn tc gc tuyt i ca vt rn B),
1
R B
r
e e =
, (vn tc gc tng i ca vt rn B),
0 1
R R
e
e e =
,(vn tc gc theo).
Khi biu thc (3.1) c dng

a r e
e e e = +
(3.2)
nh l 2.4. Ti mi thi im, vn tc gc tuyt i ca vt rn B bng tng hnh hc
vn tc gc tng i v vn tc gc theo ca n.
Ap dng lin tip cng thc (3.1) i vi n+1 h quy chiu nh hnh 2 ta c

0 0 1 1 1 2
...
n n n B
R R R R R R R R R B
e e e e e
= + + +
(3.3)

Cng thc cng vn tc gc:
o hm theo thi gian cng thc (3.1) h quy chiu 0 ta c

0 0 0
0 0 1 1
( ) ( ) ( )
R R R
R R R R B B
d d d
dt dt dt
e e e = +
(1)
Ch n cng thc (.) ta c

0
0 0 0 1 1 1 1
( )
R
R R R R R R R B B B
d
dt
o o e e e = + +
(2)
T nh ngha chuyn ng tuyt i, tng i v theo ca vt rn suy ra

Trang:28
LP : CTK8LC1
GVHD: Trn Xun Tin

0
R B
a
o o =
,
1
R B
r
o o =
,
0 1
R R
e
o o =
(3)
Th (3) vo (2) ta c

a e r e r
o o o e e = + +
(3.4)
nh l 2.5. mi thi im gia tc gc tuyt i ca vt rn B bng tng hnh hc gia
tc gc tng i, gia tc gc theo, v gia tc gc ph
p e r
o e e = +
ca vt rn.
Gia tc ph
p e r
o e e = +
cn c gi l gia tc gc Resal.

Cu 5:Xc nh vn tc, gia tc mt im bt k thuc vt rn.
Vn tc 1 m bt k thuc vt rn:
xt chuyn ng ca vt rn B trong h quy chiu
0 0 0 0
R ox y z =
, ta ly im A bt
k thuc vt rn lm im nh v (im cc). Dng h quy chiu
1 1 1 1
R Ax y z =
gn lin
vo vt rn B.

V tr ca im P c xc nh bi vc t sau

P A P
r r u = +
(1)
o hm 2 v theo thi gian ca phng trnh (1) trong h quy chiu o ta c

0 0 0
R R R
P A P
dr dr du
dt dt dt
= +
(2)
Theo nh ngha vn tc gc ca vt rn ta c

0
R
R B
P
P P
du
u u
dt
e e = =
(3)
Th (3) vo phng trnh (2) ta c

Trang:29
LP : CTK8LC1
GVHD: Trn Xun Tin

0 0
R R
P A
P
dr dr
u
dt dt
e = +
==>
P A P
v v u e = +
(4.1)
Chiu phng trnh vc t (4.1) ln h quy chiu Ro ta c:

(0) (0) (0) (0)
P A P
v v u e = +
(4.2)
Chiu phng trnh vc t (4.1) ln h quy chiu 1 ta c

(1) (1) (1) (1)
P A P
v v u e = +
(4.3)
Ch rng:
(0) (1)
P P
u Au =

Gia tc 1 m bt k thuc vt rn:
o hm theo thi gian biu thc (4.1) trong h quy chiu ota c

0 0 0 0
R R R R
P A P
P
dv dv du d
u
dt dt dt dt
e
e = + +

T suy ra

) .
~
.(
~
.
~
P P A P
u u a a e e c + + =
(4.4)
Chiu phng trnh (4.4) ln h quy chiu o ta c phng trnh ma trn

) 0 ( ) 0 ( ) 0 ( ) 0 ( ) 0 ( ) 0 (
) 0 ( ) 0 ( ) 0 ( ) 0 ( ) 0 ( ) 0 ( ) 0 (
).
~
.
~ ~
(
) .
~
.(
~
.
~
P A P
P P A P
u a a
u u a a
e e c
e e c
+ + =
+ + =
(4.5)
Chiu phng trnh vc t (4.4) ln h quy chiu R1
) 1 ( ) 1 ( ) 1 ( ) 1 ( ) 1 ( ) 1 (
) 1 ( ) 1 ( ) 1 ( ) 1 ( ) 1 ( ) 1 ( ) 1 (
).
~
.
~ ~
(
) .
~
.(
~
.
~
P A P
P P A P
u a a
u u a a
e e c
e e c
+ + =
+ + =

(4.6)

Cu 6:Cho c cu nh hnh v.


Trang:30
LP : CTK8LC1
GVHD: Trn Xun Tin

Da vo cc h ta gn ln cc khu, cc thng s kch thc v gc quay , hy
tnh:
Cc ma trn cosin ch hng gia cc h ta lin tip (R
0
R
1
R
2
R
3
R
4
R
5
): A
1
, A
2
,

A
3
,A
2
,A
3
,A
4
,A
5
:

=
1 0 0
0 cos sin
0 sin cos
1 1
1 1
1
m m
m m
A
;

=
1 0 0
0 cos sin
0 sin cos
2 2
2 2
2
m m
m m
A

=
1 0 0
0 cos sin
0 sin cos
3 3
3 3
3
m m
m m
A
;

=
1 0 0
0 cos sin
0 sin cos
4 4
4 4
4
m m
m m
A

=
1 0 0
0 cos sin
0 sin cos
5 5
5 5
5
m m
m m
A
Vn tc gc, gia tc gc cc khu trong h ta R
0
(O
0
x
0
y
0
z
0
)
Gi
i
l vn tc gc ca khu th i.
p dng cng thc:

V cng thc cng vn tc gc ta c:
B R R R R R R R B R
n
e e e e e

+ + + + = ...
3 2 2 1 1 0 0

Vn tc gc khu 1:
Ta c:

Vi:

Trang:31
LP : CTK8LC1
GVHD: Trn Xun Tin

=
1 0 0
0 cos sin
0 sin cos
1 1
1 1
1
m m
m m
A

0 0 0
0 sin cos
0 cos sin
1 1
1 1
m m
m m
.
=
1 0 0
0 cos sin
0 sin cos
1 1
1 1
1
m m
m m
T
A

[

]
]

= [
]
Tng t ta c:
Vn tc gc khu 2:
]

= [

]

Vn tc gc khu 3:
]

= [

]

Vn tc gc khu 4:
]

= [
]


Trang:32
LP : CTK8LC1
GVHD: Trn Xun Tin

]

Vn tc gc khu 5:
Do R5 tnh tin so vi R0 nn ma trn cosin ch hng ca h ta R5 so vi R0 l:

=
1 0 0
0 1 0
0 0 1
05
A
;
]

= [
];
[

]
]

Gia tc gc cc khu:

