l2

l2

l1

l1

R-R1

R-P1
Z0 Y0

P-P1

P-R1

X0

l1

l1

P-R2

P-P2

R-P2

R-R2

Bi tiu lun 1, yu cu:

Thit lp cc h ta Lp bng tham s D-H Hnh thnh bi ton ng hc thun v tr - xc nh ta im nh theo cc gi tr bin khp Hnh thnh bi ton ng hc ngc v tr - xc nh cc gi tr bin khp theo ta im nh Xy dng vng khng gian lm vic - c suy lun t bi ton ngc Thit lp ma trn Jacobian M phng ng hc hat ng ca c cu