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e2
e4

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e3
e1

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Couples aux actionneurs
0.25
Moteur 1 Bilan energetique
0.2 0.000075
Moteur 2 D potentiel
0.15 0.00005 D cinetique
Couple [N.m]

0.1 0.000025 -W
Energie [J]

D total
0.05 0

0 -0.000025

-0.00005
-0.05
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Temps [s] Temps [s]

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 Positions angulaires
0
Theta 1

Position angulaire [rad]

-0.5 Theta 2
Theta 3
-1 Theta 4
Phi 1
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-2

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-3
0 0.005 0.01 0.015 0.02 0.025 0.03
Temps [s]

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Vitesses angulaires

1
Theta 1
Vitesse angulaire[rad/s]

Theta 2
0.5 Theta 3
Theta 4
Phi 1
0 Phi 2

-0.5

-1
0 0.005 0.01 0.015 0.02 0.025 0.03
Temps [s]

—”RDŒ‰‹’ˆ‘‘’ˆZ“
Accelerations angulaires
Acceleration angulaire[rad/s^2]

100 Theta 1
Theta 2
50 Theta 3
Theta 4
Phi 1
0 Phi 2

-50

-100
0 0.005 0.01 0.015 0.02 0.025 0.03
Temps [s]

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5000

4000

Vitesse [rpm]
3000

2000

1000

0
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Couple [N.m]

Graphe de Puissance Moteur 2

5000

4000
Vitesse [rpm]

3000

2000

1000

0
0 0.1 0.2 0.3 0.4 0.5
Couple [N.m]

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Position de la camera

e2
e5

e3
e4
e1

z 5BSRE<;1.|{JY }%~ ;GFQ1.4+/06957;1.OY

Couples aux actionneurs

Bilan energetique
Moteur 1
0.0015
0.02 Moteur 2 D potentiel
0.001 D cinetique
Couple [N.m]

-W
Energie [J]

0 0.0005
D total

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Temps [s] Temps [s]

 

      
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Theta 1

Position angulaire [rad]

1
Theta 2
Theta 3
0 Theta 4
Phi 1
Phi 2
-1

-2

-3
0 0.02 0.04 0.06 0.08 0.1 0.12
Temps [s]

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Vitesses angulaires

20 Theta 1
Vitesse angulaire[rad/s]

Theta 2
Theta 3
10
Theta 4
Phi 1
0 Phi 2

-10

-20

0 0.02 0.04 0.06 0.08 0.1 0.12

Temps [s]

—”RDŒ‰‹’ˆ‘‘’ˆZ“
Accelerations angulaires
Acceleration angulaire[rad/s^2]

Theta 1
400 Theta 2
Theta 3
200 Theta 4
Phi 1
0 Phi 2

-200

-400

0 0.02 0.04 0.06 0.08 0.1 0.12

Temps [s]

• Š0PŠ?Š ˆ˜ ‡0ˆ˜  €l‹’Œ‰ƒZ@“

z 5BSRE<;1.|{JY } FH;15XF<A7.2J4+578J.= ]hF/15NMOE<.2$I@.2JFH;0/15X4+E<ANF/157698T2ZY

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 Graphe de Puissance Moteur 1

5000

4000

Vitesse [rpm]
3000

2000

1000

0
0 0.1 0.2 0.3 0.4 0.5

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+“
Couple [N.m]

Graphe de Puissance Moteur 2

5000

4000
Vitesse [rpm]

3000

2000

1000

0
0 0.1 0.2 0.3 0.4 0.5
Couple [N.m]

•”RPŠ‹Œ‰ƒZˆ?…H“
z 5BS9E>;1.|{JY }
 E<5X2120FH8T4+.C2WFE F94+/05B698>8<.E<;G2+Y

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