]
Vn tc, gia tc ti trng tm cc khu(trn t c m chnh gia ca cc khu)
trong h ta R
0
(O
0
x
0
y
0
z
0
):

Vn tc cc gc ta :
vO
1
=[
]; vO
2
=[
]
vO
3
=[
]

Trang:33
LP : CTK8LC1
GVHD: Trn Xun Tin
vO
4
=[
]
vO
5
=[
]

Vn tc ti trng tm cc khu:
vG1 =[
]; vG2 =[
]
vG3 =[
]

vG4 =

[ 0 ]
vG5 =

Trang:34
LP : CTK8LC1
GVHD: Trn Xun Tin

[ 0]
Gia tc ti trng tm cc khu:
aG1 =[

]
aG2 =[
((
))
((
))
]
aG3 =
[
.l2.S(2.1 + 2.2 + 3) - (
.l3.S(2.1 + 2.2 + 3))/2 -
.l1.S(2.1 + 2) -
.l2.C(2.1 + 2.2 + 3) - (
.l3.C(2.1 + 2.2 + 3))/2 -
.l1.C(2.1 + 2) -
2.
.l2.C(2.1 + 2.2 + 3) - 2.
.l2.C(2.1 + 2.2 + 3) -
.l3.C(2.1 +
2.2 + 3) -
.l3.C(2.1 + 2.2 + 3) - 2.
.l1.C(2.1 + 2)]
[
.l2.C(2.1 + 2.2 + 3) + (
.l3.C(2.1 + 2.2 + 3))/2 +
.l1.C(2.1 + 2) -
.l2.S(2.1 + 2.2 + 3) - (
.l3.S(2.1 + 2.2 + 3))/2 -
.l1.S(2.1 + 2) -
2.
.l2.S(2.1 + 2.2 + 3) - 2.
.l2.S(2.1 + 2.2 + 3) -
.l3.S(2.1 +
2.2 + 3) -
.l3.S(2.1 + 2.2 + 3) - 2.
.l1.S(2.1 + 2)]
[ 0]
aG4 =
[-
.l
2
S(2.
+ 2.
) - (

.l
3
.C(2.
+ 2.
))/2 - (
.l
4
.C(2.
+
2.
))/2 -
.l
1
.S(2.
) -

.l
2
.C(2.
+ 2.
) -

.l
1
.C(2.
) - (
.l
3
.S(
))/2 - (
.l
4
.S(
))/2 -

Trang:35
LP : CTK8LC1
GVHD: Trn Xun Tin
.l
3
.C(
) -
.l
3
.C(
) -
.l
3
.C(
) -
.l
4
.C(
) -
.l
4
.C(
) -
.l
4
.C(
- 2.
.l
2
.C(2.
+ 2.
) -
2.
.l
2
.C(2.
+ 2.
) - 2.
.l
2
.C(2.
+ 2.
)]
.l
2
C(2.
+ 2.
)+
.l
1
C(2.
)-(

.l
3
.S(2.
+ 2.
))/2 -
(

.l
4
.S(2.
+ 2.
))/2 -

.l
2
.S(2.
+ 2.
) -

.l
1
.S(2.
)+(
l
3
.C(2.
+ 2.
))/2 + (
l
4
.C(2.
+ 2.
))/2 -
.l
3
.S(
) -
.l
3
.S(
) -
.l
3
.S(
) -
.l
4
.S(
) -
.l
4
.S(
) -
.l
4
.S(
- 2.
.l
2
.S(2.
+ 2.
)
- 2.
.l
2
.S(2.
+ 2.
) - 2.
.l
2
.S(2.
+ 2.
)]
[ 0]
aG5 =
[-
.l
1
S(2.
+ 2.
) - (

.l
3
.C(2.
+ 2.
))/2 -
.l
1
.S(2.
) -

.l
2
.C(2.
+ 2.
) -

.l
1
.C(2.
) -
.l
4
.S(
) -
(
.l
3
.S(
+2
))/2 -
.l
4
.C(
) -
.l
4
.C(
) -
.l
4
.C(
) -
.l
4
.C(
) -
.l
3
.C(2.
+ 2.
) -
.l
3
.C(2.
+ 2.
) -
.l
3
.C(2.
+ 2.
) - 2.
.l
2
.C(2.
+ 2.
) -
2.
.l
2
.C(2.
+ 2.
) - 2.
.l
1
.C(2.
+ 2.
)]
[
.l
2
S(2.
+ 2.
) +
.l
1
.C(2.
) - (

.l
3
.S(2.
+ 2.
))/2
-

.l
2
.S(2.
+ 2.
) -

.l
1
.S(2.
) +
.l
4
.C(
) +
(
.l
3
.C(
+2
))/2 -
.l
4
.S(
) -
.l
4
.S(
) -
.l
4
.S(
) -
.l
4
.S(
) -
.l
3
.S(2.
+ 2.
) -
.l
3
.S(2.
+ 2.
) -
.l
3
.S(2.
+ 2.
) - 2.
.l
2
.S(2.
+ 2.
) -
2.
.l
2
.S(2.
+ 2.
) - 2.
.l
1
.S(2.
+ 2.
)]
[ 0]


Trang:36
LP : CTK8LC1
GVHD: Trn Xun Tin

BI TP CHNG III V IV

L
1
L
2
L
3
u
u u
x
1 z
1
x
0
z
0
Z
3
X
3
Z
2
X
2

Trang:37
LP : CTK8LC1
GVHD: Trn Xun Tin
H2

d
i
a
i

i
Khp
1
1
L1 0 90 R
2
2
0 L2 -90 R
3
3
0 L3 0 R

Bng D-H:

Vit cc ma trn H1, H2, H3

];

]

Vit phng trnh th hin v tr im chp hnh cui

[
]

Vit biu thc vn tc, gia tc tuyt i ca im chp hnh cui

[

]

aE =

Trang:38
LP : CTK8LC1
GVHD: Trn Xun Tin

- 2.
+ 2.
+ 2.
+ 2.
+
2.
.L3.S1.S3 -
- 2.
- 2.
- 2.
- 2.
+
2.
-
2.

