Mechanics and Control in Robotics
Uploaded by
Mohammad SafaeipourMechanics and Control in Robotics
Uploaded by
Mohammad Safaeipourwww.mohandesyar.
com
www.mohandesyar.com
)www.mohandesyar.com
Jjse{iKo
1o
.$\g:
."foQ
Grl'tno
,.Jtf.l;"
*f.i *
,* ffc Aor;
o} li
Ur',\.i,.
otff.ils
-.L
\3l.;tii,l
L-9.
www.mohandesyar.com
.+1" ill)Liitl'at-,,t 9"
.4.i
G;t;'o oKiilc
$lu2'> J}'-{i '4lK,.
Introduction to Robotics
3---5ot? .-cJ'ir
Mechanics and Control (Second Edition)
g)F-t ojU c6;;tJL *
John J. Craig
|t,g
ce-rr--:
4;
L;l;il tj-;"t^-.,.'.u\1J
olK-;jl.,r"l" ..lbt-:.jl 'r*,3-
Addison-Wesley, 1989
,*
\fAO:fr Vb
iooo:!tfJL-i
JU-Jfqooo
..:*,1
LtU,"
?q J*" ful;",q :;v,-e r ?q
i-t''
12f-tfvq-Yq-X .it-i
ISBN 964-6379-29-X
Craig, fohn.
;i:.o
J.
o\3.:.itr'.b\r+
lt.6,
--.*l-\rcr* i!\i rg.f.ri. J*,--; \<..f
-\ loo r.tia rci-f
i-rL l6*\.rt tr JiS I 6ot5.
r.rJr :,r\-fU\'l*i" l,.3-:d
. \ t\\
..;lsy tte.:.rr 0Al ro:jb
rsBN 964-6379-29-X
.tnp
Introduction to Robotics: Mechanics and Control, 2nd.
ob>tLt
trLlt
'*-*)e
:)et
6tir
.Jt"-r f 1o o o i\ f AA :gf- ./b
ed.,
.r"Uojl.9
.4^tit.:f
t,-l-\ts-,-.?.-1-..i clff 1 c,rb t6.11J.i,..-oJt ..; r kar-,.i,t- -- {*!:.,,.Y .e$t3;.t
.gl,;r,.)..r.! o5tUl'z*i*-b.| ep og:.;lr.C.-f.i rlf P' ro./ti
TJYU/e5rgv
lYliAqY
\
;vv-f11.
2tqtVAq
TVV
,ill"1* ii;.rttr
? - ??Y.0
YY
:stsg
.2,t:
??\?YoVoJ\ - ??.\Y\Yl :615r,.;;r
www.mohandesyar.com
e)l ,>*)l *Ul ,.."{
9JtI" c.,;.Jlt
.r - L-?
u*..tt;l*4*,
A)
LlJli '^td ,t ,gj:;'K.Z,a,
oriI
.;JVrKi:*
o+:-
{.Jir
&--j \- \
-'"t uSlS,
\2
,r5.*L"i
Y\
fo
-&-t
?Y
VV
"5 'l
6;+
u,iti
nbL-t 't& ?-Y
f[,--u s;t^dJrL V- Y
i.r!.rr
,rt *JA
A-Y
,,[.l"; 1-f
,Jl.-,t .,. crUi-), \. -Y
rbT 6tArl.ry
,at, ,rd;lS, g[nlt? .SJl.r,-,
+.;L \-f
VV
VV
f-Y
,166t$-+ r ,l+Lrt ,tdh:;l rterfu^r f-Y
Llrr+ i.-)E 0- Y
fr
7Y
t 14! i
,--/4i + Ln3'.r$ ;t \;*-; srlr.,-i; ,t{IK
r\
Y7
g;t{lJr..l
-\
f- \
f
a..li- \-Y
h-rtrh ),t+-;r4.,t+t(, :tgi,.-; Y-Y
Y\
rr
J.J: .SJli
6rljf)Lr
Y\
YV
,.st"rrtr
L.1.,
-;*;
Y-r
www.mohandesyar.com
hl., Jl--;l -\-; f-f
L+hl + t+ata3 JLdl 6!11 rl:-2!a f-f
,ot ,rStS,. ,sto.u! .SJt^+ 0-r
A16, g;L;i 2,j-d. g;L;i .g;;l.sl25G[;i 7-Y
,P;!:,, 9: &L'.::,, ,t+Jti V-f
slsLl ,rtj.[ t ,sl+-rrt.6a A-f
A\
Ar
c\\
10
\7
\" t
\\Y
\\Y
sc*175r!l 1-f
GQI*, c.,tl--)L \"-!"
,at .r$lS"
\YO
.sla-r;tl 4ub
a..tir \-f
,r:r r-t J* Y-f
\YO
\YO
\TY
\rf
61;j2; ctrljft[
u-,JlA J-'b .Jrb.,t .s-* J-.!,
n 1 ? .:JL -r);^L uSJts,
6laL-.1u,-
\TY
If0
/t
\21
\VT
\VP
\Ar
\AY
,rtc-l t-f
\"-f
jt*t^.. c,th--)L \ \-f
,sy-i,rl$5,tjr
.,5aih-l 1rblp.l
kryW:f[
a,.li, \ -0
;L; ! ;t- ,s;ri-r iL(, slr ,s.rljfr* Y-O
,-J* f t--*l GLst t ;Lt t>cr* f-0
f -A
g'l*-3li ,--c- i.rl*-r: -Q;tL
crlr:,' GW! 8)o 0-0
-&-t kl., + &.t;l c,.c- aicblu ,5"& ?-A
Li*tlj Y-0
\AA
\t\
\tf
f-f
cs-*
.-(;t5., ,-rt"rt: cr[ SOLVD Llr;r,-;;l
\AT
\t1
{ "},--tr ,t-} jl
f-f
irrb.tnl^.=-;l .r-ttJL
:rllt:-l (J;h-r?.r[+t A-f
,at ,rs,;K.
\OP
\tq
,,s511
J-'!, 0-f
,,t.i.; .5'- rt
*b tp t*' ,slt -e-\ ,F 'ia ?-f
V-f
.-Etol!
\F"
\04
\04
.iJt-.-, f
c"S6tCL
,"L ,_$t5. tst"ri!;r
f;b-l ut"ri
si i:r.,,
\1V
,h
A-0
t-0
h*-f lj \ . -0
www.mohandesyar.com
\tr
",$l-l
sb-rr* s
jt,
Y"t
Y.
W-
ar6, ;l.s \ \-6
,15.,;15..,
vJ-
r\Y
\V
Y\1
rYr
Yrf
YYA
Yr"
Yr0
rrA
Yf"
,L;l iJ:L
,-lL:
ilt ei-i
p...-
-Ui iJ:L
.,* 4i
e..li.
-.- $;
YYA
YA0
YTV
l'" l'
,J=.-; trtur
,rl!;tl-)t
-Y
Y-V
- S L\
;l*L
fu .rt ,.-.- s);
;!-r,, Ga-1a.l.r; r!; ti r* ryt
,ri,ti-r J.u;l orlc-l \ -* ,sj.f-h
\*t )l qG u;[+i..- Ls]-f]
ts
Yrr
Ylr
YTF
6[-ai al+::,' f-Y
.rr5t 6Vi sWa f-V
,-116, ,s6_* .,...[,a &)[t-i 0-V
rYF
YAr
cttt-t^,. c.,tl'-)L \ f-2
Y00
rA\
rAr
Y-?
{*i .ts#ti-r u;laalrL;l ;M Y-?
tstt'r ,,fuQr U;tadJrU, JL;L h-7
,nt
"$lt
\-?
,rSrtS, cstr-rrtr uS-tt-) gtralrl.. brtT c^..,)a I j$^t
')a
ar6t c;t-oi ;r ptS. cstlr;! ,rS"rli-r 1-5;balrh. irll c^-.,)dr \ " -P
dp* g,ilr;l &J\\-2
.,S.,q) 6iLal \ Y-P
Y6A
YOV
Y-?
-?
-Arl- ui d$,rS"L.,-t d,t-t^". o-?
d-: Jf- ," U;t^aJrL s 6tl$ u;tlrJrL ?-7
YT\
YOP
.dpQr f
a..tir \-P
Y\"
Y
g[arib
csll
?-Y
V-V
A-V
t-V
,at ,rS,jlS" s:;! fjJtfu ,f*
cr!-r,,
;l oli t*lfcrt=Lc
t fr
L-1,
,#Lr.- 6+J:i,
):l
f-A
615 6L,bi alehL. ui5 15t6Jt', f-A
;i
(_r
www.mohandesyar.com
r.A
r\\
r\r
6a;i ut^.;L 0-A
u;lilr6 cWy 7-h
,P Jgr-td : rfu Y-A
;t^L ,".- A-A
ti U* t-A
&.r
rY.
rY\
rrr
rrr
rrr
YY?
rfr
rrv
rrl
r0.
r0r
r0F
rt\
rtl
rPl
rv.
rv0
rv0
rYV
rAr
rA0
rt.
r10
f.6
F.0
1"7
1.."
,aU
x-l;
ptS,
s[a.ut?
,rb $rS 1
a,.ti- \-1
(4+i)
tlv J-J Y-'\
,li 6L+; . , f-'\
1:r
p) 1"J) s['. = ' J,"S f-1
"ul.,'--. s
i>.,r:
#5 i;b F 0-1
.*, ,*i.r- J.;S ?-\
;t ;-, I gi: Y-1
{*.jrtti
LE
)
r-t|: J} A-1
eir)
t{:; J-"t .5.- JFI ,.sjLJ- t-t
,p c,t:r.r .5"- ;-r:5$5;L;L \'-t
,rt, ,rS;15, rsb./\
&-* Jt:t\ "
+.-li,
\-\'
;b!-,P),F*15lc-:'Y-\"
Lt)f Ji>45:se r+ JF tJlC '' : f- \'
,-st^:,ilr JFf - \'
,"t,
"$tS, drE-)L 0- \'
,rLs
6btl ,p st+!r,, J;5 ,st I ' " P- \ "
iiy.U cE-rl*1, JJ^,- V- \.
l;:561+; "=-" A-\'
,;5: ;L.a:;... t
'P
'j=h Jr=51- \ "
,lt, .r$tS, g[al!:r.U, Jt t\
ar,ti, \- \ \
jE_f ;tJ^c J5 L;':r cst+trr,r sttS
G? t): {i ;t=Ls t' J-J JL'l =*rV
Y- \ \
f-\
www.mohandesyar.com
r\r
r\r
:r-itS,
r\A
fYr
frr
e!-r,, 6J1bU1
rrr
rrf
;!l
csa-1ulr;
Y
Y
r0\
f61
J+ 6:b tsJfebr,lt5lf ;,:"u \t'
F0r
rvt
\-\Y
iF - Y- \
dr u'ttt5f- \
;!:., rst-tu\t l\t oU. p) l-!r: f-\ f
;rtrf,' LSal+,Lr1;!; a- a 4f 15:j-l60-\
;!:,, ts1_1uti .st+t ; t) o;;-s Jtrt... t- \
rrr
rrr
r?Y
F- \ \
gt+!; j le s .,. u \ y
a.-Li.
rrv
r?Y
J15'al:*
'#;
t'1r fr-u:x
J.JA-\\
r*-itL
J/ ,jaP-\ \
'#;JF ,slf ',aV-\ \
,c-f dt-,st+!:,
a..-ti. \-\f
g;t1:=. 1;;_-t dtLy-\r
Cim
't3;*-l f- \ f
OLP 13;t+;*- -t5 ,t't;LJ^.c ;r*Usl f - \ f
OLP
rAY
rAV
rAr
;hL;:;
l-121
'a-c2-a- ,slJ
F1r
F10
a't
dqVJ ....=1 6tr:1r.2!f f +ur3.1
,:.,1:4-t+ L.l:, &t C turr*
t+n; jl cft t fL' ) c*,3,*r
ulkfu-rl.i
0Yl
a,.Ur;13
u-JV=sJkl a.Lo3l5
L..ll c*r+
0fv
C^4.A
www.mohandesyar.com
www.mohandesyar.com
;)L,.PJt:.irfuf
L-;,r!-l-rr.,[ g;;;6!,a.S".t:,-:9 &;l ;, .:.S;Lyr Lrr),\fPV JL;*!r,
jT
,'6l.tl.A-; ,p 063;1, lJtS, Lf + r.r5..iil:_2: c*i.j
'K;-U;T Jtt, a s
fr-,, jW ,t3-:-L;T U-l ,rJ; JL r, .s ,*'b orS,.j.jl: ,t-l tr .Soti-x r lolr:.,
4rr 6,, L) Ma\'. " " s ,lu:7rT t-1.. ,slt ,stl:i L)t ,j* L) MaY " o . i,!! J)
6-J ) ,i::t,S;r$.u,u.+L cf-L=i ,st+-..=- ,(.-r:.r,r1 I ,* -J r-ti. ,sD. ,stl:T
.,>*l br*U-;l ,sD pl,'(, 6taatft-:
i-r.;.1)
,c*l ,;b;t=*r 6la:-.i L y"5 y.Srtr:, .5 ta;i-;l
-15a1 crL)tt .al ,i,
osli-l ,fJli JrL;l atS,l .r- b,:rl.e,. cl-l-r).,qlor; alty,DlSr ! vlS rlll: r;i1
;LI ,sla.t;lt;r.,6" ,r*-6;l .st",;l: ."r rhU ,I ,-fG Ll ,o.u
s,?l 'Jd dtil vlkl \ g5r1u LL,3l5 vt5rL-t.r, ,,r-Jll .-st".;lr
(r) (>-r-;)t 7lS ex-f,6t+_r- t
t+JL J--L a-t:,y-l .c*l
'.uT
6*ti ,;[ra,.,.ll:
.:-;ll :.9-.1 ;J.l.:[]f.rr 9 c*l c*;j fi-r- L-;.s=r-t r, ,t.tt t-t-tJj
:ly ,Jt.f, j.!L-r;# c^fi.r, trilr r;t-J:L 6rtrr, .7[5 u6sb; utorlr. .-,
.): $li b4-,- j(::-l
ojbaj,iae
,il**
,),s.
+ +V;rr;
trl:'
'l .slJ.E
rl^
\-t'_;
oll-Ljl:
'+\ f Vf ot,i.e.-l
www.mohandesyar.com
www.mohandesyar.com
Introduction to Robotics: Mechanics and Control
John J. Craig
Preface to the Persian Edition
It was with great pleasure that I learned that this text book would be
translated into the Persian la.nguage. The book is now available in English, Japanese, Korean, Polish, Italian, Chinese, and Persian. I hope
that readers of the Persian la,nguage find my efforts in writing this book
were worthwhile. My thanks to Prof. Ali Meghdari and his students for
this translation.
John J. Craig
August, 1992
California, USA
lr!r, tt J-;S s.#1fu
'&f d
'it?
