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TABLA DE PARAMETROS DH
%Eslabon theta (i) di ai alpha(i)
%1 q1 l1 0 0
%2 0 q2 0 90
%3 0 q3 0 0
c1 =
s1=sin(q1)
s1 =
c2=cos(q2)
c2 =
s2=sin(q2)
s2 =
c3=cos(q3)
c3 =
s3=sin(q3)
s3 =
MATRICES HOMOGENEAS
A01 =
A12=[1 0 0 0;...
0 0 -1 0;...
0 1 0 q2;...
0 0 0 1]
A12 =
A23=[1 0 0 0;...
0 1 0 0;...
0 0 1 q3;...
0 0 0 1]
A23 =
A02=simplify(A01*A12)
A02 =
A03=simplify(A02*A23)
A03 =
R01 = A01(1:3,1:3)
R01 =
R02 = A02(1:3,1:3)
R02 =
R03 = A03(1:3,1:3)
R03 =
R10 = transpose(R01)
R10 =
R20 = transpose(R02)
R20 =
R30 = transpose(R03)
R30 =
matriz de inercia
i11=[(m1*l1*l1)/12 0 0;...
0 (m1*l1*l1)/12 0;...
0 0 0]
i11 =
I1=simplify (R01*i11*R10)
I1 =
para el eslabón 2 articulación prismática i =2
i22=[(m2*q2*q2)/12 0 0;...
0 (m2*q2*q2)/12 0;...
0 0 0]
i22 =
I2=simplify(R02*i22*R20)
I2 =
i33=[0 0 0;...
0 (m3*q3*q3)/12 0;...
0 0 (m3*q3*q3)/12]
i33 =
I3=simplify(R03*i33*R30)
I3 =
Vector de posición
pc01=[ 0; 0 ;l1/2]
pc01 =
pc02=[ 0; 0 ;q2/2+l1]
pc02 =
pc03 =
pc12=[ 0; 0 ;q2/2]
pc12 =
pc13 =
pc23=[ q3/2; 0 ; 0]
pc23 =
pc11=[ 0; 0 ; -l1/2]
pc11 =
pc22=[ -q2; 0 ; 0]
pc22 =
pc33=[ -q3/2; 0 ; 0]
pc33 =
z0=[0; 0; 1]
z0 = 3×1
0
0
1
z1=[0; 0; 1]
z1 = 3×1
0
0
1
z2=[0; 0; 1]
z2 = 3×1
0
0
1
jv11=cross(z0,pc01)
jv11 =
Para el eslabón 1, i=1, con la articulación prismática 2, j=2, j>=i
jv21=[0; 0; 0]
jv21 = 3×1
0
0
0
jv31=[0; 0; 0]
jv31 = 3×1
0
0
0
Entonces
jv1=[jv11,jv21,jv31]
jv1 =
jv12=cross(z0,pc02)
jv12 =
jv22=cross(z1,pc12)
jv22 =
Para el eslabón 2, i=2, con la articulación prismática 3, j=3, j>=i
jv32=[0; 0; 0]
jv32 = 3×1
0
0
0
Entonces
jv2=[jv12,jv22,jv32]
jv2 =
jv13=cross(z0,pc03)
jv13 =
jv23=z1
jv23 = 3×1
0
0
1
jv33=z2
jv33 = 3×1
0
0
1
Entonces
jv3=[jv13,jv23,jv33]
jv3 =
jw11=z0
jw11 = 3×1
0
0
1
jw21=[0; 0; 0]
jw21 = 3×1
0
0
0
jw31=[0; 0; 0]
jw31 = 3×1
0
0
0
Entonces
jw1=[jw11,jw21,jw31]
jw1 = 3×3
0 0 0
0 0 0
1 0 0
jw12=z0
jw12 = 3×1
0
0
1
jw22=[0; 0; 0]
jw22 = 3×1
0
0
0
jw32=[0; 0; 0]
jw32 = 3×1
0
0
0
Entonces
jw2=[jw12,jw22,jw32]
jw2 = 3×3
0 0 0
0 0 0
1 0 0
jw13=z0
jw13 = 3×1
0
0
1
jw23=[0; 0; 0]
jw23 = 3×1
0
0
0
jw33=[0; 0; 0]
jw33 = 3×1
0
0
0
Entonces
jw3=[jw13,jw23,jw33]
jw3 = 3×3
0 0 0
0 0 0
1 0 0
M=simplify( transpose(jv1)*m1*jv1 + transpose(jw1)*I1*jw1 + ...
transpose(jv2)*m2*jv2 + transpose(jw2)*I2*jw2 +...
transpose(jv3)*m3*jv3 + transpose(jw3)*I3*jw3 )
M =
m1=M(1,1)
m1 =
dm11=2*(m2*q2/12)+2*(m3*q3/3)
dm11 =
v1=dm11*dq2*dq3
v1 =
v2=0
v2 = 0
v3=0
v3 = 0
V = [v1;v2;v3]
V =
e) Vector Gravitacional
g=[0;0;gc]
g =
G1 = -m1*transpose(g)*jv11 +...
-m2*transpose(g)*jv12 +...
-m3*transpose(g)*jv13
G1 =
0
G2 = -m1*transpose(g)*jv21 +...
-m2*transpose(g)*jv22 +...
-m3*transpose(g)*jv23
G2 =
G3 = -m1*transpose(g)*jv31 +...
-m2*transpose(g)*jv32 +...
-m3*transpose(g)*jv33
G3 =
entonces
G=[G1;G2;G3]
G =
d2q = [d2q1;d2q2;d2q3]
d2q =
tau=M*d2q + V + G
tau =
tau1 = tau(1);
tau1 = simplify(tau(1))
tau1 =
tau2 = tau(2);
tau2 = simplify(tau(2))
tau2 =
tau3 = tau(3);
tau3 = simplify(tau(3))
tau3 =