];

];

];

];

]

Vit biu thc vn tc gc, gia tc gc a phng v tuyt i ca tng khu

];
] ;
];
];
];
]


Trang:39
LP : CTK8LC1
GVHD: Trn Xun Tin
]

Xy dng v tnh ton cc phn t trong ma trn Jacobi:

[
]

JR=[


Trang:40
LP : CTK8LC1
GVHD: Trn Xun Tin

H3
Bng D-H:

d
i
a
i

i
Khp
1
1
0 L1 90 R
2
2
0 L2 0 R
3
3
0 L3 0 R


]

Trang:41
LP : CTK8LC1
GVHD: Trn Xun Tin

]

D3 =

[ C1.C2.C3 - C1.S2.S3, - C1.C2.S3 - C1.C3.S2, S1, l1.C1 + l2.C1.C2 + l3.C1.C2.C3 -
l3.C1.S2.S3]
[ C2.C3.S1 - S1.S2.S3, - C2.S1.S3 - C3.S1.S2, -C1, l1.S1 + l2.C2.S1 + l3.C2.C3.S1 -
l3.S1.S2.S3]
[ C2.S3 + C3.S2, C2.C3 - S2.S3, 0,
l2.S2 + l3.C2.S3 + l3.C3.S2]
[ 0, 0, 0,
1]


[
]


vE =

-
.(
) -
.(
) -
.(
.(
) -
.(
) -
.(
.cos(2 + 3) +
) +
.cos(2 + 3)

Trang:42
LP : CTK8LC1
GVHD: Trn Xun Tin

aE =

. -
+ 2.
. -
. l3.
- 2.
+ 2.
+
2.
. + 2.
+ 2.
+ 2.
- 2.
. +
- 2.
- 2.
.l3.
-
2.
- 2.
. l3.
- 2.
+ 2.
.l3.sin(2 + 3) -
.sin(2 + 3) -
.cos(2 + 3) +
.cos(2 + 3) - 2.
.sin(2 + 3)

]

Trang:43
LP : CTK8LC1
GVHD: Trn Xun Tin

]


]


Trang:44
LP : CTK8LC1
GVHD: Trn Xun Tin

]

Xy dng v tnh ton cc phn t trong ma trn Jacobi

[

]

JR=[

]

[


Trang:45
LP : CTK8LC1
GVHD: Trn Xun Tin

H4

ng hc thun:
Tnh bc t do ca tay my.
S khp n = 3

i 1 2 3 4 5
p
i
0 0 0 0 3

Vy s bc t do ca tay my l:
ADCT:

=
=
5
1
. 6
i
i
p i n w

Trong : w s bc t do ca tay my
n s khp ca tay my.
p
i
s khp loi i (i 1,2,,5 s khp hay s bc t do b hn ch )
Thay s: 3 3 . 5 3 . 6 = = w (bc t do)
Xy dng cc h ta cho cc khu:

Trang:46
LP : CTK8LC1
GVHD: Trn Xun Tin

Bng D-H:
d
i
a
i

i
Khp
1
1
0 l
1
0 R
2
2
0 l
2
0 R
3
3
0 l
3
0 R

Vt cc a trn H1 H2 H3

=[

]

D3 =

[
) -
), -
) -
), 0,

) -
) +
]
[
) +
),
) - (
), 0,
) +
) +
]
[ 0 0 1 0]
[ 0 0 0 1]

Vt phn trnh th hn v tr chp hnh cu
X0
Z0
X1
Z1
X2
Z2
X3
Z3
L
3
L2
L
1

Trang:47
LP : CTK8LC1
GVHD: Trn Xun Tin

rE =

) -
) +
) +
) +
+ -

0
Vt bu thc vn tc a tc tuyt ca chp hnh cu

vE =
-
) -
) -
) +
) +

0

aE =
[ -
) -
- 2
- 2
-
2
- 2
]
[
- 2
-
2
- 2
- 2
]
[ 0]

];

];

]

Vt bu thc vn tc c a tc c a phn v tuyt ca tn hu

]


Trang:48
LP : CTK8LC1
GVHD: Trn Xun Tin
];
];
]

ng hc ngc
Xy dn v tnh tn cc phn t trn a trn Jacb

[

]; JR=[

]

[

H5
Bng D-H:

d
i
a
i

i
Khp
1
1
0 l
1
0 R
2
2
0 l
2
-90 R
3
3
0 l
3
0 R


Trang:49
LP : CTK8LC1
GVHD: Trn Xun Tin


]


[
]


[

]


Trang:50
LP : CTK8LC1
GVHD: Trn Xun Tin
aE =
2
- 2

- 2
+ 2
- +
- 2
- 2
- 2
- 2
.(-

]



Trang:51
LP : CTK8LC1
GVHD: Trn Xun Tin
]



Trang:52
LP : CTK8LC1
GVHD: Trn Xun Tin
[

]

JR=[

]

[

H6

d
i
a
i

i
Khp
1
1
0 L1 -90 R
2
2
0 L2 0 R
3
3
0 L3 0 R

Bng D-H:

DH =

[ q1, 0, l1, -pi/2]
[ q2, 0, l2, 0]

Trang:53
LP : CTK8LC1
GVHD: Trn Xun Tin
[ q3, 0, l3, 0]


H1 =

[ C1, 0, -S1, l1.C1]
[ S1, 0, C1, l1.S1]
[ 0, -1, 0, 0]
[ 0, 0, 0, 1]

H2 =

[ C2, -S2, 0, l2.C2]
[ S2, C2, 0, l2.S2]
[ 0, 0, 1, 0]
[ 0, 0, 0, 1]

H3 =

[ C3, -S3, 0, l3.C3]
[ S3, C3, 0, l3.S3]
[ 0, 0, 1, 0]
[ 0, 0, 0, 1]

D3 =

[ C1.C2.C3 - C1.S2.S3, - C1.C2.S3 - C1.C3.S2, -S1, l1.C1 + l2.C1.C2 + l3.C1.C2.C3 -
l3.C1.S2.S3]
[ C2.C3.S1 - S1.S2.S3, - C2.S1.S3 - C3.S1.S2, C1, l1.S1 + l2.C2.S1 + l3.C2.C3.S1 -
l3.S1.S2.S3]
[ - C2.S3 - C3.S2, S2.S3 - C2.C3, 0, -
l2.S2 - l3.C2.S3 - l3.C3.S2]
[ 0, 0, 0,
1]


Trang:54
LP : CTK8LC1
GVHD: Trn Xun Tin

rE =

l1.C1 + l2.C1.C2 + l3.C1.C2.C3 - l3.C1.S2.S3
l1.S1 + l2.C2.S1 + l3.C2.C3.S1 - l3.S1.S2.S3
- l2.S2 - l3.C2.S3 - l3.C3.S2


vE =

- dq1.(l1.S1 + l2.C2.S1 + l3.C2.C3.S1 - l3.S1.S2.S3) - dq2.(l2.C1.S2 + l3.C1.C2.S3 +
l3.C1.C3.S2) - dq3.(l3.C1.C2.S3 + l3.C1.C3.S2)
dq1.(l1.C1 + l2.C1.C2 + l3.C1.C2.C3 - l3.C1.S2.S3) - dq2.(l2.S1.S2 + l3.C2.S1.S3 +
l3.C3.S1.S2) - dq3.(l3.C2.S1.S3 + l3.C3.S1.S2)