&ri
L_f)li,'/h;J urJhii+
rlSu-l .pJ b-;rt-l ,.ld.rrp u>j Llrli rlr; t =5u-l f-u,.tJi S o,ts$
s-?;1t u-ii ) h,d-Ub-l ,,iL-6J ,clof ,,;,li ,u1kl ,st+!.; a r-; JL.r,
;!J*:,- .+Q. ,t:ul t, ,.-,-Ut u-l r::t i l..g;t{-i)b i\t1.5-18, ul3xl; 3 pl:+-l.c*l
.pl; 6,,,-.li a---.r; U-l ,slt;t-r4:tre 6-ll$. uk,Fu,q I :.9r
4td
it"
\ 11 Y
,c,jl
ts,_r.l
,!;J5
o)jL_
www.mohandesyar.com
www.mohandesyar.com
,-dy.rhj(.;,,,
! 3 8'l u-L.-liJG ;trr.;tt
e*ttL 1t.s:Sun otaL! b LVj y-l a-a,;[;l.u;1,aLL-i;le,;U.l(,-;j .x:-rTg
.;bh
1;Ul)13-
;l gslo^> i.r!r, ,;[:;UIL
t+jl
,ft-^,6tat :l ,fll5 c;U-: ,.,tr).Sr!,
l+- 6 ,g* .iy; r .Snl :, ra::?ra .c-l ,J .Job rl.* ,![-Jl 5f s
o.ti-,
'!:.; t..l5.f o:ti-l
(-p) 4; g'0. U L/+;l ,r p; r[5.: -2r ,x:s,r,
i,:-r t +L:
.c*l c;L :,; ii: ? b ,stQ uc-'"t ,a-l af Ut ;l)r
'a,J/.l-,.
l,: i[;l L-; ,.u
,,t+l ulor5 il ,A 4; a ualJ,,l,-L; t, ,.Snt r,
c-l ,, --ls ,6 ,t-1.:ylr .5.-:y LVtl t"r-t*.5r ,tgl.l!r5,tra-L.- ,l+1";tS.;l o:tj;-l
.-r-21:;! i;E; aJ-.*,)t5r 6tac,.i-2;l (J;r&:, olh + 6
lf\f ,s!.+.i il,-..tt, L-;'(;| , c,tij;.jJ:; ,ql ,-u ,r-b; JLrr
y U-ljl .r:! Ll,-.,.So!r, *:.f t 6 tf l+, !.srl ll-i,ei*.ry-i,,r, ,,ta"l
'c':u tV + I.S*tr-u ;.tljcl >rt' $^,.c-l
+'u U-l
'.,r.i F.- rft c6et +
.r/ F.J ,fi*,
: xst.*6'r[: ,cSr-: Jbl ,.,SJK. J|-cl ,Cl
'i*
t*1 ,;21dt-. .r.9.3 ,g g* uSJtS, Jtrl ,-x1, : fr ,-ft *t,vl:5 cr-lrr
,.5=;lS. l4i1r U-A-I 6 :f u. cit_ .jJ:;. .S-)[t :+; cr_.l;3 yr p[1., ,rcj
,c,l.iL-r r .Srrti L/+;l al+lrr A b \ st+I,.-i .c*l 1.;-5 f*:,J-5'1--b
\rr \Y (.,!'tcJ"ai :,J-J'r--bt GG-t-y \\ b t (JLcr.-i
b;-*6 f*t;lL
.rtrL,.lt 3 ,C-l rt: +5'U , ,W,,JII-,. '* t *t:f u-|.1: ,03)lr t ..rrSg y.;
jf-t-, Jtt-. e15 rl;15 ,ss,.,JlorJc.^., .SJIS, tr!-rr,;-+ a5cit{l,-i
";J k1r
.jUU..'+,,
u-l
,r. LVj,(*^-:,9
.C-l oli
o:[',."l tt-f .,-iS6t+Lilr:L- 6-u, ]t5,=lJ.rl
e*1.-15i.^r
;l
J:l ,r-lt:J,\tAO JL b \tAf JLit, :l tt*Ll ot3;;lrrt
,r-A-:ls .c-l c.\^i ,.t-,-.2-$.&-, .rkftfu;|, u.lt.-:9 :,rib-l;r \1AA b \1AP JL
orl;- .l JtL d;L :+.s e
6b.1-# e-lt:,-t-trJ jl ,j-; rr.* jl 2b;
,J1l pl.tnt r, s 6la.tL,r-2lr;,1 ,- u!,--.; JLd,ruiL-l ot-fu.;|t.2:.c*l or-3
ly lt 9 2cir\, u-si 5,cSs- r JUi:;l ,g2:--at J*:,ftt f; p s;a2,-,lS d-t+
c.S=1-!g 2.61^.,t6.D g,-,.2Ji u!.2
,S
'Fe
olF
sbl
www.mohandesyar.com
irer Jrl JL t_ .rfr6 ir3, prtq JL l, ,r-t, csD
=6 "t-i
'-l;;16
5 ,u,EJi? ,6r.U,-r ,.S-;L-,| qsl{-tr ,'7":;lr c*l ;;a,JtL 6t ,Sll.c*l .-li
,, 6l+.sL qtt isbjf ,,5)lr 1 .r:! ,;l,l.,S I It1 +- ,st+t',; J ,t- a; u--ia.l1
u-l st+.u J ,J1-.c^-J qs* Ul ,rJ.up SJ oGt;y.,.+ 6, * ,J-S L--b
.SJ[S, Lr+ jleJtL :l ,aQ, \ -51..-lp# .,t b r o:L ;t,; t eJtL tutl ,'b5
:l ,aQ,,rrfb-l otJi;lrr).st: .(it.(, t-r4,xjlF c^-J (J;i! tl ,slot) ai3
..[lorl: ul-id
, ya.'.],-]u o:$-."'l ,.],1ti !,
=6 t-\,;Ul5:L-, s,-t:-S ilrzti.,Jr iL.r4,
4:,j 156" rlS ,7\u 15F 3 6a J.S,r,L.uX, 6la.c^*X Ltl tt,=l:f,y-l
,srlz,;tr)t!l *-i i; .x1b 162r-.Snt',r., l.G,-rn+ os rs-&-t tltl rsb Ll ,c*l or"i
;;Jl
ilaatu S tj aLa .r.2el,r, eV b
JU, .l- J) ,c*,-! i lJlJ ,S:- Ltt,:., J.J: lJtS" t, Lny-*-, 3 6tlttl,JlL--a
.-u.it, ,u-:l: ,raKT u: ,-r-l t5,.:t5 u-l
\A sl--'d lr.i--,'r..JtL.c-l o-ui ,|5- J-i \l-;l ,-t5y-l 1:: ,y-A-:
,.r.iL 6l,r:i.r \ Y pr.5---1r .:t5.r--rs trll Jtt-l,Jlu-,--ri,.Jrb .flt
6lc'i.r
-rr t!
t+,[.ai;l
g;:l.u;
i=S
.li
Ul
.iL
*iye.r^
t
;tl;.tr b u-:6
'*ib u'i"': *
aJ'
.tf
,
,vt:J
aty
,ili
,c*l
o.t..i
j
cr-l .r)
,,
ir-|l
6tt '* ,*+.-J.. gr-l
UJV 3 c.*l ,+-f oJl-,-9 .t-j.,g:l+',"tr,' Jbt.- ,F ,S\,,,:,' .i- ta- Qt;;-,
#t U-l6\ citt i5+,r-r,, .i- )S jL.,cr-ts,rt Jyu ;;1.; qglla!-U q ."r ! L
q,t{:l ,.x-fct' Lt, utts,. csta:,i! i'JtL 1l=;:-... aic*l 6JAll oru-""|
2c.4g oJi"?.r,..3-. &sj,csbt--,.i; il r;*.,4t,J,ti d,c-l o.ul G-/ U-\,\ Jt--i
V,T .,191
oa-
t, ,s.r- E 6t-rS 6la1lall)
.,p:
':.*e;
l=;!r,'
o,sj-*t ?--prr 6- ,,r-- .ra .c*l il) aL' dL6'--.r" ,JLi I o[-1,.r,
?--p.c*l oJi.,i d:-ij ctr 6Jt^-i, jl ,r, ^,L-U\ : e:J rf-!: -2: o.1t-i c42-aa
3J,-rll..r [0.]r,uLI: osL g;1i 6r:^il-r [" "].r5.f r=i; 10"] tr'["Jcx qlft
;l.5-.jJ;;*, itfu;lF -bt t+r-; .5t;: qVs a:Jl .,:*lo.l:; J'- ;U'i; 'lu
,JL / r) ..r.rt=r ,)S ,lr3 b ,al*t ?-j4 36r;l; ,?t t-E r[J: o.^a 4 e rc.*;
.rt ,s.l-il k -; ,al-*t b o-u ;;;
,!l t) a5 c*l o.* u;+.ufu, cf-tull tlr.S.,- ,JLi ,^ at-t, -2: ,y-l .2 0.9)r
,6 *. ,J-L a- l. 6lai-o.r"t ,,.(*;tS, qltq *i- |t.f tt 1., ,P iT ..JU" 3a-:;l:
af r.2lr
t},C
,,f,-t-l.. Lj-rt.;S;rr,[5*:,rt*.,[L t !ra:lr d;Ti:+,1ljf ,r-LJ q I
,-rl"rlf l ! :l cllcltSra;b ,or) 6t+51-2: .5.t-t" b .r5.,, |.5 l-, U ut*---'.c..ilr -uprt ;l-2r I ptS, tster;ti
ufufS.,storr! Jrl'*Sq-.{.5c....l,;lll
or-2|-tr;
;T
{,,.(=;tS" ,sA\ u-l J*,
www.mohandesyar.com
6rljfrl.'; ,+l
dtL aS,c-l .(ot l 4: t 6lr..ri, \ Ji"i
.ri1-1, j.* !, .l-l Ut+L-i JtL ),s-Ll i-J- * ,.r15
.:;ly,,u.6Jrl a- g;Lai .rtqgr*:a-r ,tS. J:4j cb,$t$+;L;[-.rt Y Jr.-i
,c,t'lri) f t--"1 cSy,r.t ,f;ti. ur.r!t) s,-i t\A-:,r.1lr c-^.rlrl=-, J; U-l
.Jrb : rrL s;l |'.:, tlrl +,ksJ- y_l J=--; cb .>-*,g iL. lli-r, (r.i! )r lb.rlil
ct-l
t5
0.r.3
ci.,r-i,
.Frb;U J.r,
d-'u JrU u(=;tt .stori! L.r:.r 6r!-r, ,f I I gt$.oi;r
.st^ri a +i jr* cir iJtL) lJt+ f b * .SllS, ,-+;l 6le t-;
Lii' ,r"t .-$tS. .st"r,i! l"-t^:.- ,J-i r, .r-l tt .f ,g j* I (il
(4-l.j tt-l ts s ;.i,l
i.s_r;i4.1
.:JL
.r.l $F
(frJ .,s.iL-l
,$ ,,)13 .,S=y-tt-l ..st^rr,', 9 turt l .S=i-L+ d^r,., ,O .,[..oi.2r
,rt ,S-;tS, 15t! .i- 6? ulr pI ,-rt"F r br* ,1. ;rr*; ,sb ,? J.oi I
.c*l .F Er"t ,-J..;tS, .-st"-tit S.,t--l y: .r-Ll iL..- .t2-u. pL.
.4lsr,.u. L;i -1r 4T ,* nll t fL uSJtS. .sl"r,il.: tSr J:6i a, V ,l--i
W:l.r; a- dr-l ,|=; jl ,tU u!tS, .st^r,i! ,rSiti ,rl) ",rt-. ,A ,l--i -2r
j_[r
-rr
^;r\ 4i ,s.Srt; *t s t-r:.l! U +:l +! tei.-t y_l :c*l ple.i! ] 6\
.t--J.g
.:-i,g AJJ
t-.;. E;J
-b
ld,;r*S\*rL,13 ..)rrt r$tS, .gtti.S, J--JrslI1,:r,\o e 16$-oi.2:
,uL; J-;5,sll.t t Ji;r .r-i up tgJJ,L'I_r) -h tr-r -* ,Et v$ 6lJ.
.t_iC dtL F* JA :$ * t*-:,,
-; \ " ,l-oi yr.e
JIS ,5";- ;1.2: .5 ,t-J,s t f b Jtu tsi JF r-+ I; +j \ \ Ji
L='.. t, rrt.1 ,rk f t3!^ , ,J-;S Gu u-l .:-f ,g c.fst ,y\ tsy-,;l o.ui llr utrx
.:;l: c^--ll ,$./ ,rll--*l el-l 1l orau,, j'- '. ,slla\ v.l(;-e'>L, ,ii .Jrl}.l
^S
oj-s *,t+!-r, rSy1ul2. ,sLyy 6.r!l) \ Y ,L-i -2:
6a-1a.Nt e
I ts 3
.t-j.,g t-.2,,' ,r;t>'S.EI
t-st+tr:,, tS1-1uL" + L1.,.
rl*.f ,.rijlr q7l JLy
;r l.lr.L2L t U_-pT $,rt_j 6a1uN, ut*...- ) Lt eV ,s:L! '. \l ,l^oi.2r
.'-;.e j*,.l.::_A ;!r ! ;t;l JLL r6:L
a,,_l
S,1.-:
.*td
lrr+Jl5
Jl"
,di jV
,it,
www.mohandesyar.com
www.mohandesyar.com
I
do$"0
A;:oj
.r,
.tW[ t
er
c,LJ t+lr,
-\
I 1r,t ,-i^r,r,-tao-2e: I ,;';- ;rs*l;l g]
;.*t,l -h + .c*l atJ J12-a J:* ,sW:t
or$-.-"1 .r.i[ +,,,=..r. E:^r u,t{" rL :;l l ,&t }-L;: t>Lc t1yo*.
q.l-:
c;ti :,r t t' r,r"tK:*, ;tl;,r,+15)>L.. \tt" br.2: a5
u[--""=*'!ra
,g-1-V1'l
i-p .tt ,*i;
.up gll1l
U.fT
S ,s-S-t rlK +te
;*-
g9ll,o,15:
y-l af
;r-'-,l-1,,l,t+-;rl;S; i/-1.[\] c*l +lr tt-l;, I,t-L;l g;tur;1,
)Sv. c^-l.u ,c-l ,.lJo,,|.;;j" ;l;l;laq
\- \ JS-:) c*l ai! ui^6 \ 14. br lel,rLCL ! a*,_G,-2r .(jt :rrb! s, + Jl
,* lt rr .y-|.\l if:t ;.1,^ *,-st+t :r 1l o:1,'-*,1 ,o.t..-i1l+l 15k;*ui.1, ,* ,ll
..rt+!J, aJc*l J)1,,d U- +t .rid J6.,*+ t#or+, irr_l ag-l J-bu* )Su.
.ir sli ,6xl' s:;-.a-2r ,,,[5J ] 7 s JL r" 1t tu]d-.a
r[; ..:j: CU-, ^S.ql$e orL iu.rt"r6-2r "-lcl ,p gt+t::,, ;l o;2r"1
,rL ii ',slor6ft4l \tA. b: tr 6, c"Jb i/-l Y-\ Jtfu .r-*,g o:h-l ,-r::*l
u,i.-t-j ,c-l 6rL ^:il t+|,r, ^b:+6;6*i,+ J ,,,^iti; ,:!" JE:l ,t+JL ;l c.Jlr" xL'
.st+!r, ,qrr>L, \ 11. irr .2: 6 8,g ,A,,_b, ,li ,-l'' .tt tl:\ ;r$rj_-L...$rc/
Ji-21: iV;*
r.;L .,,-tar5 tr ivlia 6laJ^ ,p
c^ira,
'e -b:le
!,:U;r
iJ xalr-.2[ orLi;-l tt-f
rrLr, ,;16,.,t
,(
"#
www.mohandesyar.com
500
J'
-\
-.:--\
400
a
-J'
J,
J
\
;t
v
300
J.
zoo
100
83 84 85 86 87 88 89 90 91
ut)l=-
e): ;rd..
-r
o=-L
(c,.-t- ;l
92
JL
Jl;, ,s$,,i.1: 5111.1!t, \- \ Jfu
il *ly
:!,
Jti:;l
c.Jly Vl
gl'L:: U.r6..:r-
s-l6*:r'
"ttsJl
lr*u. qtS &t
u.t5n-st
'cstslJ
c,tJi;b;r.
;u^r J-:
;br. 'J".lFll
<ru\
l.ri ;u-.e J"r
0 5 l0 15 20 25 30 35 40 45 50 55
..r:e t i;i&- ,g-jSi!, #.;l jt=tt ,J-t; *
.Qri ;.r*. ;)!l
;s}
2t ,s126
-J.'ly
t-or> Y- \ Jfu
www.mohandesyar.com
r +rj
;_*,1 ,A'fu.
