TRNG I HC BCH KHOA TP.

H CH MINH
KHOA: IN IN T
B MN: IU KHIN T NG
THUYT TRNH:

IU KHIN XE BM VCH
DNG X L NH
GVHD: NGUYN C HONG
SVTH: NGUYN HONG HUN
MSSV: 40700905
LP: DD07TD1
Nhim v:
S

khi
robot
M hnh t thi cng
M hnh tham kho
i thng Xoay trn R phi i cung trn
Phn tch chuyn ng
Chuyn ng tnh tin

.cos(

.cos(

.cos(

)
Chuyn ng xoay

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Tng hp chuyn ng

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gii
thut
trn
Kit
Ly (1) Khng ly (0)
Kim tra r tri, r phi






Kim tra r tri , r phi






1
2
= dt1 dt2
hiu chnh bm ng ng line
Lu

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thut
trn
VK
Clip