- dq2.(l3.cos(q2 + q3) + l2.C2) - dq3.l3.cos(q2 + q3)

aE =

dq1^2.l3.C1.S2.S3 - dq1^2.l1.C1 - dq1^2.l2.C1.C2 - dq2^2.l2.C1.C2 - ddq1.l2.C2.S1 -
ddq2.l2.C1.S2 - dq1^2.l3.C1.C2.C3 - dq2^2.l3.C1.C2.C3 - dq3^2.l3.C1.C2.C3 -
ddq1.l1.S1 + dq2^2.l3.C1.S2.S3 + dq3^2.l3.C1.S2.S3 + 2.dq1.dq2.l2.S1.S2 -
ddq1.l3.C2.C3.S1 - ddq2.l3.C1.C2.S3 - ddq2.l3.C1.C3.S2 - ddq3.l3.C1.C2.S3 -
ddq3.l3.C1.C3.S2 + ddq1.l3.S1.S2.S3 - 2.dq2.dq3.l3.C1.C2.C3 +
2.dq1.dq2.l3.C2.S1.S3 + 2.dq1.dq2.l3.C3.S1.S2 + 2.dq1.dq3.l3.C2.S1.S3 +
2.dq1.dq3.l3.C3.S1.S2 + 2.dq2.dq3.l3.C1.S2.S3
ddq1.l1.C1 - dq1^2.l1.S1 - dq1^2.l2.C2.S1 - dq2^2.l2.C2.S1 + ddq1.l2.C1.C2 -
ddq2.l2.S1.S2 - dq1^2.l3.C2.C3.S1 - dq2^2.l3.C2.C3.S1 - dq3^2.l3.C2.C3.S1 +
dq1^2.l3.S1.S2.S3 + dq2^2.l3.S1.S2.S3 + dq3^2.l3.S1.S2.S3 - 2.dq1.dq2.l2.C1.S2 +
ddq1.l3.C1.C2.C3 - ddq1.l3.C1.S2.S3 - ddq2.l3.C2.S1.S3 - ddq2.l3.C3.S1.S2 -
ddq3.l3.C2.S1.S3 - ddq3.l3.C3.S1.S2 - 2.dq1.dq2.l3.C1.C2.S3 - 2.dq1.dq2.l3.C1.C3.S2
- 2.dq1.dq3.l3.C1.C2.S3 - 2.dq1.dq3.l3.C1.C3.S2 - 2.dq2.dq3.l3.C2.C3.S1 +
2.dq2.dq3.l3.S1.S2.S3

dq2^2.l3.sin(q2 + q3) - ddq2.l2.C2 + dq3^2.l3.sin(q2 + q3) + dq2^2.l2.S2 -
ddq2.l3.cos(q2 + q3) - ddq3.l3.cos(q2 + q3) + 2.dq2.dq3.l3.sin(q2 + q3)


Trang:55
LP : CTK8LC1
GVHD: Trn Xun Tin
A1 =

[ C1, 0, -S1]
[ S1, 0, C1]
[ 0, -1, 0]

A2 =

[ C2, -S2, 0]
[ S2, C2, 0]
[ 0, 0, 1]

A3 =

[ C3, -S3, 0]
[ S3, C3, 0]
[ 0, 0, 1]

W10 =

[ 0, -dq1, 0]
[ dq1, 0, 0]
[ 0, 0, 0]

W21 =

[ 0, -dq2, 0]
[ dq2, 0, 0]
[ 0, 0, 0]

W32 =

[ 0, -dq3, 0]
[ dq3, 0, 0]
[ 0, 0, 0]

Trang:56
LP : CTK8LC1
GVHD: Trn Xun Tin


w10 =

0
0
dq1

w21 =

0
0
dq2

w32 =

0
0
dq3

w1 =

0
0
dq1

w2 =

-dq2.S1
dq2.C1
dq1

w3 =


Trang:57
LP : CTK8LC1
GVHD: Trn Xun Tin
- dq2.S1 - dq3.S1
dq2.C1 + dq3.C1
dq1

a1 =

0
0
ddq1

a2 =

- ddq2.S1 - dq1.dq2.C1
ddq2.C1 - dq1.dq2.S1
ddq1

a3 =

- dq1.(dq2.C1 + dq3.C1) - ddq2.S1 - ddq3.S1
ddq2.C1 - dq1.(dq2.S1 + dq3.S1) + ddq3.C1
ddq1


JT =

[ -S1.(l1 + l3.cos(q2 + q3) + l2.C2), -C1.(l3.sin(q2 + q3) + l2.S2), -l3.sin(q2 + q3).C1]
[ C1.(l1 + l3.cos(q2 + q3) + l2.C2), -S1.(l3.sin(q2 + q3) + l2.S2), -l3.sin(q2 + q3).S1]
[ 0, - l3.cos(q2 + q3) - l2.C2, -l3.cos(q2 + q3)]

JR =

[ 0, -S1, -S1]
[ 0, C1, C1]
[ 1, 0, 0]


Trang:58
LP : CTK8LC1
GVHD: Trn Xun Tin

Jb =

[ -S1.(l1 + l3.cos(q2 + q3) + l2.C2), -C1.(l3.sin(q2 + q3) + l2.S2), -l3.sin(q2 + q3).C1]
[ C1.(l1 + l3.cos(q2 + q3) + l2.C2), -S1.(l3.sin(q2 + q3) + l2.S2), -l3.sin(q2 + q3).S1]
[ 0, - l3.cos(q2 + q3) - l2.C2, -l3.cos(q2 + q3)]
[ 0, -S1, -S1]
[ 0, C1, C1]
[ 1, 0, 0]

H7

Bng D-H:
d
i
a
i

i
Khp
1
1
L1 0 90 R
2
2
0 L2 0 R
3
3
0 L3 0 R



Trang:59
LP : CTK8LC1
GVHD: Trn Xun Tin
H1 =[

] ; H2 =[

]

H3 =[

]

D3 =
[


rE=[

]


vE=
[
u u
u
u u
u
u u ]


Trang:60
LP : CTK8LC1
GVHD: Trn Xun Tin
aE=
[
u u u u
u u u
u u u
u u u u u
u u u
u u u u u
u u u u
u u
u u u u
u u u
u u u
u u u u u
u u u
u u u u u u
u u u u
u u
u u u u u
u u u ]

A1 =[

] ; A2 =[

] ; A3 =[

]

=[
u
u

] ;
=[
u
u

] ;
=[
u
u

]



Trang:61
LP : CTK8LC1
GVHD: Trn Xun Tin
=[

u
] ;
=[

u
] ;
=[

u
] ;
=[

u
] ;
=[
u
u
u
]

=[
u u
u u
u
]

=[

u
] ;
=[
u u u
u u u
u
]

=[
u u u u u
u u u u u
u
]


JT=
[
; JR =[

]