:, 6la 6 <S;1gsl+ilb aS.ur,r, .jl..l;;; f- \ Jfu
'P,st+t
i.rr;l $,6iL214> r;,r)-a.-\:Sri; .r-J,t rS+L t+l a5 v.-lb A rtl- *
.l
,c-l
eiJJ6.,(J':Lo:il
\1V"
LgUt/
c* r !
cf! itf-uSr:l:- JJ.,e J5;ta-.r
.rl: -ul5,l' treL tLtt,tlrT.-st+t,:, ct ^".1.:-1 y-;i* Ll ,.tL.up
6$b. L;-s- ,L?t> c,trl;l Jf- U_r+ J/ : .StlS, ,, b 5r a-..1i ,.-t:f y-l
.r-rg d-:r,, rrl-....>'Wt ;r-;trl &-l- lVlit JSv..',Jt*.raL, ptst,
-r|.; t ,P ,-st+!:, sn 4 ,t-ic/ o-t-r f- \ Jifu tr a+T r.L; Ct+ t(;t
.Jt3,f .4,b .iu-o ;!l't .r,,(NC) sr& J.J ,sblt:t15[C'=.'L &i JL .;l,,,,l
,sl.2 ;tl*I ,-J"ti ,sl4*: Jt .t*Wi 6r,-t,^.1. dJ". jlp tr,ot-(;*r r: ct-l c,rt ;
.rr $l:i (p ;!-u .i- &r ;l':*-t ,$ ,slt+,Et ,t'_F_rt-, Jtrl f till
(c4U ;sjr-'la'ill iLt' c^rd ,J.li ut o,a1s
u-V JKft+il ,51, *.5s,t6at(:-,
;l 6l'53 /il.,t.5.rl6la,-[ Jrt-. ,.r15 tt-l tt ilJ eh. JtL *. .,x;,g ,eJr
l*'=;L lL s ,P;!:r
Jj t+i,-l.1.r,r!r iri^a t ).r).td 16a,.1t,+.[.,1 1510'.iL
..t.i J"bri
reJ
cr-y
,!lr r"t ,;rtt
,.st^:;tr
JA: JJIS, i^JU, ) urrr ,$t t'
6;151j5
6rU-
.1
u.lr.
ut;L;t':-L
r. , 5l rJ;
1l:t,e
4*
pU
cs** ilrl 'lr'
lrl c,ly'
c!* lV;-'
6tb '>Vt>.
crs;rsJl
;)l;;U
;lr ;l;gnQLy)r
t-:i
J. I j- ,ilAa;
b.b
J"-t
0 5 l0 15 20 25 30 35 40 45 50
,o.rii;: qr.i .jJ:; CL q aLy ;5rt tors f- \ JSJ
55
tgrJ
6a
www.mohandesyar.com
{.Ji.. f
LrlSJr. r) d5,u-:; n
P "F
!'vv2 ;rr$..
G*,i-r.rL ptS.:,21:
61;L f - \ Jfu
:!; )ttS
6l,L;r
c/-h3Ll,.-fuLL cf+ .c*l.S-y5u;t^r:*.; J d-$ ,J)G;l ,51^-"3'-,,.b* oil
6lJ t ct-\li) ',\-bl).J.su. ,Jtl u(..b-: 3 ,5-;L-l .-rt+JL yr [4:--:L iJtL 6D lr
JL, J.5 L--b .tttir-t dli ,.rrt u(-ti ,sU\ o.lr tL s u;1.5;5r Je;
.r:Tct' pl,, vb rslr-(r t t"rx Sltyb- t s:trg,__r-fi| oL-,irlr,gV,sltl",
lt(i;. F:
,at,g4 i-tt
,.h r.,-yJKlL+jl #, q,t+!! y-l 6a-1+,1r1 61r,.1;lu,:6;;,--rr,5 { s,trsTu,
rrJ,,
u^,i-r' t-Ettt:-u 6\t
taa-L-.-
V.,lt:,
.:11: o-rXcy l,
rAl'.0
cr-l
r.:
'-^J,
.-rlait; J;;S r
t(itfu
.p s 1.tig J-S:;L)l,t--l ,;t,o-u,-l 6l.x^1i- -7:
Ab- c^-L il .i-"5rt5"
..r.: J"lF o:l: p*i a.o)L .r-br.,-[5
,s;4a
,al .f"-tl: -162'- g;J+ 1- qglji
I
Y- \
-Cir.i..rti lvltl".r".
?i6
rr ,,1-.-l 6;+
r ul5, ! .,;:",
J ,ll'("
'i--a;
,.So-t,:, .*JtL
-2r
www.mohandesyar.com
d ,lt .,(Jt(r,-sbr:l* JF t.f;K,
irl .st,r,,tr-rK L*t> 5fy fL*ly_L t-e,:yl: ,Ss'",L1r,,,t-..-l
.6;+J jt(, ,.r.r,t f=i ta;,-Lt:, tr Le,cr-.alJ,
Lr-i i-! 3'**y'h*t
jtJ
c,t=Lc r) :
! t+J cr_l il ;tL rJ c*l ,iu,r- Gb _&_t * t :l
Fr)c/
Ll
.1lrl
'f-Jd
L-
;,t----. o6!-, 4'rl:-
,s;+:
,L:i.2: f--"
u'ol-t
161
n
6;+:
;.-JJua*L vX:V
P (e
utS. ,-)':--j ::b:.
JA
,tS, -r, r * r*
.(+=l !7 0-\ Ji:) .:.-lr.r1 F+l.1'- g-r.,>l.-'J",, otft-r a, r;--j *-n.rV
r,.rlS. utn,s!r g-.r oL(;r iJ;ir, iljLl !.lFtr ,>lut*. oK;, j 6 t+l;l
u-l
.e^{.r.l
,r,
,a 6;+
trlr p).\tly;-rtr-r:,Y r[^oiJr.F;-..a -&-t *-nrh t -.r,rtq.i_;l fu.rJ:a- 3
al.-:; ggtaatS*-, o c*j t#-J ;r,-l ^,. Lg.-r" ,-,Vl-J 5 tlgr;3:.-6> r ,.rt(, J: j
.:-ig c"r., i;E;
atS-) p...- c;ba.-i.:-.
-o: i .,*; .!_:; a, .rlai)tc
U_
UG
1S*.
f+r*. -(tLt *.,
&JtL ,'uT rrrrT 5:.s\,-slor,o dJ.h_rr j:{ b 4r 5,>*l 6f
* -{Jt *
,aU
ljK,
,-sta-uti
6z
#J{
,,p,L=*r,
1, L f
t-.1 : *L,,51[S. 6rr\ a
h-rrkt ! c,ta-;..6t9nt3:-,
0-
\JfJ
'5r'l
www.mohandesyar.com
..ri.
'--r. rs!i'.i,, i53,.-[:-i t&e2u,!ti,6Jt^+ rtt J5'rJ .-t'
a1 c-.;)
t,rSrl5. qgtrrl1 .SJl+-- i'JtL y it-l:l .t-J.,g (frr.,(.&, .p I iL;
.s-*C Lt-n cS7 GU: : u-,r:^ u6i; s.l;1 ,J^U
,4\f-L '^-1s+ E s-.:.a #*5 ,* U.-, <[email protected];l ,1!.;tttS, tst":,itr
't .. t{t-t y-l .lldL- Jt-dlF-rS, a;ild oS-' b t:Q ,sq.t.b s-" eSY S
..\4at,.sjLc/ -r-.t;&l b r:Q rsfib,r:-, ;t!., 6},1lxl d,itS,. c-st^d-l---- d,
6Ult I k"-hqb d-fu-|,rut, dl, L u*- A il tgt^-t af fL v:
dt5.
.slt;rjliq
Ll,a;.
dqqq UIr, af ,J,lr dtls|-r;l ,sl+L-',J,- 'r'rt.rs";ts',st":;tl :l ,it'eu.r
.&b./ y utat' .i!,rf b ;.,1 '6 t,.;*l Jti:i6; :l,kh!, u e
c* I c,, t r,.ro t,ji; lS.,A)1. f sg :l;i c; b. r r l'u
;lS,r-r'L-l ir,-l ..,j\;': Lp;^* filS,.st+-''t '^JS,s;J|.: rt(' ,w,slt -t'-q d
L..2: .5.,- ,g!rl, t+- ,,s14.,;$ t-s.r-:f I .S,- ,)[l, -\tt-/r6 q l;& f 6lJ ai c*l
;tlt*;
tS, g;t
r-ii
: l.u; ;
-1
.\.ll),*,1 U;:ll
.S"- li t+-'fr* Wr^ itS, in s,c*|.;L,J"t-+rr+;.i-1t rS;l'i 6rrt:
.trr rlri JlJl4J^t :l;; L ct:bi ;L-../r rl.u; ;,f,g J:^i;'
.21:1$ dt+ Ls.,ry,ret. ptS, u;tL ;r^:.,lJ..:; .-tk!!, -#: tl:i trt#l-rt
W.JiL l- ,; slje ,s-V c-* ,'))d lhl ;!r il S ,s\tS
l, tU u5*;tS, 15tq jK.. ,-# t* t .r:l.r .S-t urtit t-r ,,F-i$l ,s!r-T,6.2[5'.-ie-r.
J*i
,i1l
i-t, t .J,tlJ -. r?;tfa q c-*J *>*l ,)->, g-ti c-* ^S
cXtV
.(P- \ JSj) d't g.=-i ,r-2lr Jtil $\ -5r+- *
.c-l f;;* .-iJk -, 'l ,r"t ,-J:tS, ,st"r;tl i'.ltL.l:,r-Ll.1l=" : 6lali.-'
g-r;lr cf-t+ (s-p ,s;:4a r ,tl,
utL-L.,-l'r ik"- tlr .1t 'dc"u y-l
"*ltils- ,13[ o-u.i o:l: ,rL:L L-51; a-,:.S"- .itit ]-i.i: t] +.c*l ,tt ,'f$tS.r
a, r*i .rl12l
6;J4-r ,[S. '+*6:l c*l crrfr ,d:..- .SJt-i,=-nr9.'
=;6ry6
., ds-.- y-l ,r.rtf .t-t,
LsL,^ai ,,1 ,stat' 6bit :l tU r,5=;t5.. 15ljq iK. ;-l; -J
t.p5.f
.*u $li ,j:S f J--i r: ale..., y-l i.1!.2:
-# G$:
.u;-i-.a,rt+!rrr,
dt+l;l .(r:S.f ,Sf
3"h.c
a-,l;K.
"r-ltt
^1
,aU ,rfut.(e ,star;! .lr,,lr
.$t r.-
f+lf -b tt l, issls.iJl-:.-, 'd,- 'fJh J'"; t>
t5 ,r:L, or-t orlr ,nt ,;=;tS, sr,it: cl+ 6* ,s;+: ,l(, ^iq :5-j. ,l
tt
utS- t,"t ,,f";tS, tsr;tr ;JL1s! rJl-i,g 3 dS-- J-L.st-lr; 6l-a^s2,u
Cb *
4k-
u-l
.c-t;
)rr 4- !; r-+ g ,.5r$a-; ,))r r;
.LE,g;
,rr\l-c tsL:l !
Gr\S
sL:i
t;.,1
,C6.r;ir.
rrlr
www.mohandesyar.com
V
.lt .,$tf.. abr,i! J.J:.iJK.
,s6ri;-:l ,*E J22et. q! -. ;n;qe e, .:-i
jrl v-nt Lte Jjt+.- c,I:h- t- \ Jfu
)56. \3?-j ,;l-L
61de,,,. o,-l
.(+..{ ! V-\ JS.:)
+5+-t-, ;}rV ork-l ,-f ftf
,9r.3:-a-
>-l 2!,rt=;t5, rstrr;! ],-c. s2$f s-*l
.f.9t + U;bdJrU, ig
F -, -$l^+ Jtl + iyls.SJt-+ iJs--.
E \tly cft t>3 ,rrlJ ;t5.l JrL + \l-f -{l I 4 ;'t-tp{ t+TJ- ,sluh; ;
..:*l .l-r; \-f i wlf + t- .5'- r1,-.9 ..:*l #.-, .i
.up wbr^t.-JjtS- 6$\t tstS dL'1,,rS,-;L;, , J- ,r.r le L- rrr:
r. rljcr r^t ,,S=;tS.. 15tt: d c-l;. t,'-x. vlr jl.rii .rJ
=b 6;+ r utL
.c-l ,.li.i il, qS 6l;i ;l g1V I ltj,.lL- c-.r
.c^-;
c"tJ Lw ,.,.(Jb-l t-stel* ,Wrr .,t5, f )L .,SjlS. ,st^ritt ,;jt-l rl.i,Ll +, Lt-r JtL-, i-rb, d-.^., ,, ,3)lr
UU .FiJ]'; i cSr JL r, b tU .,ItS. .-Et^r;t lr,g ,u3p 6;+
,t ,J;tS. c::\ s:$D ,nlV S b ,-e-jt .ritS. ,Ler- J"L; 612 c-*l;a.
trL:i t. u[n 6':i ;l .lq-- il .iJ6:i e-f l: e-tL .tf ;,4,:3-3,rr o][
..tsv.r=i.-JttS- srrtr s.li *,.J L .c-:L* u_l u?L.(A-\ Jf-i) c-l ;6s
.** u_l J.1r..:*ly-+L ir,,b ,f*\r.t' OJ{ LW I, t+T d ,,p .tUuy:.!l* 6,-l
www.mohandesyar.com
,jrb ljlr:-;l .rl.i .l L. ;.,lj,g ,rll ?)ar[ ,es* 6;+
.t-S
,g-fl: { ^;.s-:..)L l,,,,2t+ ts-rryur
[L-L ,slr-s\titr,}
-r
,tS-
,s!
V-
\ Jfu
^-L* \ ;LL6t#i
Lf.l:-l ih!, A-\JSJ
.>-rr-f ' '^, t
www.mohandesyar.com
1
lt,
uSlitt5.. ,rtr.r,iLr
J.J t.SJti
.r-11:
c--.rl ,r^b,rSJtS..st^r;!;l ;615!)l:'.,1
: AVI* csb,
c*l g,;),116lil,,r5; cSr, L:irr r..-Ar^t u5-;ti gtlri!
g 'lk'-..' Ct c, l:-.!-[ ,.rb
q7 jT J ) rS l+, ,,,t; 15JK Ct- ti
",.$t-l
,tr"-l tslr L).a;. ,rb.;,l rl* + yb
sts. u*l;
-9 , s-* jst frL. t ,f ; ab
.drr ablt,efl: e-tU o.rt:l) Ft,i,-l ,, g:1.: f[,s!.r t:;.i.rlri-rt' rr:. 1+T
J6&.Li
.{rQr
dlL tt-r cir i-sr5T J,_-r, 6t-r2r1 ;l lt rS c*l j;tS- ;l ,s;3 u;la-t-: *{re:
6p 1,,t-ljl .,ti t ;F JL;l IrlU,rSJtS. crtq.t_ rS:,-l slr .s-JCrlt
,-,[s t, I ;T lFl!: ,g&
1:ls ct+ ts.,ry '4V ,>o- \ ,tt ".lt ;ri ,Sf ,fisb,
6b;llt5 ^U:+ b 6DlS Clj;l g;lc.r.a-, 'ar-r-*, t! ,g,,.rrl, ;,5.- JL I rJi:-r5
\J"-L
61.ea-.;.-L t d-rb $ i iV st-r ;lsl5 ,51:-S
Cly .;;, Jfu .f_J JLrl
,t ,t+hl ,t.t ,rlr t d{,c*l ,l$ 6-p'".s+ r}.,i o:J--.l -r* cil: s s;Lbi
-r"t ,r!tt ,aiL J;5 csL$uil .r!- .:rlr Ji ?'.iyqJr-aLy: JtS!-ol ,rL
,JAt ufutS, ca\ cSr ,r5-,t-r crbalrL ;l ,:[r- I 2h tr-r
:# t) cSls|
.c*l;l-ul
DI'
<
'+A
,sU.
elt e-l
i-l!:, ,sil-ft tr .c-l ,g;l-,1*a 1t *5r- u5=rl,!_) 6LraJ:L ,ltS ,E-lt
,r3".i r.-t-',.. ;l.sltj Dl'< :l ,g.E .t12^.a t .:t*
,stlu ,uirL,_: 6balr[-,.
^S
,trlt rU;llf K 6l-151c-S;l 6las2-^-;l' c^,,; 6 tl u5-;tS.. csr,ilr clr 6;L+:
.(*,.:
LS
! 1-\ Jfu) -u' r"lF -*{&l
qL^*:, L JFt, t+l;l o:ll- ,-b r.b cSr .,S.-b)
.l
.tj ,,llr
a rr
iti'.-. 4
,-22,a
, r -- ,
2 tl
15t^dJrL ?
J-i.1:
6J-r6,,r^t u5-;t(, .s|,":,i!
,
14
,Jr
It
6l&ij :l/,U u!t5, ci\ istsil, Jro + 6lr. Jt*.r.4j3*
:l
,eE Lt-t- a; J--L b ,-o, ,-r*J aJ c*l ,l ,l:- J ,-u, JIJS
6gelitK *,tL..t,l ;t_[ t s S,g ;Gi 311.5,_1: L tr r*f J-L t,L-* .tS
di u-l',*l^. ,*t Gy Jp 4i .Lt,l -h + &"t^n JAt utt(, cs:t\ cSr
,(.r--i) d-t+ it;; iJ:-rq t1.,' i uti cir ,...- .(.r;* !, \. - \ Jfu) ,:*l cSr
;l t-L a U:-J6! l-t,,ot .,5=;t5, g,r)\ s,di?t+ t ,-rL. :L:: ,5rl.ui t, dsl1
6f
1F_)
aU:
L lU u5.;ts. ,sy\ 6 J-a, slt ,l*
.,.)L-l '1.* n J-; 3\l\r\S 6)tt_-l;l .\
.dn.)l:- ,l ,\* ) c,)L;.c ,.Jrt: I cr#.r,,++ ub-jl-u!5,f;Stl ts|ttr #;l ,xllu.tt
cJr'- ,,
www.mohandesyar.com
)r ,)l ,rS-;t(.
