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    Chelo Roman
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    The document contains a matrix of numbers with units. The matrix relates seven position coordinates and three angles to seven force and torque values using an equation of the form KU=F. The matrix has values ranging from -2,427,097 to 1,085,344 with units of millimeters, milliradians, and kilograms or kilogram-meters depending on the row or column.

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    Libro (11)

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    The document contains a matrix of numbers with units. The matrix relates seven position coordinates and three angles to seven force and torque values using an equation of the form KU=F. The matrix has values ranging from -2,427,097 to 1,085,344 with units of millimeters, milliradians, and kilograms or kilogram-meters depending on the row or column.

    Copyright:

    © All Rights Reserved
    Download as XLSX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    8 views3 pages

    Libro

    Uploaded by

    Chelo Roman
    The document contains a matrix of numbers with units. The matrix relates seven position coordinates and three angles to seven force and torque values using an equation of the form KU=F. The matrix has values ranging from -2,427,097 to 1,085,344 with units of millimeters, milliradians, and kilograms or kilogram-meters depending on the row or column.

    Copyright:

    © All Rights Reserved
    Download as XLSX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 3

    Matrix KU=F (beta!!

    )
    K
    101.97 0.00 0.00 0.00 0.00 0.00 0.00
    0.00 101.97 0.00 0.00 0.00 0.00 0.00
    0.00 0.00 101.97 0.00 0.00 0.00 0.00
    0.00 0.00 0.00 6795358.91 -0.00 31153.96 -6782897.32
    0.00 0.00 0.00 -0.00 10855678.09 -12169.52 0.00
    0.00 0.00 0.00 31153.96 -12169.52 168750.64 0.00
    0.00 0.00 0.00 -6782897.32 0.00 0.00 10969449.56
    0.00 0.00 0.00 0.00 -3042.38 12169.52 0.00
    0.00 0.00 0.00 0.00 -12169.52 32452.05 31153.96
    0.00 0.00 0.00 0.00 0.00 0.00 0.00
    0.00 0.00 0.00 0.00 0.00 0.00 0.00
    0.00 0.00 0.00 0.00 0.00 0.00 0.00
    0.00 0.00 0.00 0.00 0.00 0.00 -4174090.66
    0.00 0.00 0.00 0.00 0.00 0.00 0.00
    0.00 0.00 0.00 0.00 0.00 0.00 0.00
    0.00 0.00 0.00 0.00 0.00 0.00 0.00
    0.00 0.00 0.00 0.00 0.00 0.00 0.00
    0.00 0.00 0.00 0.00 0.00 0.00 0.00
    U F
    0.0000 [mm] 6994.05 [kg]
    0.0000 [mm] 2197.87 [kg]
    0.0000 [mrad] 4681.62 [kg.m]
    980,784 [mm] -0.00 [kg]
    -0.6445 [mm] 0.00 [kg]
    313,172 [mrad] 0.00 [kg.m]
    984,025 [mm] -0.00 [kg]
    -22,583 [mm] 0.00 [kg]
    928,339 [mrad] 0.00 [kg.m]
    0.0000 [mm] 24508.42 [kg]
    0.0000 [mm] 4118.39 [kg]
    0.0000 [mrad] 7885.87 [kg.m]
    999,157 [mm] -0.00 [kg]
    -12,092 [mm] 0.00 [kg]
    -2,427,097 [mrad] 0.00 [kg.m]
    0.0000 [mm] 13122.53 [kg]
    0.0000 [mm] -6316.26 [kg]
    0.0000 [mrad] -9489.51 [k
    0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00
    0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00
    0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00
    0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00
    -3042.38 -12169.52 0.00 0.00 0.00 0.00 0.00 0.00
    12169.52 32452.05 0.00 0.00 0.00 0.00 0.00 0.00
    0.00 31153.96 0.00 0.00 0.00 -4174090.66 0.00 0.00
    10856387.10 7560.94 0.00 0.00 0.00 0.00 -709.01 -4608.57
    7560.94 208691.62 0.00 0.00 0.00 0.00 4608.57 19970.49
    0.00 0.00 101.97 0.00 0.00 0.00 0.00 0.00
    0.00 0.00 0.00 101.97 0.00 0.00 0.00 0.00
    0.00 0.00 0.00 0.00 101.97 0.00 0.00 0.00
    0.00 0.00 0.00 0.00 0.00 4186552.24 0.00 31153.96
    -709.01 4608.57 0.00 0.00 0.00 0.00 10853344.72 4608.57
    -4608.57 19970.49 0.00 0.00 0.00 31153.96 4608.57 143787.53
    0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00
    0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00
    0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00
    0.00 0.00 0.00
    0.00 0.00 0.00
    0.00 0.00 0.00
    0.00 0.00 0.00
    0.00 0.00 0.00
    0.00 0.00 0.00
    0.00 0.00 0.00
    0.00 0.00 0.00
    0.00 0.00 0.00
    0.00 0.00 0.00
    0.00 0.00 0.00
    0.00 0.00 0.00
    0.00 0.00 0.00
    0.00 0.00 0.00
    0.00 0.00 0.00
    101.97 0.00 0.00
    0.00 101.97 0.00
    0.00 0.00 101.97

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