Trang:62
LP : CTK8LC1
GVHD: Trn Xun Tin

H8
Bng D-H:

d
i
a
i

i
Khp
1
1
L1 0 90 R
2
2
0 L2 -90 R
3
3
0 L3 0 R

Vit cc ma trn H1, H2, H3 :

]

[c1.c2.c3 - s1.s3, - c3.s1 - c1.c2.s3, -c1.s2, l2.c1.c2 - l3.s1.s3 + l3.c1.c2.c3]
D3=[ c1.s3 + c2.c3.s1,c1.c3 - c2.s1.s3, -s1.s2, l2.c2.s1 + l3.c1.s3 + l3.c2.c3.s1 ]
[ c3.s2, -s2.s3, c2, l1 + l2.s2 + l3.c3.s2 ]
[ 0, 0, 0, 1 ]

Trang:63
LP : CTK8LC1
GVHD: Trn Xun Tin
[
]


vE =
-
.(
) -
.(
) -
.(
.(
) -
.(
) +
.(
) -

aE =

.
2
+
+ 2.
. -
. l3.
-
2.
+ 2.
+ 2.
. +
2.
+ 2.
+ 2.
- 2.
. +
- 2.
- 2.
.l3.
-
2.
- 2.
. l3.
- 2.
+ 2.
.l3.sin(2 + 3) -
.sin(2 + 3) -
.cos(2 + 3) +
.cos(2 + 3) - 2.
.sin(2 + 3)

]


Trang:64
LP : CTK8LC1
GVHD: Trn Xun Tin

];

] ;

]


];
];
] ;
] ;
];
];
]


[
]

JR=[

]

[


Trang:65
LP : CTK8LC1
GVHD: Trn Xun Tin

H9

Bng D-H:

d
i
a
i

i
Khp
1
1
L1 0 0 R
2
2
0 L2 0 R
3
3
0 L3 0 R


]

L
1
L
2
L
3
u
1
u
2 u
3
z
0
x
0
z
1
x
1
z
2
x
2
z
3
x
3

Trang:66
LP : CTK8LC1
GVHD: Trn Xun Tin

]


[
]


[

]

- 2 - 2 ( )
1 2 2
2 2 2 2 2
- ( )- ( )- ( - )- ( )
2 12 1 2 3 123 1 2 3 3 123 1 2 3 2 12 1 2
2 2 2
- ( ( )- (
1 3 123 2 12 2
12 3 123 1 2 1
1 3 123 2 3 3 12 1
3
3
3 2
)
l C l C l S l C l S
l C l S l C S a l
l C
E
u u u u u u u u u u u u u u u u u
u u
u
u u u u
+ + + + +
+
+ +
= + + +
2 2
) ( )-2 -2 ( )
2 3 2 12 1 2 1 2 2 12 3 123 1 2 1 3 2 3
0
l C l S l S u u u u u u u u u u u u + + + + +

]


Trang:67
LP : CTK8LC1
GVHD: Trn Xun Tin

]


]

Trang:68
LP : CTK8LC1
GVHD: Trn Xun Tin

]


[

]

[

]

[


Trang:69
LP : CTK8LC1
GVHD: Trn Xun Tin

H10

Bng D-H:

d
i
a
i

i
Khp
1
1
0 L1 -90 R
2
2
0 L2 -90 R
3
3
0 L3 0 R


];
[

];
[

]

]

[
]

Trang:70
LP : CTK8LC1
GVHD: Trn Xun Tin


[

)
]

]

aE =

[
.l3.C1.S3
.l1.C1 -
.l2.C12 -
.l2.C12 -
.l3.S13 -
.l3.S13 -
.l2.C2.S1 -
.l2.C1.S2 -
.l1.S1 +
.l3.C3.S1 -
..l3.C123 -
.l3.C123 -
.l3.C123 + 2.
.l3.C13 + 2.
.l2.S12 -
.l3.C23.S1 -
.l3.C13.S2 -
.l3.C12.S3 + 2.
.l3.C3.S12 + 2.
.l3.C2.S13 + 2.
.l3.C1.S23]
[
.l1.C1 -
.l1.S1 -
.l2.C2.S1 -
.l2.C2.S1 +
.l3.C1.S3 +
.l3.C1.S3 +
.l2.C12 -
.l3.C13 -
.l2.S12 +
.l3.S13 -
.l3.C23.S1 -
..l3.C23.S1 -
..l3.C23.S1 - 2.
.l2.C1.S2 + 2.
.l3.C3.S1 +
.l3.C123 -
.l3.C3.S12 -
.l3.C2.S13 - 2.
.l3.C13.S2 - 2.
.l3.C12.S3 + 2.
.l3.S123]

[
.l2.S2 -
.l2.C2 +
.l3.C3.S2 +
.l3.C3.S2 -
.l3.C23 +
.l3.S23 +
2.
.l3.C2.S3]

];

];

];

];

];

]

];
];
]

Trang:71
LP : CTK8LC1
GVHD: Trn Xun Tin

];
];
];
];
.(
.C1 -
.S12) -
.S1 -
.C1.S2 -
.C12 ]
[
.C1 -
.(
.S1 +
.C1.S2) -
.S12 -
.C2.S1]
[
.C2 +
.S2 ]


[

]

[


Trang:72
LP : CTK8LC1
GVHD: Trn Xun Tin

H11
d
i
a
i

i
Khp
1
1
0 0 -90 R
2 -90 L1 L2 -90 P
3
3
0 L3 0 R
Bng D-H:


]
L
1
L
2
L
3
u
u
u
x
0
z
1
x
1
z
0
Z
2
X
2
Z
3
X
3

Trang:73
LP : CTK8LC1
GVHD: Trn Xun Tin

]


[
]


[
]


aE =

- 2.
+ 2.
- 2.
+ 2.
.(

];
[

] ;

]


Trang:74
LP : CTK8LC1
GVHD: Trn Xun Tin

];
[

];

]


];
];
];
];
];

];
];
];
]

[

]; JR=[

]

[


Trang:75
LP : CTK8LC1
GVHD: Trn Xun Tin
l
1
l
3
1
3
o
2
o
1
o
0
o
3
Z
2
Z
3
X
3
Z
1
Z
0
X
0
X
1
X
2
Z
1
l
2
H12

Bng D-H:
d
i
a
i

i
Khp
1
1
0 0 0 R
2 L1 L2 -90 P
3
3
0 L3 0 R


]


Trang:76
LP : CTK8LC1
GVHD: Trn Xun Tin

]


[
]


[
-
1
u
-
3
u
-
1
u
-
3
u

-
1 l
-
3
u
]

aE =

- -
1
u .l2.C1 -
2
1
-
u .l2.S1 -
2
1
-
u .l3.C3.S1 -
2
3
-
u .l3.C3.S1 +
- -
1
u .l3.C1.C3 -
- -
3
u
.l3.S13 - 2.
-
1
u .
-
3
u .l3.C1.S3