,J-L i 6lt
g92rL.
+tl ,B
+St -1 t"glsltf 4-r+ .-r: JLcl 6b1e1:-S ,h &\ 1- \ Jfu
.t-fe uJ':. iSi .,S.-tir g;la.J:L
iLi; b A 'rLiJjl L-ai .rr cl# aya lsyrlrr cSr'
u.
.C
tslt \'- \ JSi
+a\ o.-,
www.mohandesyar.com
\
\ ,rt {r$K,,-rtrr;! J-J t.dJtl
d.1t+ Ll"; 'rsr ,,' ;l
,S
q\s
el,-
'6 ,6sis.
;fr
1s .:-f
,g LF^t,tr&
[+T
(cru gt+lt--r-L L-) F *. .F ;rr*,
":;1::,t;',:::*
sirtt) )* 4l tl U-l .r1., ,,f,-5 t4t-i. aSr;l J:[^. 6las5.^. + -b t.t-r 6f
..)d JlF ,srJ V J.i tt -,:
-r,-!
,L;i-r,
b*"L.- J y,!,r.(Jtfu star;tr *
.,l ti ,srt-; slly 1sj ,c0.15 *, .;kf 6;-, ,^t ,r$|,t, csto.r,itr,,-sF }tJ;l \ Sl
;tlL), ,,rlJ*JL tt Js.xlcA6r"
,gl.ll ;tg
tt,!rr r-t Cll .t ljfpi; e,r5*;t5, ,-r-l)2r '1lutrkl
"jl.a;.t
c,tl-)1, u-l .'-S -b.ttt ! t+i .,-r.r ,Jrr t+L-L :l.t^; eL J* .,,-Uly 5 ,Le2t
,tl.at-t tL s,.,S,;K, sr;tr e;L &,.,fuK, q)\ LsrS 6Lai e-;l.ule da45/
.xJSe iE ;,7
,;i3
S ,t-ln-,-bL.t';)tc',.,5;tt, ,st"r;! c?b f
,b;llf tf ,J-.. (F ):B;;l ,*
.(,r;=r ! \\-\Jfu) slg,.tp,,Ll, lei.tfe) .,,tS, u;l.ra-.L.-r,JLi:;I 610r .
.$ -\:"li (fJJ A J.-i t),,1V J.,1.*. -&-t t,qJtL .J-l
uSJtS, csr;tr;l 6,stS s--;.,g .:.cL qrrL.oil
fr
l.
9l.u!r6;ti
spline
,.;l.s!r6
U ,L'jl
+! ,rL u5itS. .st"r;li c?l) f \ \- \ JS,J
.tF ^iJ -b tt ...) uL-- ,rl5- ,gllojL ui- ,Jti:l
,J6.;
www.mohandesyar.com
\f
{.Ji.
,p J.{
ettu
L+-**. xl:.,r S ,s-&-t 6t^;lJ!6t- ,-sl4 ,sbt-i-t +,|U,rs-.;K. ul.r:,itr :l cft
d 4tr;l-u 116 L ;,.r^t,f;t.(, .st^ri! .-lil t l ..x.,4at,r5 r{ b rb q*
6r t
,vSu. rLn-l.11L:J t- :; ,L& b ;rtrsT g ,5r- + ,slt
,sb.
p^t ui-J&l ,.l5rh_l!, *b - Sr i-! d
,:
'.|^DISQA
.1lr
.t,19TL,-;
,!1
,ts
tl
,r-Ll c -^^^.rl g-:#.-;Jl or+ ,fl!
el;,.,S u-l ,slt,r].-tc1ll_,,r sg.-f.rLntt;,;613- .,* +aSc.*liTitfu JiS i.,:"f tt;Lllk* ,
>.tf ,* ;l le ,:-..--.5 ;L:k.;l rt .,_l il ,ot;S jlfr lr e.st"r!t,
*. Ll.t
,sst y-l ,s ..te-Is.tt
,.S,.-.ti_r
.c-l
;-* k
JS.:) -$rd J-J ,S,l e-t^,. ! tgllf K ulr pl 6l-t151:-S ^S ,$;S retfJl
.(+* I \ Y-\
iJ:-:t,;tS.
ccr- srtla-L-. vl
rr-l
pt+l ,s!r .tS,s-Sb,-tjjL,-/
.5t! .S.u,-r .p ,st*,-F, t+T (_p) #; ^S lr J-{ uW-r&l ,t ,f-oi .1r
,Q, ::yl ctu 2 ,u!; cWy u-l .tj r+lf ,grJ,c*l ,;. ,"t ,FtS,
..sllelr,
.c-l ;t5. J;S *
i)ttJ,.7;JL 6t=- rrr.g + tL .,5=:t5. 6;L cpl:b
o-\-i u.+i :* st lt tL u$ti- sgjL. ,J--L 6Lr.-t-- t hll
o:ll- .l t
\ Y- \ Jfu
g;
"-:"-=>j:u.
&
www.mohandesyar.com
\l
.rrtr
stitti, .rtrr;! J.J t.frrK,
ltfu & r*
f5,.llJr... ;5r.1 ,rz,:.- tft+tr:.r.r: ,..r"-.ri..,t- 6taJ.r. J. tP $561+ ,!6 t*+rrt ,S.;tS, utrr;lr F* *S=,L,-r c*l ;:1 ,J-;5
.lJ*
q'brrs#5.rr,iJ^jr/
l;J
:-"
J-{
\
-Sl
rt
ti; FS JL-r) ,S,;';-- tst+tr-r,'"t+^^,-r-Fl,J;
;l ,-a+.5* ett
U-|.{,g.:l*'- ,F*#5,stx.-_ ,Slt
\" Ji..oi;r .J;lr cj+ :.,91^c ,;Lt 6:L ,5lt''..,a, c*j
,"b* lr5610---".-"'F*
..u $li j-*,rat ufutS. rsb:;tr
,J^t .,5.;tS,15tt
ut#:.r
,l
'l
Ji
J.;;S
J-J tt u\ url;t;,..,r'ib Jttt..,.rr.,AL uS=;t(, ,-rt":r| 4416 1s 'l-t,g -bn.
#sJ-S. ,.i J-{.:;lr;[.4 c_..-.rl vls C]* t-l^-rl;l ! uToL- ftfu t,rf
,L,=*, tr,2lS f t5 6 qln,c*l ;tS.
c:t\ cSr f t3!" 4 .f-t,l ,S+b t+T;t
"$61,"; rt-i,-l .sb u^L-, !-; ,r-.-:l: .r.rp f:tr. ;lS, #5t+5 ,rti 6L;i-rr-r^L ,rSJti
tt-f tS ,,v.,l ,sltr^t ,$tS, crtL d,r,t3!" Ll .rrl.l :3.-i ,J[2.,. c^.6; -1:
LF
rsbl* rL._l .:.cL it5- #5;l o:lr- .l c*l arS^. ,*L_,_f u-L- .-L- vrJ* "5b
u$ti cstrri! .t t4il -il .t-f Ct- t r;! ,.,"f Cl'J t r ,.,.f j-- 1: ';lsl 3l '1
;l ,:ll-l ,t-j.,-/ )9J.er.r u-I5b Cb 2{-rq;L;^" ,} *r;[t'+5.rr,-,JJ{J^L
,.,i[l+it{,st++t5,!1.(r J;.SjyB il=-ra, ta:aiTtt d,+ '.+ U- d; J;rS
'rt
\\ Ji-r:.(l.-* I \f-\ Jfu) c*l csry;,t,*d J.5* J.;.5 trjb 4-:r
..u r"F sbl ,4si JF C) ,r=4 j\,6+ ,slt d:.,
.sl^.uy
tg!-u csJ;uti1.
(lrl:,,
,,L-r) LVtl r4-r ,crtt il tSJl*U; ,,r!;
LP ;!:.r 1 ol5 cr[.r-,,"| gs
a , vl$ aSr tt-Et ^;;a ),*,1 & ,-;l .t-t+:r. ,i-r. ,,-l -2: .c-l
ol:l-r *.8 tS tsal+,V2\, l!,rS-ti tsr;tr t ilj trf3 t$.r J: j,,;Li
<t-re-l--,,5 t-t, t 3 b Jtrl i-ir-l ,1s1-1r..11 ,l; S- g ajS-- uJJttFrS,!r;,- g-r.5 ,Jiu- f t+il
glj.f
y;1uL1 ,-,6r Cpl: 1 ,5\l-e ,r.tt ptS, t-str:rtr .t_*g;-L..
t !r rr;,dEJ6.S;t;l 15t+:^ ir-L t ]V.,t g;t'3.;-*e Lr+.[.--;l
.(+-r !, \ f - \ Jfu) -u;L ,^L- ,s_i,l rt--,|-25 ii*.
6a-1*,L2.l ti i:*Lyl /ll:-LrrrL ,rSJti ,st"r,i! ,t-t\ 3;: joy:S t ra !
.+t-.r 6-&.c -^.-.rl j-=,.}l^J;l c,L-r-, j o.r5o:l.i:-l * LVj,"ii-a 6la-/5-rr
orl,r.- .l l,:
\ jl*
S
www.mohandesyar.com
Jtcl
;ti
cs:i bi + ui1:
,s[;l*l59p
..! rsst }L .,!tS. srr.i! ^5;i uslr \f- \ JSJ
r;i orl.i:-l ,#; cssi-it& J;S *;l +! ,-rj
5iL CL
u-tJ cs6:i ,-tV cs*: lL,rS=;tS.Sf A i"
j.-,L.1
ge;L.12IL
qi.;-.1ar[f.
aSr \f - \JSJ
b[.; tr ro.L.,r-r d-
www.mohandesyar.com
\0 ,et sfJK,qrbr;! J.Jt.(rtt5r
aFn ct*6 rsa-1*,L2 oV*-r iJ5 ,f t, ,rSJtS.. ut"r.;t, Ga-1ult2lI'."
.t5 ,t'V CVI::l rftrg-l*r-r .c-l ,s;-3 ,t'*y r.;'- ,r!r ,F ,
,i./_J[- U-l:l v-t .\Lcl
Cb l,15++ Jttt.- ,.r"t ,;*tS, cst^rrt: 6t-tuE-t i,c_.
,
-1r !2
.ciJ.urp t$ c^4.l.r-r.
\Y
il.-i ;r
uuLa.i t Lt Crb 6J-rlv,tiJ
dt" b cst-*6.Sj!Jil*rt't^-. aic*l (fu.b
6tt- csJlo|r4 ,*.-.-,
:.1-l*3",
rJ ,c-l $L- G-#
r,'- t tfi-,t+;! ir+ l, a\:, 6be.t;ra ;.tl-irl ;i
1 ,.L.i eV cst-t*,|;1. r:..'=-.r, d r>3 ;jt,g,fu U-l:l1Li:.1r .\>:j,c,!r.r
,rL; #, ir:-r I 3 ,:rlJ cil) (,-,tr:., ,-,-) !r &V + ,g.?> ug21a.L2 f tfu
.(+--r ! \0-\ Jfu)'r slFr.!! ,6rF ,5trcLr5-2:5L 4$
jtj Ll-r. tsU u* cstltl 'dr +, i,l::"^^ ,t-- 6-rl- 6t--tuEt ttlC - , . jl
d,CAD ;tt)l,tl ,-tt$!
;tT ,Jnb c;L 1 ,Jlcr. ;JS^; J9,--.
'?l)lL,.;t
.l
,CAD
t:U,rrlr.
6lrr:l: ;l ,r;*,
!
,lJ 15 .t-iC orLi:-l ,J2,-*-,
1;1 iL;
61-1u1,,+- .5,- ;t-. \f JiJ, .+L-cf
* c;L .l;-V csttu\ csD.
"56.rt
ir! s!- ,$ ,l-^. tt-f tP;tr:"r ti CJE
,
cSa--;ulr; ,tsa24l!
,.Sj$ )l o)ll' .l ! b-. ,!-! CJB cSa-2uEr, rsL6-.a- r: \6- \ Jfu
.c*lr1i;tS,ll6a-1^.81,:=-r:) Ji rf n tr-?>.r:{ otr:.r
www.mohandesyar.com
{.Ji, \7
LsJlStl; t- \
b
il
c6t 11[ ,.7t5 ct-l.ts.c*l d^+Jib dld:--.
..llrr-;L L- ,lrr
6.u.uel-i.i
,t-*,-/ *i
L,.+ t f*
Sri isr I
d5
1> o1\*
utrljftL;
:g-tg.$7
ctl,\Jrf ,
b,
ffi;.lo
)Ss.
r#:;:;j;i
src/ iti f
,r,:-r or-ic,"iei ;T.2r c -J r
*j {A} olui*' ot(:-, "tr S
Lf;^-,
;tS" ,lrtoPy,
,c-l
o-\.3
a5c*l\;bst
g;laat(-,
,>lui..
r-tl ARI-e
ubb
t {B} : {A}
.ljl*,t ,-,a;^*
s R' :r.iL ,J1.,,r, t5q ,r-tt .S: ert+lr t- ;ll: a:lr ;[..i; clt ,!.1--i,'^i,f,.Y
.(c*l Jf tt-r ,tr;S ,s^}-.-1r ,rlr-2lri Lrp-l) ft-\
4 ,sl"ni& ,r:l:at-:; ,slt xl-ir; Ll ,-r:*; s-V ircti 6[ ,g*--i,,.-i,r, .f
.iy tS{,6,, rtS, .sLo 1 Poorr$L,.+ i rsA. L-,(z L-,y,"')i1.rlr,
sL 6lr,_e! e#;:lr;ti; ,slt .u-T,gr6t .tb Clj;l cs./,-1.,,.-,[5g,-1.2r .0
.c-l cir-25", cos01 L ,c01 ,\ 1gli.,t'ejl ..i- ),0t
c-)l.c l.,s-b 6t.e.2l.l; ))U-l jl .$-fc/ AS.b i G* J12,e t o1l2..t L1lrr1
..l..'i J;oli LF^d ci:y t ,rt+!i
,grt ukt:J :l cstl'.'d'; ;5 lt 6tlst utrljf'L; 6rt:-r) ,/.-slcS; l+i-l.lt
,r,-te.7l:; .;l ;):t.. I : xj'l -b I ,-flil tQ Gtt'b. l, ,altt t.strgJ,.SitS.
r) Jtl, *-#y.Jlot ,*a'-f; i;US al-oi^' 6t.3.et*-t a, c*i $ 8,l o:li-'-"|
J)-.' alu-"-g;taat(-r.rr afc*l ,r.,-Le-21:2 gs rr.1jr y-l
,r,)t! .t*,g ,r*,c*Lo LstU t, *)t- cs{yt:h-lt ,t S./ orL-2!-.: !.;6
,(J^t u!tS" $t! .A- cfib Jst)J,-f,- a' )r-:.4a t-as tl4- 6lo.,ran;'ast,o,,
wl
"t-liJtr.r;lrU
*.,*1i1cnb i-t,
,t-;. ,g
d,
^:-a,
(#;
+2;z+.t
,;;li,Jlj\>sr
U-l:k U-fT GIl)\(Jsr
"/.-iu1
F-.^i- \ ,stltt r15,-a a; 61*-el;61-0i.c.* ^t t4il J .f-#,g -h I b
g-* u;lu:L ,Q ,srltt iJ:b. ,ct-l$l L! ,sl*-:l: ctr clt ,;l;n
u)t ='c.rr
|, t+i ;l:a,-u,L o.r.l; ,1! .t-:".
