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ROBOTS
INTRODUCCIN
DINMICA
INVERSA
(ROBOT)
SIMMECHANICS
Ground
SIMMECHANICS
SIMMECHANICS
Env
Machine
Environment
Ground
CS1
CS2
Body
Revolute
Revolute1
Joint Initial Condition1
Joint Sensor
Scope
Jo
SIMMECHANICS
Ejemplo:
Para el modelo del pndulo doble, obtener la posicin del efector
final, a partir de la posicin de cada articulacin (Geometra
directa).
300 mm
300 mm
SIMMECHANICS
SIMMECHANICS
Sensor en el
efector final
Actuador de
articulacin
SIMMECHANICS
Env
Machine
Environment
CS1
B
F
Ground
CS2
CS1
CS2
F
Body
Body1
Revolute1
Revolute
Joint Actuator
Joint Actuator1
Unidades
SIMMECHANICS
S1
CS2
Body1
Body Sensor
SIMMECHANICS
SIMMECHANICS
SIMMECHANICS
SIMMECHANICS
SIMMECHANICS
SIMMECHANICS
SIMMECHANICS
SIMMECHANICS
SIMMECHANICS
Simmechanics
Geometra
Directa