Trang:77
LP : CTK8LC1
GVHD: Trn Xun Tin

- -
1
u .l2.S1 +
2
1
-
u .l2.C1 +
2
1
-
u .l3.C1.C3 +
2
3
-
u .l3.C13 +
- -
1
u .l3.C3.S1 +
- -
3
u
.l3.C1.S3 - 2.
-
1
u .
-
3
u .l3.S13. l3.S3.
2
3
-
u +
- -
1 l -
- -
3
u .l3.C3

[

]

A3 =[
= [

[

]

]



Trang:78
LP : CTK8LC1
GVHD: Trn Xun Tin
]


Trang:79
LP : CTK8LC1
GVHD: Trn Xun Tin
-
1
u

]


[

]; [

]

[

H13
Bng D-H:

d
i
a
i

i
Khp
1
1
0 L1 0 R
2 L2 0 90 P
3
3
0 L3 0 R


Trang:80
LP : CTK8LC1
GVHD: Trn Xun Tin

];

];

]


[
]


[
]

aE =

+ +
+
2.
+
2.


Trang:81
LP : CTK8LC1
GVHD: Trn Xun Tin

];
[

] ;

];
[

];

]


];
];
];
];
];
];
]


[

]; JR=[

]

[


Trang:82
LP : CTK8LC1
GVHD: Trn Xun Tin

H14

Bng D-H:
d
i
a
i

i
Khp
1
1
0 L1 0 R
2
2
0 0 -90 R
3 L2 L3 0 P

Vit cc ma trn H1, H2, H3:

]

Vit phng trnh th hin v tr im chp hnh cui:

Trang:83
LP : CTK8LC1
GVHD: Trn Xun Tin

[
]

Vit biu thc vn tc, gia tc tuyt i ca im chp hnh cui:

[

]

aE =
[
-2
-
2
- 2
- 2
]
[
- 2
- 2
- 2
- 2
]
[ 0 ]

[

]

]


Trang:84
LP : CTK8LC1
GVHD: Trn Xun Tin
[

]

Vit biu thc vn tc gc, gia tc gc a phng v tuyt i ca tng khu:

]

Trang:85
LP : CTK8LC1
GVHD: Trn Xun Tin

]

Xy dng v tnh ton cc phn t trong ma trn Jacobi:

[

]

JR=[

]

[

H15
ng hc thun
Tnh bc t do ca tay my.

Trang:86
LP : CTK8LC1
GVHD: Trn Xun Tin
S khp n = 3

i 1 2 3 4 5
p
i
0 0 0 0 3

Vy s bc t do ca tay my l:
ADCT:

=
=
5
1
. 6
i
i
p i n w

Trong : w s bc t do ca tay my
n s khp ca tay my.
p
i
s khp loi i (i 1,2,,5 s khp hay s bc t do b hn ch )
Thay s: 3 3 . 5 3 . 6 = = w (bc t do)
Xy dng cc h ta cho cc khu

Lp bng DH:
d
i
a
i

i
Khp
1
1
0 0 -90 R
2 l
1
l
2
0 P
3
3
0 l
3
0 R

Vt cc a trn H1, H2, H3
X0, X1
Z1
X2
Z2
Z0
L
1
L2 L3
Z3
X3

Trang:87
LP : CTK8LC1
GVHD: Trn Xun Tin

=[

]

Vt phn trnh th hn v tr chp hnh cu

[
]

Vt bu thc vn tc a tc tuyt ca chp hnh cu

[

]

aE =
[

l
1

l
1

l
2

l
2

- 2

l
3

l
3

l
3

l
3

+ 2
]
[
l
2

- 2
l
1

l
1

l
2

l
3

l
3

l
3

l
3

- 2 2
l
3

]
[l
3
(
)]

[

]

]

Trang:88
LP : CTK8LC1
GVHD: Trn Xun Tin

[

]

]

Vt bu thc vn tc c a tc c a phn v tuyt ca tn hu

]

ng hc ngc:
Xy dn v tnh tn cc phn t trn a trn Jacb

[

] JR=[

]

[


Trang:89
LP : CTK8LC1
GVHD: Trn Xun Tin

H16
Bng D-H:
d
i
a
i

i
Khp
1
1
0 L1 -90 R
2
2
0 0 90 R
3 L2+L3 0 0 P


]


Trang:90
LP : CTK8LC1
GVHD: Trn Xun Tin

]


[
]


[
]

aE =

.(
) -
.(
) -
.(
.(
)+
) -
.(
)
+
.(
)) +
.(
) +
.(
) +
.(
.(
)) +
. .
.(
)) +
.(
)) -

]

Trang:91
LP : CTK8LC1
GVHD: Trn Xun Tin

[

]

[

]


]


Trang:92
LP : CTK8LC1
GVHD: Trn Xun Tin
]


[

]

JR=[

]

[


Trang:93
LP : CTK8LC1
GVHD: Trn Xun Tin

H17

Bng D-H:

d
i
a
i

i
Khp
1 L1 0 -90 P
2 L2 0 90 R
3
3
0 L3 0 R


]


Trang:94
LP : CTK8LC1
GVHD: Trn Xun Tin

]


[

]


[

]

[
]


Trang:95
LP : CTK8LC1
GVHD: Trn Xun Tin
[

]

[

]

]


]


Trang:96
LP : CTK8LC1
GVHD: Trn Xun Tin

]



Trang:97
LP : CTK8LC1
GVHD: Trn Xun Tin
[
]

[

]

[

H18

Bng D-H:

d
i
a
i

i
Khp
1
1
L1 0 -90 R
2 L2 0 90 P

Trang:98
LP : CTK8LC1
GVHD: Trn Xun Tin
3
3
0 L3 0 R


H1 =[

]; H2 =[

]; H3 =[

]

D3 =
[


rE =[

]


vE=[
u l u
u l u

]

aE=
[
u u u u
l u u l u
u u
l l u u u u
u u u
u u


Trang:99
LP : CTK8LC1
GVHD: Trn Xun Tin

A1 =[

] ; A2 =[

] ; A3 =[

]

=[
u
u

] ;
=[

] ;
=[
u
u

]


=[

u
] ;
=[

] ;
=[

u
] ;

=[

u
] ;
=[

u
] ;
=[

u u
]

=[

u
] ;
=[

u
] ;
=[

u u
]


JT =[

]

JR =[

]


Trang:100
LP : CTK8LC1
GVHD: Trn Xun Tin
Jb =
[

H19

d
i
a
i

i
Khp
1
1
0 0 0 R
2 L1 L2 0 P
3
3
0 L3 0 R

Bng D-H:

[ q1, 0, 0, 0]
DH= [ 0, l1, l2, 0]
[ q3, 0, l3, 0]


[ c1, -s1, 0, 0]
H1= [ s1, c1, 0, 0]
[ 0, 0, 1, 0]
[ 0, 0, 0, 1]


Trang:101
LP : CTK8LC1
GVHD: Trn Xun Tin
[ 1, 0, 0, l2]
H2= [ 0, 1, 0, 0]
[ 0, 0, 1, l1]
[ 0, 0, 0, 1]

[ c3, -s3, 0, l3.c3]
H3= [ s3, c3, 0, l3.s3]
[ 0, 0, 1, 0]
[ 0, 0, 0, 1]

[ c1.c3 - s1.s3, - c1.s3 - c3.s1, 0, l2.c1 + l3.c1.c3 - l3.s1.s3]
D3= [ c1.s3 + c3.s1, c1.c3 - s1.s3, 0, l2.s1 + l3.c1.s3 + l3.c3.s1]
[ 0, 0, 1, l1]
[ 0, 0, 0, 1]


rE =

l2.C1 + l3.C1.C3 - l3.S1.S3
l2.S1 + l3.C1.S3 + l3.C3.S1
l1


vE =

dl2.C1 - dq1.(l3.sin(q1 + q3) + l2.S1) - dq3.l3.sin(q1 + q3)
dq1.(l3.cos(q1 + q3) + l2.C1) + dl2.S1 + dq3.l3.cos(q1 + q3)
0

aE =

ddl2.C1 - 2.dl2.dq1.S1 - ddq1.l2.S1 - dq1^2.l3.cos(q1 + q3) - dq3^2.l3.cos(q1 + q3) -
dq1^2.l2.C1 - ddq1.l3.sin(q1 + q3) - ddq3.l3.sin(q1 + q3) - 2.dq1.dq3.l3.cos(q1 + q3)
ddl2.S1 + ddq1.l2.C1 - dq1^2.l3.sin(q1 + q3) - dq3^2.l3.sin(q1 + q3) - dq1^2.l2.S1 +
ddq1.l3.cos(q1 + q3) + ddq3.l3.cos(q1 + q3) + 2.dl2.dq1.C1 - 2.dq1.dq3.l3.sin(q1 + q3)

Trang:102
LP : CTK8LC1
GVHD: Trn Xun Tin

0

A1 =

[ C1, -S1, 0]
[ S1, C1, 0]
[ 0, 0, 1]

A2 =

[ 1, 0, 0]
[ 0, 1, 0]
[ 0, 0, 1]

A3 =

[ C3, -S3, 0]
[ S3, C3, 0]
[ 0, 0, 1]

W10 =

[ 0, -dq1, 0]
[ dq1, 0, 0]
[ 0, 0, 0]

W21 =

[ 0, 0, 0]
[ 0, 0, 0]
[ 0, 0, 0]

W32 =

[ 0, -dq3, 0]
[ dq3, 0, 0]

Trang:103
LP : CTK8LC1
GVHD: Trn Xun Tin
[ 0, 0, 0]


w10 =

0
0
dq1

w21 =

0
0
0

w32 =

0
0
dq3

w1 =

0
0
dq1

w2 =

0
0
dq1

w3 =

Trang:104
LP : CTK8LC1
GVHD: Trn Xun Tin

0
0
dq1 + dq3

a1 =

0
0
ddq1

a2 =

0
0
ddq1

a3 =

0
0
ddq1 + ddq3


JT =

[ - l3.sin(q1 + q3) - l2.S1, C1, -l3.sin(q1 + q3)]
[ l3.cos(q1 + q3) + l2.C1, S1, l3.cos(q1 + q3)]
[ 0, 0, 0]

JR =

[ 0, 0, 0]
[ 0, 0, 0]
[ 1, 0, 1]

Trang:105
LP : CTK8LC1
GVHD: Trn Xun Tin

Jb =

[ - l3.sin(q1 + q3) - l2.S1, C1, -l3.sin(q1 + q3)]
[ l3.cos(q1 + q3) + l2.C1, S1, l3.cos(q1 + q3)]
[ 0, 0, 0]
[ 0, 0, 0]
[ 0, 0, 0]
[ 1, 0, 1]

H20

Bng D-H:

d
i
a
i

i
Khp
1 L0 L1 -90 P
2
2
0 L2 -90 R
3
3
0 L3 0 R


L
0
L
1
L
2
L
3
u
2
u
3
z
0
x
0
z
1
x
1
z
2
x
2
z
3
x
3

Trang:106
LP : CTK8LC1
GVHD: Trn Xun Tin

]


[
]


[

]

[
]


Trang:107
LP : CTK8LC1
GVHD: Trn Xun Tin

[

]

[

]

]


]


Trang:108
LP : CTK8LC1
GVHD: Trn Xun Tin

];
];
];
];
];
]


[

]; [

]

[


Trang:109
LP : CTK8LC1
GVHD: Trn Xun Tin
H1

d
i
a
i

i
Khp
1
1
0 l
1
0 R
2
2
0 l
2
-90 R
3
3
0 l
3
0 R

Bng D-H:

DH =

[ q1, 0, l1, 0]
[ q2, 0, l2, -/2]
[ q3, 0, l3, 0]


H1 =

[ C1, -S1, 0, l1.C1]
[ S1, C1, 0, l1.S1]
[ 0, 0, 1, 0]
[ 0, 0, 0,
H2 =

[ C2, 0, -S2, l2.C2]
[ S2, 0, C2, l2.S2]
[ 0, -1, 0, 0]
[ 0, 0, 0, 1]

H3 =

[ C3, -S3, 0, l3.C3]
[ S3, C3, 0, l3.S3]
[ 0, 0, 1, 0]
[ 0, 0, 0, 1]

D3 =

Trang:110
LP : CTK8LC1
GVHD: Trn Xun Tin

[ C3.(C1.C2 - S1.S2), -S3.(C1.C2 - S1.S2), - C1.S2 - C2.S1, l1.C1 + l3.C3.(C1.C2 -
S1.S2) + l2.C1.C2 - l2.S1.S2]
[ C3.(C1.S2 + C2.S1), -S3.(C1.S2 + C2.S1), C1.C2 - S1.S2, l1.S1 + l3.C3.(C1.S2 +
C2.S1) + l2.C1.S2 + l2.C2.S1]
[ -S3, -C3, 0,
-l3.S3]
[ 0, 0, 0,
1]


rE =

l1.C1 + l3.C3.(C1.C2 - S1.S2) + l2.C1.C2 - l2.S1.S2
l1.S1 + l3.C3.(C1.S2 + C2.S1) + l2.C1.S2 + l2.C2.S1
-l3.S3


vE =
2
1
-
u

-
-
1
u .(l2.S12 + l1.S1 + l3.S12.C3) -
-
2
u .(l2.S12 + l3.S12.C3) -
-
3
u .l3.C12.S3