,* t,
.2: .:rl: c\*.r!t^,
* tr, + 'r, +'r,
.r"t(;r
11
(\-\)
.:*; t+J
;rC
.-'-J;
U-l
I ,l--i r:
Gtf
a>tL-t
.1r Ll
,fl
.\
www.mohandesyar.com
\y 9!r
-b rl[/r,.,rt .,SJ[S..st"r.it i'JtL r.;L,r--E- cJL
.r.u 1t+l !.,;6 O=-r J,-! 1-.e d Jt- Jr ,J..rr.,^; f t+jl ! Jlar,q 6tptft-r
;t It t+i f.r ;L.o*. ,6.:-r + Lt.r ;tc)l,tl ,[e-2lrr1 g;-,,I-ifrL; ,sb u-\\
J,-JS,- t ,gt o-\-i dj ;rl-oi,,- rK;r 6--rr $ G1*l)t+-,f h.2lrra , Cg
,st .h! c..i il:. ., C^ t+T-.,, d.,r,l up c-)d., &lr, .;J.-r_+ .#r-"lF f
'L-ic^r,'r[-c,(\-\) iJ:b,
.rr t5{
,rrrl.1
6r.rc i.,t-t^, rr
lr
Wi al;r-l
pa 9
,c*l
,Jd
J-
u-.L-.1
pla
.J
tll B. Roth, "Principles of Automation," Future Directions in Manufacturing Technology, Based on the Unilever Research and Engineering Division Symposium held at Port Sunlight, April 1989,
Published by Unilever Research, UK.
tzl R. Ayres, "Impact on Employment," in The International Encyclopedia of Robotics, R. Dorf and S. Nof, Editors, John Wiley and
Sons, 1988.
t3l D. Smith and P. Heytler, "Industrial Robots Forecast and Trends,"
Delphi Study, 2nd edition, Society of Manufacturing Engineers,
Dearborn, Mich., 1985.
c/-* f..r'st+15
[4]
R. Paul, Robot Manipulators, MIT Press, 1981.
t5l
M. Brady et al., Robot Motion,IUIT Press,
t6l
G. Beni and S. Ilachwood, Editorc,Recent Aduances
Wiley, 1985.
17l
R. Dorf, Robotics and Automated Manufacturing, Reston, 1983.
t8l
A. Critchlow,Introduction to Robotics, Macrnillan, 1985.
tel
W. Synder, Industrial
Prentice-Ilall, 1985.
1983.
in
Robotics,
Robot,s: Computer Interfacing and, Control,
[10] Y. Koren ,, Robotics for Engineers, McGraw I{ill, lg8b.
www.mohandesyar.com
\A
[11] V. Hunt, Industrial RoboticsHond,boo&, Industrial Prerr,
ll2l J. Engelberger,
Robots
in Practice, AMACOM,
t';;.
1980.
[13] W. Wolovich,, Robotics: Basic Analysis and Design, Holt, Rinehart,
and Winston, 1987.
[14] K. Fu, R. Gonzalez and C.S.G. Lee,, Robotics: Control, Sensing,
Vision, and Intelligence, McGraw-Ilill, 1987.
[15] H. Asada and J.J. Slotine, Robot Analysis and Control, Wiley, 1986.
,ctr Fl,
r.rta
u-tti J tldlr.,
[16] Robotics Today.
[17] Robotics World.
[18] The Industrial RoboL
[19] IEEE Transactions on Robotics and Automation.
[20] IEEE Transactions on System, Man, and Cybernetics.
[21] IEEE Transactions on Automatic Control.
l22l Internationol Journal of Robotics
Research.
(MIT
Press)
[23] ASME Journal of Dynamic Systems, Measurement, and Control.
124) International Journal of Robotics
[25]
T'he Robotics Reuiew.
Automation. (IASTED)
( MIT Press)
t{artsttll &tSJ g_.rL--1, gf. utarl.r,_r,,;l cfr [Y.] \-\
JL f. J* l,p
.+n b fV.+Sr"r tS
$t) tp rst+ll tr^r 15tr),r6 e.r:.u;Lr d +5 ++ g;rl:; [Y'] Y-\
jl .5'- ? t) .rl:' .l r-1y r-st+tr y J-oJl t lo-,r : j\-r ,6lrti; 6;lSJrLl ,.u:L Y-\ Jifu, tlt-r r.;t +! rltr..r:!.,;L JL-r, t,2t5 6Lac,';
.+n* b f+ly.r^) cdr * lt Ii cr--rl-lt ,;i :l-rcl
www.mohandesyar.com
r.t
W-r-
Gr' ,h.:
,g,..,- tst+trl ;Ll l6xe:l ui-t^; 19!,1 6-ll:r- [Y"]
.+..t L flr.+{r"+,.)tc" Ll;i. r-;,t!J"T
.45;-r- b -,* s ,rS.rS ctUi ,.to-t^!- a.l^- 5: t 6 -r, [\']
.+5 .i,-ri L it(. J-;S :,15rbi 4ts ,v-nJL{.- ,d^- rt L- .5.- -rt [\ " ]
.+5 i-t b a\:t tsa-2u,Lt rt,-,i r :x J/ rr.L- ,, t- .S,- r, [\ " ]
Lt eV ,st-t-Et:,u!;; J-;S,rslrL 6>,- a.!.- 1r t- -S,-r, [Y"]
.+5 +rr
t+T
t,S JL Y" -r) ctL;l ,s:i'*-y ,r-Vl 6;,-;-L;
Yo
rr;lc-4
dr
.;.*;
txS
"r-t\
vr-ltl
r$e "it;
f-\
f-\
0- \
t-
V-\
u;-/l:r- [\"] A-\
.+5 ++
(J;!.21 ciryl.)J- [Y'] 1-\
g;!r1
-ff fftil
\o-\
cL- st) ,:i.- ,st+q:r j6-"t,:lr',.1 u--Si"
I c,-:--p t),-8 .;iJ r&,st+t -r, t.,J) r ( . . . :,6)Ls.t F,Ui-b"
;tr)ttl U-;.;.,-+ ,rT ./: Ll ,.r.:q f- \ Jfu' ,lrr -r:t +! ,ltr ..r.r: 1t:;
.r..,-g
--..rLl, ,+D .:; tJ,Sr,
(t c-.*l) o*t;uA1 U-r,r ,l ,F t ,.rL-[, -rr ,e-tult,sl+---,- b cD ;I ;l 6 ct-*6 t ,5q b tr
[.ra..Ur1 6El, urrTtJ r,at4,[-Uu ,r-a-:t- ,h-l ,slt tr
Ol;l; j.r.r: i.,:tr ,#r+lr
.+J
J--t il': -Ll
www.mohandesyar.com
www.mohandesyar.com
-S el^b; .r|.*+ r L41,-ai
a,o.tl,o \ - Y
,et1U:a La.i .1: tr.2l;lr ;L.Li ;t11T 1t'- Sf ,,. i|,i1j i-a; t\ r;\y Jt-rl
L ,;;S- 5f s yl;,1 ,;t'Li 15t+-,.-e.tr- , U& ,iL; * ;14 t:.J ,-,.1 ,r-l.c*l fitt,JLA:,r.. j[^.. ! ,s;+r ,.,15-. ,S uuL-.) (Jit{+J u-SrSq ) e)s LslJ. .s;Lu.
Ab.
JtL il q|*; .d ft t+l "i-t; rs!2r .r,-trrlrV .t ,+.* ,;l--- 6t4.lt3!-: 4L
,-r-T;s a5 -ur.r, ,|.5.j"- b Jrl ,;l-J. cl gts cfu:
,tl, i'=tj 15 tail.2r rf
.c.i-r ulr;6a, ,t-rrjL;Sr tori i,Ej.?-.r , ,GLs: , ;Lt 61+-. ,- d^2,., -7:
t, q
r.rr..J a "S r-1lr r.e,-3;b eL,a.iu ,d!.,r 6- ct--rr d ;.l,r,t/
,,,1c,-,t-di-.t3!-, y-l r c*; ,l+_;+r LeK t5.,-+*;lr, c,*; nrllt,-l
L-)
,-U t-a, r,.,,.,I,
g1l r,' c*; tf I u-S_t c/-16: ;rl-.i.. ot^*-, a1 c".; !
I ot-(J-, vCg rtej,(r1-: .-t-; xl.,rl
tX:V ) ,LU;4-,t+t^("
-
,tl+-i
Y-Y
nh. ,-;ls- ftol ul+Slt ;1:ju.-.* ,.'"ra:i J ,b
t ,ch.
.;Jtt g;t! ,F L- ) dJl,c,[,Li xl-i,g f tl s-l '*,1
.--:l\,1,c*la;i cs> |j.Li d ,?f,t[ l;a,; ,".xL 2 u.9rr3:4-,;t5, -i.--;
G\:t tsl
'= '-2) rJ-i
ts-l ts.r,:,t, r"t
www.mohandesyar.com
f 46,.rt+llrr 1\it=.-7 YY
"[tJLrr,;i
,s-&-5 r.rc,;l
.tl-,
jt5.r inag
r, r-j b rsld.ju I
f*lir-l,s.ju-i al--.-.11-, ,*i il u-,
-\,6t11t3!-r t^lil e5t+l-il .Far,r:"-[ I x \ ,JtSr-rlr;.S,- t:
FU-t-, 6 ,r--it:,,.r+ .5.-
il+ cr-l .lAP.ut) .ur:,f
lr-11.lr1
,vl5 c) t> t;r: ,,a;,*,c,*tg;l + Llt
J:4;l
6LL I b kll,/P
r,-tj,.l;lo.u3
a,
o*;
h.1l:ra
rJ.:*l ;l-t"-
u;tr{i& g;)rr -r_rb rf c*ti.-;J -brr ,il l rbt-. tf 6il -b tty i;r,2-5,o, il-i,r ! bd.-U y-l;l .S--1
.srt-/ iti,d t r-tr5rtl: i5.--21:2 L ti t {A} al'--,-.t3;-, \-Y J'fu'
osL1$a L_,[5t, cJK Jg=o+ slj,g,c-l o$ orlr ltii.2l:ra.5-- t 15" P'^LZ
2 t! & ,r-j-ilrr. ! ,lr; J^ crt^dj. .tf 25 rrls 4-- :l ;-t 6le2-.^. Jt-t-\
r-jg orlr F_Li z
.x.rr,rr i|-i; {A}
6\*
AP
(\-Y)
|l']
j,.rtJ, -rl:j ! t tli ,' .ti; ra it(, ,r-o)E ,*+
,L.ai ;t ,sk-,-'- ts(6lil;;-ll-rs:J '>1u.,- lr:;L) ,r,-ba- 66^-ca.^- -.,:su7 LE
;ti F-, ,s\ir-; Ce i:
tl
.6J;,.rp ,l; ca
;.,r"
www.mohandesyar.com
Y
k*rt'j1 r,t+r.G{e,Qt(, :t4i..-;
c;&e;r-a;
.f--r:-j!
I,
tU
i l5 Jr t'-1 .S"- c5;,;*f i-a;
'SJK.
.rr slF
(J;t!
.s,_
c-t
;hX;l
,L:i
,il; y o5)c ..-El
,r.(J|&ij ,r-Y Jfu, t, A P ,lt, Jt i*,a,
-1r
J^i; .A-
t;1',- J[ti rr.r':6i.Lr ;;1 6.3:a- S GU-ibc-r gl.6c^,,.;r,,lrr;l..li
;U:(t r S JLr, c-l irs-, ,\ryl: J-L,ri56rl.u; uSJtS. (J;t! )J.: e-i -Sl
J:aj 6!r .ritt c-:l: ,rrpt 6.,J:a- JA c#) :; ,.slc-U,.rt(. .h J L.^ai;r
r.. c-.-, ! .\3:-:
u-\ r.rr .#,.r J.-. J ". b ;ta;.. .\3;-, ,1"..q g ,5-r_.,af-" { fJ., ,s"--ht {B} ol.o:),. o6!-r,Y-Y J'fu,.rr.#,.r \-q,-r': g.r.K;r
a, r.-i 1., {B} otfc-, c*l,ri6 ,,.-a 6;+
;;$ ,r;*t 61, .c*|..l: J.d.
.rS
,;*;
{A}
r ,p al--.., rLf;-, t: pt-tl ,srr(:+- e ,ta-1|:ra t, .tt.i.; ;tS-. ,.*;; g,-.r,
a, uLoz {B} c,t---., ot3;-, s:aj t-slfr,, jl
Fj
,F- .:-icf vrj
.t+i
'p-+
.J,-:
,sS1+1 ;lS.
J^li .rlr C/ f I I
ir.';
Y-YJifu
t5t+a; .,r
,c-l L;S J-L
rl.u;
r- .*"-l . \
www.mohandesyar.com
! 6-.sto,r',; .,-l L .c*l {A} c,L--,- .6!-, rr s'-,-i f 'f;:::;
.frnrcf aE 2" r,t",f,u t', r$--a {B} aL--;'- ot*-, ;bl;ta- i.r:.rr;tl; "a5
,oto ,oX" 6trrL; L,r;9.i il-i {A},>l-,--^- otK;, a, .*j [e-21:.r1 til $,r,t3u"
o
,r-tL.5,-,sl'+F .t:e4l.ltr2^- U-l Jl c*l;o:L .r..i .l;.llF .:l: F-L; 2u s
.r*Er-l j|,;r ,-r--JU lr,r-t| i/-l .Frn, it':j (/ 2" ,'o?u 'n*u 4J L) I x I
ib AR :L; ! l, ;T,r,5,r, J+aj {A} r + t {B} nL(:-, ,,fl; ,y-tl ul in
-rr,.r!J) r-sle---rL 4r.1, t+-:-rr ) Lte, : V-jt:,y*, vB;; l'&;,- .:lr p:+li
-u .lalF
6;,
6ta;-
,.tu"-i
["',', rrr rrrl
oY"
AR-lo*u
^2"1 1",, ?rr ",,
L"rr ?"rr rrrl
(Y-Y)
,rjtl 6D.tj rrLl- .l jr1.-'aet ^.,:l ;;ljg 6;J+- f t* 6lra,^-,Y,-- r*q
,*rL",i/-!rq.Jlrr,r,, J-(..l; jsrl^- i/-l !,-*"-ttj- aic;L F^li I x I L#jl.
P"L ,r-j-{ t, i r+ g ,5j:a- ,r-J.,l ulo .rlr-,1 -S"- t: ^L; g ilS'. 6
,J.u-.;LJ ;-rL.& { t-F S ,lr 6}J4- J-t .&-t ,sWr,A- Y ,:4 .7: .r..i .irp
.# r."l:- tftt
;tT
fl *-nr$ i.f-- g;tr:l.x.l1:i:r, ;ri nG vltl-;a .st^dJi. d"l *.-.i ti
I AR ^n? I ,dJ U-4.g*;;. (Y-Y) ts r;j (J'taJtS-l ,slr. GtV relte r..L,t-..^
c^:t il *t 4 ,a5-- (J;ta-rl:2 :l st.5,- c'l&I v;,kV rt12,at il-id t (Y-Y)
AR-loru oY" ^2")
lxu.xo ?u.Xo 2"-*o1
t^^t
IXo
t^^t
.Yo
lxu.zo
.Y,q Z" .Yn
Yn.zo zn.ze)
Yn
(r-Y)
,-ntt)'fu, ,;;i :l e*| o* u-;JL -;r ,,5--9;rrL 61,',
a56115.- ,S6tlt
,.r:.l,L o-r-l .r:-.i9; -i,.z--.. rt3:*r 4-1, .l-*,1
C, Jl
=-e t'-1,
o6;-, vEi;l
-21:149: r5ld.t.i; ,-,Ft-V af t'.;i;l .ciJ.up J1e-a opr., ol--,'
(
,j=
g)t^ g1(
!,r!:, e-tlgsb^ili.,Ja:,r.. c-:a, lt41 t"L)lj o.j'J.^S--
tb r, .f-lrtj
-r,
{A}
d..,-
;rl;.,g Lrltt
ut-,|::.;*
ut^.rltt ,,r-tL ,s|l.b "5.r.l:,r, ;L.l; (f-Y)
t lt:l
tt,
r^li jSi ,lrr t,
t+-
-St
,t-.)t;--,1
iJrb,
'LU.r
-*, urtt
tp u;l c*l;.rL ,rrtf -\
jtalr ,-.,ti --e jl
.(rr1ic-r,, j.-t
www.mohandesyar.com
Y
d l+rtl+1,Q23-Ar,t{ttr :ki..aj
u:&- ,J,:.*a
AR-ln*"
t-Jr_t
rtt'
oYo
(r-r1 ;rt+!r '^b:a {B}
I c..'ib
6.1
li'r)
(r-Y)
t c*; {A} al-t.,K:-, iej ,u-lt\
"on
;.tl-i,g
o2u)
{B} CrL--.. ot3;-,
.,>-lrA;.,T;rl,+!i !
- An'
(0-Y)
i!r, ,r-tl t
,l:; .l+!r,y_l
#;p tj rt:e+ J'L
iyls aS.r.rrr.
+.
An, AR _
ItYAI'"
'?"^,"]
AR-Xn-'-"oR'
;T erl6;;
L.
)t,!k
64;*
tr
-Ir
(P-Y)
(V-Y)
t istls a5;l:r, ;; [\] ,-}; -* :l
.,+_lo:lr ,b
,rs ,*+ ! "-tt u_l l+:,_lyr .c*l
.r+-rt
VAtta .;ya;
llc,lfc Y-f Jfu,.2: ,S;ti d-r d^ri;,J,tiir.rt Lp"4 rslt:Q:_13,.-tc)tll
,l=:;l .p:a, ,t-'.. ,i_u; +! ;T ;tS, d l, 5 11 6l^Lr: .,s;+ 6- : uti. .i_;l
,, .$J -b .rt f--r r,. J.d. *rtr\t ir.. ,. ,i$, r, J ;r;.r JtL .r\r. t\ ,f a
Vakt
u.AL #r,;=-o \:,ry,l-r6* t'! ,t;+: ,lL qlcl ,JL-U:/
."t t i-J; b xs]- r: ,l.L s.r:rslt-r ,lr1.rf;l c*l gslas2 ^. ^S
St+
,[5;-1: ,L
,7T ,g.3;a-
J: j
J; ;tS, ,:"-[ ,slt rlr1-.S--;l y- y
atS,;l:; '9- ;a5-+ ll-ig b **rV g J.a; ,4J i,,..l t .,:*l ol.i o:ll;;I p ^S ,t-l al*i.. 16!-, .iilr.1: ,.-,5';$ .-iJ -J;-rr !!rr ,r_tL &- s
oa;"* u-&-t ot^**, /, c-,-..; f .t3;-r,r-l ir., ofi itsr-11:2.5.- ,rsrrS:.4--, U){t
,:-*,1 \i: j oPaonc :AR4-:q {B} v*rtq ,i:, .t-.;.,g orlr at-ii *tSu.
ulr -&-t
.11s.,4a-;l 2
,c.,.S;l
.l
www.mohandesyar.com
:c-r
{ B},-,.
,-r*a,*,'^'l*
{B} = {f R ,o P"o^o}
**rta- u
i,r. ^T,
:; "':"
(A-r)
;La]- ,t(:-t 2 rj]ts,t'-Y ,[5*1.1r
{ q1*, {C} v9'tl-6e, , 1V J-,.-.. oK:-, r, '-:---.; {B} , {A} ,rhr,rh
.c-l te ,.;ec.. {A} *:trttt
..r* cf l ,c-l .*ti ta,T ...,1, ,st, 6,ha[4a jl ;1+F ,r-,-[ l-Y ,[5J -1:
orlr .AL; rJb),rr ,|J.J b ai
,s\t:n rt,.S,- jtr4r- t vr,rka g .c-l
'kl
,rtt el:J,t ii .t;.,l p S-t *r,-rka irr. t +*r|q-'r" i.rr. ;l;1lsr2.i- .tr.r
,c*l gl:rlr2 i4, tr S g*rV + r.*i,r1l:-1!riJl:ra g;L$;l tt slr ,t*r$i+
a, c*i {C} w31.rtC"yt r5.u:,r, it-i.; f-Y JSi 1t js.r2Cr-l .^f-.Jerr.. crL-i.i
.uJs.J c I c-l o.* ,sa}&, {A} -. A[.61
d, c----.,; ;rlui*' ,t(:-r .S- .;..-; ,sD ;rl-ir; tAtlt 1 ;l ,r"o1- .rt+
,,5^, u;d-: jtS,,.rta51 u,:,-ti ,b*
r,.rl,tr3.r;,rLf .r|'-t al.-:;,-06.:-,
il-l,g l, t+Li -;.5.b g +a)..i.tr, cr-l i:it- rr-*, Jt5-\lt aI ;tljc ),\.t,1
iT it5, .21:y c*i e ,:*l &- ,r-tL il gbrt ,r-tV c*i 3 ,ent$ Ll-5*.
,gxrE \ ;tligt 6;re ,-l*j-, tP +.rlr aLi; ,S,t J* i b uru Y',zb
.45 ,,;.- ,c-l j'u jtt iT ;lS,.1br, .5
.c-l
rJ.i rrlr
i[.:;;
-&-t
,1tr
*,.
.)r'L ,SV.ntga* ;l ,,gltt; f- YJfu
www.mohandesyar.com
Y
,ir vrr|
?x:LE
G?rV ;t \i2.zj;rl.r .=i; ,q:l6i
{ 4xtV :l l1*i
r,rls .*-:n
'$.iK
Y-Y
ft,
.tt*st.jJ:i. ;,l-,':;6tarti--,.1r uJ.S- i-r. ! ,.(*t:, Jitt.- jl t-s.rl-: -rr
;;yh,C-^: f l+i-l-rt s ,g-:J ,t e; b +j.'ryq 5 4srr3Jq-,ilS,. J* j4 .p.F:.r
.cilry. f,+li -&-t **rka I *9'r9-'.i-;l $JJfc;l .slr cJt* ,-l*\r
j+*/e
dr
c*; l';i-2r b.Lr; ,-t
,.^l19
crt*
itJ JtiJ I
#ti
B P jy2l,
!.itS, ,f-Y .,[.-i-1r
c.r"_lrr/,-e,-F
.sl: {B} t itl- ,s;+ {A} -r.,V'-rrt
tC s-f; {A} v*tV
'bt
ef 6;lr;) n Puo^c L rf c*l JE:\ .5.,- 1: t{i t1} l {B} .iy3l ,CL c.t .ri
.r; rrp it.r .ltti ,(15.-r ,b-'; {A} ,t (#; I {B} 'irr itS.
.,_
.. .
,.tAtf ,ryLf s,--,',,.r;rlr ;u- ul'+-;J4- I ,l431.rh.r, -21:; 5: ? b*
r;eT c-rr, csj:t g." t t o P
.{A} r, c-*.i P ili; ;tt
'?Ap=Bp+op"o^o
(1-r)
)4, S c*l ;t-J* 6;+,s!lr,sh-rtrt41.rE cJL-rrtl. d++!
a-:-il: o.e-
Ys
.Jf.:l
.-t(;
f-YJfu
www.mohandesyar.com
F:*r .-iJ*, .;hrt, ka r: ::::;;t:
.,.,rlr ,L:;-F-, **rV + e*tgq-.A-;l b rlr...S.,- c-l6li ,o:L Jli tt-l p
tq{ 'l*; ni L-.-6; r4l
r5> .r.21r.1!-1 c -^.-rl ,F-, *9-rf u. v*t$.i-;l
,.-lL u-l .tf rl ;t6-St 3I .4; t<,- r .$rl ri- (Lai .1: u;laLi; t+il.1r) c-J
ti: ^j " P \ 3 6lrLji. it^l ,rrcf ,s,-: ,56$a, ..;-l oJ-i orlr iLi; f-Y ,,fSJ.1r
.
*X.,V t + ,\
u-l,.J.i;
;i cs! g;{.rt 'i' i ,e*
-r,
.+!f
.r-l.f
Jti:;l ,r3.:r,
C*,ra, {A}
o
b: ,.tSg Lr'-fi ,lS t*+ b .;-.J;6; ,r-l Pnono ,lr,;^ foj,g
;tJ- h;r,[3 ,s;+ e) *t !) r.rl, tt'b t*j -,* +s\:Q
13,r .-,tc)tt I +S
.(c*,1
qit- .lLrr gL{f3>..;l.{? ,Jrl,J c..it*
vl-l glit:n 6r.rrltJ i.!.21:raa- L lr 6;J4-.1- ;,.--; ,-iy ,Y-Y ,l-;1 -1r
J,-rS.,--16.r) \ 6-- jtrl u U-l JtL tslt.q-tf ,l-o fi +, W al-o-,-.t3!-t
u-l Jl.fr-+.tj ib.., ,r-tV b ,r-tV u-l t gJ -b tt l x f ,r-tU t9- ,t.12,.e*
.r=nrcr itJ 3.R rL; t ! ii ,sS
'i*; {A} *.!! lt {B) *-nt$,i!:) ,r-tL
i,E1^^r j ,Jrb .r-1, i;l,"ul iLtt ,r-tL, I ,sV* i.r ,L i-f; t\ 3 +S +t
S
-;J
aas
il;u..-lL
g,-l-;l ,g-..r,-r
,h.;;i1diU--..r;-u1u,,4f.,.
&l
(\"-Y)
AR-B^n-'-"nR'
'.j ,{B} i5'- u;t^-,1:2 A R ut ,tr' 3* ,U-D\
.Jlor.3 *j {B} o6!-, a, c-.--,j a5:11 .u.r!i {A} 1t-- ,slt1l;'.,;fiR
6l^-ct-*.l-: G* js.r1^- ;l ,.51^-ca.--.'t!.:+, al-i,g lt ;;b* ,f-t\ f u-,
:l: ,!-L; tj ut-teu tsrL- isrl t-
,sb-!-
;l
c5l.b./lr;
,J-l-A {A} 't5"-)
-1r c.\3 ^:
AR-lo*" oY" "2")=
fI"YTrrl
I
L"
(\
\-Y)
ztll
{B} .st ,g.31.t$ 4, d-.-.-,; L rltl.S-- +r-,--lcl ,r;r.. o-\,-: 0-Y J'fu'-r, &h
{r} ir" t;rTi+- d,{A} '$t 6Fr **rV r r*i 1,, aT-"-r* r-l-t, ,;,lt,t
,-uq ir-*. {A} o,*j {B} .s}Jp r;p; Jl.Ftl.i c-)4 ,c*,1u,L:',
^*,1'-, i/-l
,{B} i5-- q5tr-;lrr1 b,-r-4;* SAR jbs>,r-tL iJ=-r+ ,6r3:a-,jr-l .c*lr-{&l
.:-rg g. r,- rJlard J$ {A} ". c--; t-E dj
www.mohandesyar.com
Y
i J,r vrrv t strr|
;t $2-oj;rlr,=n ,k-!1(.j
.rl)r
jt,"
y
bT
s-sl.;
rr,i ( g;:rc r
c^ip
4 srj 1:l:;[r
1s ,2ly2rA
6b,.ilj" S
0-YJSJ
'--\c.:l:
e-.-f
.l,_[r
,r P
16
,sb.
\f :,1:'::'; ;Xl:;j:i13ll
;;
op"="*o ' aP
oPu=uto BP
opr="2o ' nP
(\ \-Y) ilatil ,,r!r: ,r-tl * JkL
4-rq bljd ! (t r-Y) tl",:I y-!r,tn ." 2o , ,uYo
r12-aa, (\ Y-Y)
1*L-.r-rr
i)j
oP=aR
( \ Y-Y)
,u
&b
*o;l .ul;rLc
21 i r-J JS-
;tl rstt
dl? csb-!-
,o!,rlr
BP
,r-rL
(
^S
.S_
\r-Y)
t c*; Ll-bi;6lrLic 6 rsrltrlB P )tp 3 Jer,.'r ,L! l, ;pk (\f-f) iJ:L
{A}
r, &; iL.l J: ,; 6 A P ,lt.^ t I (S.,,. Jt:aj {B} *:2.,V
=,*rlx"
[:.i&
,r:!r.,
r .JtL ,t Jrt.SJ,6-,,lifr[: F-L ,ra
.t-rKc/
u-l ;,*,t
o.1r
,c-l
a*L--
www.mohandesyar.com
,jy
,u.-L-1hlr,,.r, e5c*l ;T,u;r't)L;
,Jtr, ,slt .x--J.,-l ;L ,;l;l ,+ c^J
u-l rs\ly
rr:t- ffi;,
,c^J
,sV-jt:ui, !
4 ,st*,- jt)ufu,
.-t-J -b;'r (\f-f) iJrL ttb B g;tr.ur4".
\-Y
Jt:l r
u* Jf -1, f" 6jli;l t {A} *-nr9..' a, c*i Slt {B} vntV P-Y Jfu'
.c*l JiS 'a,,;E;l 61t- cs 2 t>a7 Li-l-2.r .sr./ ;tJ.i ,c-l ciL- ;Lrt
4 ,sLer- ,-,rt'a. t+T cs+c-r:,{A} t # tB} li- 15b-rlr,i ,;;-; I
.:^.ilr
"..rp,i[) ,r-tU
2
du
l',trt
AR
- l'ro"
"
l'r'"'
o ol"""l
-ol0o
" 1A?? "r" "'
I
o
lo o o \lr. " J
t-j Jt-t'*B
(\
BoT_
o.uir,-
2Jr
jyz #1,
tr
(\o-Y)
Li;'l
.c-l
r-Y)
a-..;:'l"" ;;l.llr,
{B} vr.rtlt t-YJiS,J
www.mohandesyar.com
I\
rL,r
vr,tV
.t st?JU ;t \i2.aj ;rtr o:.ir't**tJ3
A
rr5+-h *,
P is.,2 r*lr,g
f-r'.''l
Ap-1'RBp-l
r,vrrl
t\r-y)
o ol
| '1"
Jy.e*. f R la;"-l g
f;ykt 1 r:*; B P';9;,Slr. 6 )Ss. k,;:k
ol3-1, il
c;l: .l-! ,r-i c.if t*lU:l rt-f tr dit+ '.>*l tir rsa .o p 1l:r1 .*_,{A}
,e*t$ rt .rl;l rsl-.r+ ,-*j l+" r ,r5.1 c-J I :.i -r: P ;t-l-71:y ,c--iK;
,-,.
aS
.*-iaf r*:a r.(-r
(.r-t)"$ skr.;kt
otrLi ,-it<j
dr:-1r {B} st g.ntV { c,3; brl2.S,- -i--;,=-til
..*ti
t+i-lr, .(r-Jj c-)r {A} ;* u-&_t.-. r?-rh i,
.r: t
'*; ! ;i
"$.JL
y-lr,c--t',iL
i+,
ir.,
d
{A}
{B}
t
il-rr
-,. r,rL43
le
.rnrka
r.--J,y k
iltss s ,oP"o^" t I {B} i.r., iluor;t-l; -21:11 .r--J.,g Lp;.* ,stltt 4-:t .tlr!;l
-ut t o, e,-L/,8 P a;l: cdrJr ! .n*r., jg ARL.l, {a} r ;; {f }
J: ^t r+lr.re,g-.21r
.'-5+.h
,lr:
(,-r-*l.'6..L+ V- YJfu
v-Y J'fu'
www.mohandesyar.com
tt
:::rT:
{A} .s}a+-! ;l cs-ft+a 6,,'--,rrqt
lr ,g-+r f.-Y u:4r, &Lt,J*G O,-l .r-S;*;,.:*l ,;.!:-. {A} i+..y ;Ti.r.- Ll
al.oi". ir., r, ir=1 JU:il ,itT jl ,r,.t-*g l4l AR-2r (.-- c* ;1..p\ v-r-,h,
f-ttin c*). 1) Js.-aatj U;./l!,te.? !,g-{: f-Y ,:ntr &h,!
,;[l-
":
AP-f
nuP+APBonc
\v-Y)
;l jtr1.5" -l.--; ,-.J,-rr ,, drl5t .,l5 *tft ,(\ V- Y) iJrL
't*.,V
s,x-;.,l *iL trB llf,(\V-Y) ,.I..lr 6JStU.r, d+5a.-.3i.re:,rr ;t.i; !.S_,
.#3:!-s"- ! t t+T il-i,/'* 8,--1./ c*)4 i/) r c^*r tryl:; {5
*XrV
r+lf -il ot-t'*b;tl,,,!r
i=-a 4-; rd^-r qJt"
il+
(\V-Y) iJ:L
oP=aT BP
J* t]
w, .