-
1
u .(l2.C12 + l1.C1 + l3.C12.C3) +
-
2
u .(l2.C12 + l3.C12.C3) -
-
3
u .l3.S12.S3.
-
3
u
- .l3.C
3

aE =

(
- -
3
u .l3.s(q1 + q2 - q3))/2 - (
2
2
-
u .l3.c(q1 + q2 - q3))/2 - (
2
3
-
u .l3.c(q1 + q2 - q3))/2 -
- -
1
u .l1.S1 -
2
1
-
u .l2.C12 -
2
2
-
u .l2.C12 - (
- -
1
u .l3.S123)/2 - (
- -
2
u .l3.S123)/2 - (
- -
3
u
.l3.S123)/2 -
2
1
-
u .l1.C1 - (
2
1
-
u .l3.C123)/2 - (
2
2
-
u .l3.C123)/2 - (
2
3
-
u .l3.C123)/2 - (
- -
1
u .l3.sin(q1 + q2 - q3))/2 - (
- -
2
u .l3.sin(q1 + q2 - q3))/2 - (
2
1
-
u .l3.cos(q1 + q2 -

Trang:111
LP : CTK8LC1
GVHD: Trn Xun Tin
q3))/2 -
- -
1
u .l2.S12 -
- -
2
u .l2.S12 -
-
1
u .
-
2
u .l3.cos(q1 + q2 - q3) +
-
1
u .
-
3
u
.l3.cos(q1 + q2 - q3) +
-
3
u .
-
2
u .l3.cos(q1 + q2 - q3) - 2.
-
1
u .
-
2
u .l2.C12 -
-
1
u
.
-
2
u .l3.C123 -
-
1
u .
-
3
u .l3.C123 -
-
3
u .
-
2
u .l3.C123

- -
1
u .l1.C1 - (
2
1
-
u .l3.sin(q1 + q2 - q3))/2 - (
2
2
-
u .l3.sin(q1 + q2 - q3))/2 - (
2
3
-
u
.l3.sin(q1 + q2 - q3))/2 -
2
1
-
u .l2.S12 -
2
2
-
u .l2.S12 + (
- -
1
u .l3.C123)/2 + (
- -
2
u
.l3.C123)/2 + (
- -
3
u .l3.C123)/2 -
2
1
-
u .l1.S1 + (
- -
1
u .l3.cos(q1 + q2 - q3))/2 + (
- -
2
u .l3.cos(q1 + q2 - q3))/2 - (
- -
3
u .l3.cos(q1 + q2 - q3))/2 - (
2
1
-
u .l3.S123)/2 - (
2
2
-
u .l3.S123)/2 - (
2
3
-
u .l3.S123)/2 +
- -
1
u .l2.C12 +
- -
2
u .l2.C12 -
-
1
u .
-
2
u
.l3.sin(q1 + q2 - q3) +
-
1
u .
-
3
u .l3.sin(q1 + q2 - q3) +
-
3
u .
-
2
u .l3.sin(q1 + q2 -
q3) - 2.
-
1
u .
-
2
u .l2.S12 -
-
1
u .
-
2
u .l3.S123 -
-
1
u .
-
3
u .l3.S123 -
-
3
u .
-
2
u
.l3.S123

l3.(
2
3
-
u .S3 -
- -
3
u .C3)

A1 =

[ C1, -S1, 0]
[ S1, C1, 0]
[ 0, 0, 1]

A2 =

[ C2, 0, -S2]
[ S2, 0, C2]
[ 0, -1, 0]

A3 =

[ C3, -S3, 0]
[ S3, C3, 0]
[ 0, 0, 1]


Trang:112
LP : CTK8LC1
GVHD: Trn Xun Tin
W10 =

[ 0, -
-
1
u , 0]
[
-
1
u , 0, 0]
[ 0, 0, 0]

W21 =

[ 0, -
-
2
u , 0]
[
-
2
u , 0, 0]
[ 0, 0, 0]

W32 =

[ 0, -
-
3
u , 0]
[
-
3
u , 0, 0]
[ 0, 0, 0]


w10 =

0
0

-
1
u

w21 =

0
0
-
2
u

w32 =

0

Trang:113
LP : CTK8LC1
GVHD: Trn Xun Tin
0
-
3
u

w1 =

0
0

-
1
u

w2 =

0
0
-
1
u +
-
2
u

w3 =

-
-
3
u .(C1.S2 + C2.S1)

-
3
u .(C1.C2 - S1.S2)

-
1
u +
-
2
u

a1 =

0
0

- -
1
u

a2 =

0
0

Trang:114
LP : CTK8LC1
GVHD: Trn Xun Tin
- -
1
u +
- -
2
u

a3 =

-
- -
3
u .S12 -
-
1
u +
-
3
u

.C12 -
-
2
u +
-
3
u
.C12

- -
3
u .C12 -
-
1
u +
-
3
u
.S12 -
-
2
u +
-
3
u .S12
- -
1
u +
- -
2
u


JT =

[ - l2.S12 - l1.S1 - l3.S12.C3, -S12.(l2 + l3.C3), -l3.C12.S3]
[ l2.C12 + l1.C1 + l3.C12.C3, C12.(l2 + l3.C3), -l3.S12.S3]
[ 0, 0, -l3.C3]

JR =

[ 0, 0, -S12]
[ 0, 0, C12]
[ 1, 1, 0]

Jb =

[ - l2.S12 - l1.S1 - l3.S12.C3, -S12.(l2 + l3.C3), -l3.C12.S3]
[ l2.C12 + l1.C1 + l3.C12.C3, C12.(l2 + l3.C3), -l3.S12.S3]
[ 0, 0, -l3.C3]
[ 0, 0, -S12]
[ 0, 0, C12]
[ 1, 1, 0]

De Cuong Thi Robot Cong Nghiep

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De Cuong Thi Robot Cong Nghiep

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BI TP LN: RBT CNG NGHIP

trong h qui chiu R

| . Do A l ma trn vung cp ba vi cc phn t l

c mt tr s ring thc v mt cp tr ring lin hp.

l tr ring ca A. Theo (3) ta thy c hai kh nng xy ra hoc

l hai s thc , hoc

l hai s phc lin hp (

phi l hai s thc , do

l ma trn ct gm c ba thnh phn l hnh chiu ca vct p u trong h

li chuyn n i vi h quy chiu

.l3.S(2.1 + 2.2 + 3))/2 -

.l3.C(2.1 + 2.2 + 3))/2 -

.l3.C(2.1 + 2.2 + 3))/2 +

.l3.S(2.1 + 2.2 + 3))/2 -

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