(\A-r)
,g.nt$;l c^:6; k r*"1*,g ,-S-, rtV ,.
iJrL
! *_8, .r: ( \ A- Y) iJrL .C ,F
-#y s t_p
'r-tl
(\A-Y) ol+lr, o.r-i:t+' :*, ,r_rL, j,L' Jfu t ! (tv-Y) iJrL
Fli.S;T slr
dr-*orl..+'-,1 f x \ ati 6ta-,1, jl*tJ s'-f;l f x Y,f-tU rS,Lt.A-,f...--r
-r,l .r.rp c*)d, tj .t:nt (\A-Y) ila, ,-t ct_4
.S,L'.S"_ Jfu, +,b -&-' -. *rt-63 +
.c*l
(\
V- Y)
BP
(\ 1-Y)
[:
,ai-2r o5
.*,:; ;: :i'::,:;,';:
ilu- l
! f x Y e_tl.S_;: oS;l ..*; ,jtS, ,ltt f oS V-ttd | :l:-1[ Cr-l JL
t_*,g.a; (\1-Y) L,b J,-: .$tr f x \ L- f x \ "ulrcf ,>i v-* f x f
Ap
=Anop +Apaonc
\_\
t-
(Y.-Y)
www.mohandesyar.com
ll
,L,r
t*j*
st*t[;l\\oi;rl:
"ji
't{r.itti
rl-i,g L ,u-ti.
clts,t-i,t,rb; ofu ,L+ (\1-y) iJ:L,rr f x I ,r-tL
il;r*
t, ,r-J,s. t t, b,-'6 .1,_+ 4 Jti:il t' r ,.r!r:,r af
";.5 -h
'#
'r_tL
rt--"l dt5
bbs>,r-tL L_,[. o o t] l*.r! -rT.b rf ;!) urlS.,.li. c,lj*cr (]4-/,)
(c*J nrrb-rl
,c*l ;i ar,1 i6^o ,ij*, aS 6rL; aJ * jr* ! (\A-Y) r.;L .,,trdrL IJG
.[Y] ,:-r5*
tts-oL;IrL ,tsj 6ly jsa.st+t-+ \ Jld+J-.y .1*_t,C
tl^:i'- i;J =* 6b,-,t.t-U-l.rr U: ljy,g osr;15r,. 64XS LN2g'l-, Ut
c{a* }t +^t-t-l,L*rn u:"-t-j U ,:,r-l:l ,rlt\.c.i-r $l:; -r.lr { -rl.-l .-;: t{.!
.s-,'.l.,g o:t ' .l ji6ts:,,t4i;:-r.elr,.p5-2: l.ralrL
i/,_l iFLrr
,f-tS o:lr'," 1 6;+ ;$ u-;;, clt ib-: ,st+-_r[ )l S i-$aL" !#Jr
\ Jl d+J \i .y_tt6+ -trh ;rlr,Jl-:i ,sDb (ofu L-,.) ,,st+I,+ -,l1.,/
kr,-rttt Li:zj ,sltb t+i tl,g-r/ j* t6-tK; it-.i1tt #-*,-st+t-+ ;.,.1;l ,,:.:,
.up orlr;Li! AT '.,-r-{ t,4} { # {B} vnrtp-,";= ;..r f+lF $+-,:
,.11.*L
or_-ri
,-,.
..L.,
Y-Y
Jbr
Jr b.tt \'. i;llla, {A} =x]-6. t c^*; Sl, {B} --rtrh A-y Jtfu,
;t-l ,c-l dj[ Jti:l i'a 6Lby) r> b O , X A ,sV-Lr) blr \. e;l.r;lr s *;] iLs>
.B P =1Y1" Yt" . t")T
^Supt' -)r,Ap +L* c*l rlL.Ja:.r..
2 u*
,_,.
c*l a.a {B} -3-'/a;;-;
" tA??
-or0oo
olooo
\"f".l
"/A?? olooo
ar -l''0"""
o'oooo
"
L"':
t'l
dt"
"1"
(Y\-Y)
\J
B
2_; J9:, ^; P ylry o:-i,lr
BP
ll'1
Y-
www.mohandesyar.com
,#,*$
utdl.ry
st4itag ff
or/
/
oP"o^"
;sl:s:sJlxl
,-frlf
f*-: t-l : d,g
orlq'--'l
.{B}
tit
A-YJfu
.l'-+
AP-fTBP-
.-S-
J12"oa
{B) ';-p ;l
(
Yr-Y)
I'i;:ll
,rS.rL*+ t ,$lrsr ,Lgtl.iil :tAr<,tr f-Y
;tlie lt -S--t =*rV + .tntV;l -tti; .-t( ,slt cit jS^1 u'ol-t c4tr bb
\ qh ,t-l t, .u;J .,5" -t: st 1 ! ,[.r.11r2 ;f3r ,.tti; J[c;l ,slr .,,-t^Jt^r 'rJ-n
.c,.-l:, f.."ti ,f"-r; 6i)6,yi di u-L-J.st+...il P
q.
! ..r^r./ 6f
JtiJl 6bJ,L.c
,.it-, i;llla, ,t,r'. 61rt2 ,sV-b I I Lzi I 6laLi;,Jhil
..;;l: r+lf ;!;L:;-.6!-r.5.- 1 t{.i,ti.2:6leti; Jbl ,slr .* u-l:lo:tr-.
6 L;: .S,- .-6; ,sb E , .1lSq u.-l_t ,rtt;L" ! ,L;.i -1r tLi; ; Jtill ,1.n; g,-.1,
i^.e ttV-*.ciJ.ulrl pt+l ,u;b
c-*^.rl ai116ru. s-L-J
=.*-Jrr,rrl.7.
=nrf
r)3Jar,r
www.mohandesyar.com
f0 .,[,.et*"yr,t+!l,l{llljl,bJLt
&*; -rl:ra .5-- d.f fu :c-l rrL Jt-, ,,(JS.,_.;l crl=.; gr_l arl: ...^,- .:.11r.,!
,Sf L- ,uJro + b it1^ cS2- lljct ,S,J Ef nJ-u q .rr,-rt{t
+, b v*tV
L2')) ;r'-l il V +r t+- 5 ,,b);t-..(,- cJL rr -,,r p nbL-1 ;)q .c;-S -b .tt nr--ir;
.2r .J.r:6 ;b ! ,nQ ,lt-r il= r{ ,A P1 jt2 Jtiil .F& t-Y Jfu' .Sc -J
AQ
.1lr 2 -1: I JE:;l pl+l r-r!r jV
't-r;l')ttl )ltrI4L-l
;-*cl a*1..-, l) tUpa' aJ.:*l 'Pt "-t_+ jry .J,s. U_l J-S
.?
oPr--oPr+nQ
(Yr-Y)
dg.:tr'-.ly-j rL; :1 ,,e-tU J,Lt *t13.,a6 Jti:;l J^r U_| ,;;j clt
oPr=Dek)oP,
It De
J,;t.c*l
(Y0-Y)
.rltt cLb I Jtxl (ur.- t_ .* .;-)b !) 1l.tl q ;.;T ,t
$J.b
"
Dq(q)
.r(^" .J,-+.f- -il ,eV
[\ o o q,1
JL
l" .\ o
l' o o\ ;,1
q,
e o:L
L.
(Yt-Y)
\l
/:
{A}
/
//or,
//r'
.Ju:lFr 1- Yjtu
,S
q ;;lt,l
^P,
www.mohandesyar.com
"5Cg
7_)t: r::..r Q Jd-Ji4,6ll'j'17
Qz
,.rkllrr
r\ir.-i
),Qv ,e,
,iT
Y?
r5 S
qI+qJ+q!
+5o. j .c*l ttrr6* ,-rgf c,l=;L-.,, (yf-y): (1-y) 6bJrL _1r
#,-.S"- ,,q:-7 rrlrrF (1-Y) il"!.,r ,c15 \a-f; (^ Psone uh q) | B Pasa6 ,f-Y
,[5*:
-1:
Jt
j)|:;lFt*,c^..)tc ,t- oll .f_tj,g o.rlL:. (yf-f): (t-y) .L'.l,,,:1 d^,>{.c
dJ (:.-..,.;
{B} iti i-f;..:*l a.-icl 7 al.o*^. o6!-, .Sf, <rJ:lr f jrl6f
:L; aiJL.lF jt4 ol ,fl-r...ri1r g 6 \re tr.* (,{ Paonc il-:q) {1}
.t,lt6\,.:Jt(; J12tar-,: s,4-*tt-6.- -i,.--; ,sDb ;l ;rli,g,c-l ori rJ.* Dq
ea
c/l.rrr
6t^F t
+ R ibJ,,c--b:lLoP, j:r. ^S,c-l ,r,!rtur(Lr tt12.e,,j!:) ,r--rl -S-t -r*
o:l: .ri.-t-J ;,Lt Jt:-\ jby ,r--rt .5 u,tir'lF, .src/ .j oPr 4.q ,lr,
,F =-nj{t r, irLr: lt.;rl L ;rT D: *>-l u--;r: l- ,r-tt: ;Jl s[ ,:r;,r,
.>,t, ilrcr.
p .d,c
AP,-R AP,
r (tf-Y) lbr
.il
J: j al4t-, r,r--\-) t-6Jt.i:l l-f tr
-1r r-\^3
y_l .r.2lr
".|JL,,"^lL
zt-J.ct'
iF^t
(fv-y)
aa;i
st r
hi-l
r:
i,rE cJL -e:7: a5c-L.*'i t{:]9 ,d*l ;t5- (f V-f )
,trttc/ $u tSJ-t'd-n + 6 Gbtt.st*-rt ;rr51 c-r,".
*-nr\t ^5 i-\ .r!rt .r-.rL
;L.: .s\i.,,- u. R ;!r: [. ! Uty. rS ,rr!r: ,-r-,_iL
.i.Su.. . o-i g1./ v31r\t .. c-J U R
o-!: oJ.\i-1^!lr,r.
t+.:l-r, l,l ,c-i; j; 9 ,3J^t et12-a6 Gai a blrd b ab-, e_tU t + Jl
;E rr*, t ,rfr) rr bI tt 6,rjr+lF i-r;
613.r rL;
-r(.t-t rslt>
"sL:t
-b I oI3 o:lr
'^:
6;l-lla,
P, -- RKQ)
P\
(Y^-Y)
Ii Jt -.rt*!, JrL Gb:t aJc*l Gb:t,slJ* aftr(0)r,6rljl:L;
ct-ltJ
c*i S j1a
.rJr,eu. ll-iglr.S-G,;r-l .-u:,r,
1el +1r 0
"!-+.S,2 u* Jr .r!r, 3 6jJ*.,(\ \-Y) il"t ,s 6.,,lKL ! ,)l:, .L>:j *>*l j,- ;rI
alS.7l:r1
www.mohandesyar.com
rv
"5.rt*+.1,t+Ll
,l+Jbt
'trJLr
r,l lrp cdra ,;5u. U-* lr 0 ;3lsl*
-sind
Rz(,,
o ol
cosd . "l
_[T,
o \
o
(Y1-Y)
"l
o \l
q Lt-n I x I iby,y-tL c-^-i J n11l;e,;t5,-21:r1.p ,r!rr .s!x qJl
"l-+
f
f
x
L- f x f
-bl
un-,-jL J15^oa ll-i,g f nRrl rL;,r!r ir:-r 1.{rrUi:-l
altt' ,sb GLs' ,r-tL
43.1 3
c1,r, i+ -o;J
F"F
,f*
ilid
'J
:i*r.ry
,*,t
K -u;L 'p: rstf Jf
l-Y Jllr
j;r; \'-Y JSJ'
tr Jr jtra y-l..rl.,rt jl 6l61lsa lr,g.$rc/ iLJ t
AP,
.+/q
b *J+.rl:-r .C +A ;p,l Jt-t a.-r: \'o t;l.rla;2
,r-tU l,: c*l )t ,r!ru. 2 Jf -1, 1"" ;;l.lh !, tarl:.,1 6 Gbtt ,r-tl
AP1
^1
X1
.c-l ,.t!r,- 2 Jf r-.rr t'" ;;lJlo SAPl 2lt1 \.-YJSi
www.mohandesyar.com
,_F
e>. ?-ftrht
t c*;
Jf
o,.r: 1""
6;l.ula,
r-D oJLir,- -. r,rh .S-
$'/
i^:;:':X'r
Rz(Y"t")=l.rO'o otA?? otoool
ll
L.r"ro
P1
P,
Gbst
(r \-Y)
+1.-f C-.r/c
j:''
jsr1tsl,
'P'=Lii']
P, = Rz(Y' t")
tf"-Y)
olooo \1.""J
A
fA
,ebi.rt*ll.rr t\i*rt
lj Jt-tuv.
= l- lt;;;l
L ";"..1
P1
js2
(rY-r)
,rht) It iR-St S +5-.r
u-l
..rulJrL
.*,g
u-l-r -btJ;l
(tr-Y) 6balrt,,
,-n-v ( \ f- Y) '&b I (A R
(YV-Y):
it-L; (YV- Y) 'r\b I R ials ot3;T ,,'-rr1 ,:f
iL.l; ! <cic; t Jl.-;,j,v o6!-r,,rl:r: o-y'r, a jtt
.src/
u-L) LIA;l ot -r*er r-f,r, *$R
iJe-1a,)
iLy,uj)t=l
,r..-'
{/} q c-*; {B} itS. i-r;
"s;;15..1+
g;bfLt
-* (,j,-$ fLrtr t-22ett ;tljg r l, v*rh ,r!rt ,-st{*,-/t 5 [r-2lry .sL
t- ,r--it-: is4T c-)lr ;l t4 .15 5 iyut .|S*
'>l-,.i... rtS!-r .S,- -tii vr4 ;r2l I
/Pr +.rt.1bra b $)c/ JE:l: lb:tbAP1 j:2T JJr..lc llF orL[.-.1 e-tti
u-b.\.rr- J.-L
.t-S
oP,,
=T oP,
,;lJ (ff-Y): (trt-Y) .L1br-2) o-IJ J:6j
+ Slt r;*6td+
aS.u:,r,
(rr-Y)
c,l=;tr,.r!lr .:JL -u;Ui
;tt lL +-,.1 U-l r,.F+r.r.c-l
c,5ti, U
tai-|.r,
=r--
t#r
www.mohandesyar.com
f l .r5.st+!.y r,t+Ll,t{Jti::l'bJ,Lt
y3.?J\1 d,J-- !. c.*\ JsL. .rsr. $i:;\ I i!.-5r". r ,iLr: R'A*5r,. d J-.J,Su.. q:-j t?t yj?r\t ..L-.-,1 Q\)r.. cit- JUi;\ 5 .R'rI-)r,. ..ul r:\s ;15:
,'5itS, ,lrts ib.;,r-l,L c*i1r;l ,[5 ,rS'u r].F arrr,)5.^.
'.*,t
r1,-u
sJ -b
"
f-Y JEr
AP1
un Jf a?-r: l'" l;l.r;h,, brlt,,^ U-l ,.^l,lf,g.src/ itJ L
+t+.f^, Jl;:lYe cL!-,,r bl: 6: Xn,sE-b-r) bl: \"
.+lri d-rlr
c*l
6"1; rJar,rr f t";l
o70oo
T_
o P,, ,A P1
Jti:;l
olooo
\7o o o
lo
APz
o.r.l
.l+ "&
4 Jtiil s
bb1o
= lY t"
t" " ,"fr
if:, d f JJ-'
(rr-Y)
1"]
L";:."
.c-l
J.fu,
a;lllr, s,ibst Z
olooo
"1h?7
o
j11 \\-Y
/
/
/'
#p,
\ AP,,ltt \ \-YJKJ
www.mohandesyar.com
,-{ oM;,rtr!.^y tLi?ai'
Fo
t.rlr.f
oPr
(r0-
[;']
orLt-l
V-i,c t #'l
oPr=ToP,
;:Li;, )"6 6r-; Ll ,c*l
Y-Y
jJ-t
!)',;',
:['ii::i]
il
(rP-Y)
Jti s; i;.i5 15)r' k:l JE ,,r-l a5rjl.' a:--il: o.e;
.:_1
tAJiri
l:
i..-)'
0- Y
Jti:l ;rLrr,r-.+U, it5ti
Jr i!r, sScJL P;;5,j'o t:b*'+,jr-a
c*J csj!.Jbl:.,!:r"5tJt ,fJkr, !.F1,# j-o f ,,Li;;lJU:t )^Li
.Jl,r,.5 cJL ,h -,: 4T lt-: ,1-ilst iy .r!:: r i.. Jti:l;.:L .-JL .e: ,"
.5'-
.f-l,r/
j*
k-rt-rt.33
u:"-l
cslt
Ct'
,stlil il';.
,:-1lr
t; gi a-,r(^" ,l-+ Cr-l .s!,
ia; {1} * c,*; {B } *aL6; fT .c*l *51r\t .1,- -n, -; ,,.},-rn Cr-l \
t {B} ;I-l csot.tn 15b-|, .5.u--.n 151,&- qita-/l:J,: AR rs\r oi-5^;.tSu.
.src/ iLJ b {B} ;L--... o6!-, 1rr, iti t o P"o^c : ;cJ.u. j*
.$)./ cd)de A P ,s:t L " P zF fT .c*l *,K .i- ,,-!-ri i/-l .Y
.$rc,/ dryr4 b o Pr r tSrt k o Pt css.t T .c*l"\,-ri Ft^r .5.,-,rl rJ i/-l .f
.i- ;r)lrq slS,
.i- .sti. { rr:a (.-!-{ 5 r{.73a1\3 r ,st".-;b ,tr. Lt-l jl
UU ,.!-+ jl s u z= ^.i il c,,-,u f fu c ,,v:tr\,.1 r;l .c.i-1 .r:.rp jS^,, 6rr3;a-c,JL.# J-+ ;;l.e ai-l ,+t t,,;r:.,*.r .s-.'J.e,:lc*"| .r3,1^t t- -:t* fttr^- a
l, (i* Jbl t-) \r ;!r, r+F Jl ,u)rq ,,-Jd t t, L ij ;rlrr'r Jbl ,,5
.tj
orlr- .l
jl UG ,C;!
,r*-tJ 4lrl
1.,
-71:11
'^lrlr
"1,-+;;b
www.mohandesyar.com
f
,.F
,s<r+
,l* e p\,
crga
:n'";1,
*i
l,Ls 5r u.t .,-sr+ r,i.,,I :;,rfr-I
.Jlr:rr cdr. I .1,_+ 6tnJ,l*, c,tl^c;l
,J,tS Lsl^sr.^-,
$t
csr. , o P j:r1 rr-t\>c/ : ,.e-)t, " P js.,1 ,\"5.rt+!+
Y-Y rfS-: rr
c..-, {B}
,{B}
...,.,
*-nrV r
{C} =ata1
=*}1;
uP
P
;'t-t'+
+ tj
;l1;r_r. ,.s-,. .c*l fb {n}
b"
C.J,-+
.f-tT
*:trt+t r
Bp=3r"p
(rv-Y)
,..u ,,t+l 1j t-ty.au
Ap
up
l_,
P , " P ,J-$
',+ :
=Ar
,r;l polF c*)d,
L*tbl jlurjlr+.i'r+i,(fA-f
AP-ArBrcP
)J (fV-Y)
Arf: _ Arn Brn
C! - pr gr
(rA- Y )
tg|.^,JrL:J;
(11-Y)
(r" -Y)
u*7-i
.c-l
fy'*.
,F v:tt[
o'*; v:ttV ) t4-, cs[9.t[
\ Y- YJKJ
www.mohandesyar.com
tT arVrolj,l.# r^l'rL I c,t'-l-,, e-tt il,il-r"r''ff:
p+,
r,
: {B} c\xtV J fh c$-; *t b
ti
'i1,R"Pcone+nP"o^"]
AnEn
I
Aq_l
I
sr l---------lI tr\-y)
-i---\J
L'oo;
rt:e+
"i-lr
,{C}
.,Lrr Jrf isul:
6li. t ,r-l) ;.-r31 -b .tt,.;-l ,,rl', {A} *X.tkA q &*; d !, { B} vXtV
,{A} 1r-:*; {a},;r-; b FJ iyl:b.1,-+ cr-l dU
AT rlri..,::-;lr
"16.(c-l
..;*l f x f #-j,-+ ;:rlr '.-l^. y6u-l yll ,sb..:L ,'jl, .4i .:*r" "of *;l;,rL ,-it :l ali,r,iT i:,,lr i-t^, ,slt S c*l 61143r, J-+ ,r-;L y-l-2h;L
.:J,rU- .l Jt-,'
c*){,
n Pnone
: AR:l --i
+ b " Pnonc : "nn-r-rL +tt ,3f '+A
F-ljd,il,,:),-sl.f-,--rL
"on
3.r1,:.r)
,-E rjf
- An'
Poo^o
L:j tj
,(\Y-Y) iJrL;l
P"o*r) = "nn o Pnonc *
*\-b
"
= -|R
a.t-re+b
n Pnonc
uo?.
t ,.'-
(rr-r)
P,aone
+! (rr-r)
,:1.'-...1
.J.1t
= -f nr ^ Paonc
* s!3n
(rr-Y)
i,-ARr a Pnoncf
'or-[.t,;i
uoT
ro- r)
]
'L u;.,lir)L;
,1,-+
,sh
l+l .f-tT
ijd,(FF-Y) r (f Y-Y) ,st^.h!r;l orl.L-l I
I A*'
.c*l ;^^
L:
(rY-Y)
CC J:ai i,.+ {B} *-njy--;lb^Pnone
u (n
JtL a +i
;,
"J
t 6 +S +i
- aT-,
.,r iyl:'*6 cla ,t:-t-rl=* r ,{
;l1tt (f O-f 1 iJrL
www.mohandesyar.com
f
,-F
,!-*,> ,;\1c,!r.r
0-Y Jb
l'o i;l.lh {A} v*tl.36 r
i/-!rfl ...:*l d:jt- Jtiil r-b f tf
o.2.r
Artl _
Br
c*; e5.u:r, itJ I {B} v*jq \f-Y Jfu'
;J+tn, *o.-st^l-! 1t,ct1$;-,b:t Z t.tn Jf
, Nf .,:*l ,4^* ff
t-.-J.4 r-o'-;'; &+ {B}
=*.,V
l' tA??
I"rd''
.+t=:
-"rA"o olooo fr"l
.1A?7 ofooo fr"l
o
,ooo
o trl
\J
t-ig
" th?7
ar
- r0o
a.*,; ,(f0-T)
o/0o o
"1[?7
o
lo o o
\7o o o
lo
olooo
'o oo
.{A}
(ff-Y)
.1"
L"''"
Brn _
+.-,.'{B} *nr[
i.t!;l ,:ti- .l
-r t\?l
-'70tA
o
/o
\f-YJSI
(rv-Y)
www.mohandesyar.com
,.F
rl|'^e; at+l:.rr
2\\.ai
,L*
6lo+lstr" V- Y
;l ':tl .l \ ;rli,g b {D} *akt .,i -/, .tsrc/ jts !2 ,p: \f-r Jfu,
J12,.at' C-a.J
.rJ it" drfk bg,o Jr { ,t+!-+ V;rkL
'oT =
Yr
r,T
.up
c*)de
- flr
tj ut_tpt ,!.t.j iJlt ,
.J:r)s-. J=.5;;
ir Ar
B"r
,'oT
(rr-Y)
$r
jl \): j;,
,l_l ,Jrl:-/lri
Xr Ar
- Yr 3r ""r
dl-
dtd+ ;l 6l^se.-- \f -YJKJ
.S:
r^- r)
,srt- !
(0. -Y)
www.mohandesyar.com
f
0 .L+ silrdrt,
t d.ffu
'.*l-..,s|,.;tl-irl,.!r., 6trrJrL;l
.1r ,.11,,5L, ""f n $+ '.:S 6 uJ[- ,slt b (0"-Y) tL.lr.tj o:l.r-*"1 ,r;l 4-3.
.r--&, -b
bli.-r. b J:*.,!-ri ,r, .f:-rlr J*j,-+ .S,- r .J,-+ iJrt^. .f?-, I
,f,-.r;
iJrL
n5
)2p..Jr-+
,t$-rn
,.25T
3r - Yr-'
.c*l
o.ui
ir Ar "or-'
orlr;ti;
u-&-t
c-r.,
,-lLT*
(0 \-Y)
rLi c--r";l ,\0-Y rfS-i.1r
i+, f ;tQ il-:t ,.$\J ,t12eL haL6; ,t+Ifu i15.r) d +{ -.y
src/ it:; ;t! c4- ..slo.u .rlr ,ril; ,J:1u, ,kt-&-t -. r,r[43'i+. + ! -. .1>,kt
a, c*.i {D}
a,
=nj{-,\f-Y J"fu, t>zsFdi-t; u-S-t l:*i -.f,rl1a llJSrs
."[u il:L 51;l 6li;
0- Y JSJ
www.mohandesyar.com
Oj:-j:jTt
J-f;{D} +s*; {A} ,-,rt,. ,\O-Y Jfu,r,
r'^'t
c*l ,jK ,s-Je ,V pr r;.:", t+t5s 3u.13;^l.r, hr,.rt'6,; 4; ,sb .tf ,g
c1- t .jJH. ,k.slrlr,rt! ^it+ .fisT c-)d,r lr rlQ,,sLd,.+ ,-*k;
;l 0S- J: j;r \0-r Jfu, l.{g t*l^. lr;rT ;.,t,1: l.ril ,.tu:L ,ratr, ,rtd.rr
;l
Zr
.ulc.,-,Lc
{C} rrrt-rkt
-ir ir-' 3r
(0r-Y)
)
Urn
Urn Brn
Cl=BACI
C +A1.,'1TL tli,-r,(or-Y)r
xr
= Hr
(or-Y)
(OY-r)
t5bAf ;rl:;!ri
8r Br-, 2r
62L.-,
tri
(
t+:,-l-r,
or-
Y)
9-l Jt:t t
t eb,{"} .r,rkt Ft t,
Ji.fu, tt FT ,}-+; +S *t
ro:r.r.r
.r.r!
,c*l
I {S} *rtV,3T "1,-+
{B} r;t i_t . c^-.i ,r5jtS,
frL
.5,\P-Y
u;gL ;b-i3Jl
-* u, 3 rf* it^(. J:5.,, J"ci {B} 1-t, d, c----i ,.:*l .}.oi $ -* + I
6a;L ,*,: r*; Ex ui*+r utS, ,TT .t-rrf Lra;^* 8f .,!-+ '&s+; r-11:
tU
ds
.+5 +-l-., b ,fV ,r5jl5,
ll-i,l ,lu-;; Jr, t, c-l .ul; r) .rti u-l-r: o-rJ.,kil qlStV ,sA6r.\
tj +L+:-j J.t.t-Ar cdr -.-,f,rh { + l, 6r, *nr[
TT =
+T-'
Bsf ZT
(oo-
Y)
u,Qti 6tU.tr.&r;G" A-Y
Ji-t,-u c-l,: 66t**.,+-lorlr;LJ r x l;!3r ,r-tl "b:+,t+- f ,lr*.F jj5u
b! tU t4l ;-;l.ll 3 ,\,4 p^;: r:t:, t+i .st+r* 15.J c*l ;i jlrr utr*,-rL
c*l ;T (oJ'd)) ;l 1,b>.&L.r -* o.t rrtr:..t! 6t{.-Jit, L;tlt:s,st+*,-y[.c-l
Ls;+
www.mohandesyar.com
f
V ,rr*{"
"6
J.lj.
4l; i;!-yr!r
GVj:
6)t.tt 6*
cr;Ull
.,,JU,
4 t .r.l.: 4,;; JL.,:1t
.uL,:.t5.-
tst+-,_;t) r.2l:
,5;t5"
6t! \t- YJ'f'J
f \ ! r! 6rrr tlb ,r_tL 1l:= i:
a5
-\L
Jej;:-rc t jl;S ! ;ly.r b 6;;+-.5-- S t-J.e dL Jly cr_l ,r t ,rnttl t 6U.,[f] ut; t* tr rrtsrtf,1 6t+-Jit, ,Jh t,,'-1,5 Jyt ,*t.d t_ ,t'
6ltJ^',tf *--* aa7[ir:Ll ,r-tL.f..,- ily.f ,or--utritS-^S
.(srl:
t_T
R=(Ir-S)-'(/r*^S)
e-JU tr 6,(5 = -l'
+lcf
Cayley
Y)
cr--) .r-rh:rrL, .r-yL ..:*l I x I i5.,-,r-;, I7 ;.1 I 3
\" x \"
dd)dJ ;;; (s',.eur sz );!rU, at c.*2,c*l
'
l.
(or-
ltt,
;:"
ti"l
(oY- Y )
www.mohandesyar.com
,-{ eLa; at+.t1.rr t\i4.ai fA
a.-
t6;'.b:t llj,C! f x l;!rr ,r-tL j.S sy,t..u'; 'L =t'**, (6P-Y) 'll',,tJ
.$
"r;-:-;-bL,
.*U-- ,b R
e-tt .uj
;3u1, iJ:L. ,-,* ;ri ,sl.z.rl u. ;rl-irl .R irbs, ,r-tU
,-i-S -b t5 j-fuu L ,,5)- Lf_;t, Al-;.,f ,,r_rlr ;t:; l.x,lr:
*=[* ?
aJ
-r::-..e
,SnrV &- 6l-y3,.. tl:
2]
(a^-
jt,r1-
_r,
y_l ,,*.r,_r Y- Y
,14 ,t &t?
,J:.e--c
-J
t':r:{r, !b: J::--a &-Ll l.rrlrri U-l i*.,:-l oli *j Fr-. -rtrt*?
,: $lF jll ,r--tV ,;s t :,Jr tt t) +p
"r*
li1
lvl
121
-r
-\
-t
(01-
Y)
*.Y-"
*.2_.
Y.2-"
:l:
.r:"_L;
;-.lrl, a- '^1"-51 ll-i,g !) 6;Jl-.1
.i;--15r,
f+li l,{i-tJ ;r,_l ;l
(v* Jl t".up *
U-lJ.q
a;; r* j* t .u4 g,-l;: .a; L
ts -,.\ir,-l Ul ,:j 4 ,jtL+ ;)l-i,f L e t l-t' t2n - 6Lby: Jti;l ,[-c
a- 6l :l-1: t+-f,(+- iej tr)b & t jL;l iLi-,.l::..c^-J c-J) ilt's s,y
,Jrl.u,-*ttlLr c-^"--E'1--. t+Lr, dc*l ;T ,ttf tp-l;r;)tL:. J,-{-.c*l cri,i
.c*.r jL! 3R fR\ AR 3R A-
-b
tt
r4>..1)
t"" ;;l-tla, X
Jr
u-&-tj
\"" ;;l.tla, 2
,d>.-2)
Jr,F-
,!,
Y-Y
JEr
tj
ibss s:
'"'t=32
l" rlrr
Rz(Y' ) - |"ro"'
l'r" "'
-o70o
"
1477
lo
::]
(r" -Y)
www.mohandesyar.com
f
,r,.ts{e ,-*-Q
i:\tt,S, ,rJb
[\r""
Rx(r")=
1.r.."
L"r"'o
olooo
"/oool
"1A??
-.ro""l
oTooo
i34 ,J,drtl ,r,_l:tt+ c _---t- ..,br: l)
Rz(Y.) Rr(f')
['r,fV -'tYY
= l"rO"
(p\-y)
orh??)
,?_l
S ty,g
olal..i.,
'rtO-l
"zVO -.rftl
L'r'" o/Ao "rAVJ
'r'"-l
f'rrtv -'/d"
.rVO
R*(Y")
Rz(\'"
*
) = l"rff
-.r0"
"tlY
"rAYJ
l"rYO
(PY-Y)
,l o:ll- .l ,r_jU_rl t+f;, ,'n: -i tSU.lt:,:rls uA* g,_l 1
.:rll .,1[r,L c_*--t-"5.JL
6;+ e$ ep; er-t', t:,3,1,* rt-f* e jljLl !t+!r, ^Sl4I J
ui"_t-i .F", ,i_L; i;U; tsit:na trlst c.*1t !, t+l d c^-l ,u,.J ,-iJ -h ,,
-,, 5 ,>-l 5liJ+ 4i e-rl j1'e lr,-; **l J:-.rr JJ-t Js..aa, jl:: uLe,-rL
\4at clt ib:t 6t+-_/t Ll.-r:a:,r, f t il, ..lfj: rl-.t el:r1 *S_.,: s.r--i
tt"
=-e f
,y Ls-&+ ,ilu.^..ulf cf I tyS J+; 6,L.-a:-.-r::-+ .*t-. jl.r:1 ,s;:4g.4-r*\ ar-:- i ,-*-:U jrjr.,,l, ffuy) rJaI t*.6 a;1.r,.1.21 ,*:61 T
.;:,rylr )Jr 4- tt- t jt"; du^,_l :),r| t ir:.^ t.:$l .ulr- c-,-.>; a.,,-r.L:rt5-_
r+lr- i-* ! d--f aJ u-l)l dr r-- ,or--i .rl.6.:.4r).,,1 -up ;*u-rt=-:t+--l
Jr
t+-_-rU
--e
s,s-7J.
t;
,.:-,U
X-Y-Z
sgJt_lg
:;-l 64 {IJ} -gr$ 6;14- \;a:--j ts9.Jstjl .,!
l+l b {B} +5 Urt--t
{A} f}* ) er *-*rV r 6 rt-;.rka;l
"+.r.a: .rLr) o ;11.r;lr, 2o Jr (Ql- e t;ltl* ?o Jr ctr ,-l i;lJlo * n Jr
t-Jr-l urf {rl} C:y J ,*U
=*rV jl ct-r Jri|s, u ,J-l;l .t- l
.*[ + <tc-ti> i^JS.r-"[,r.. c+ti X-Y-Z glil, t ,s;4- ;r:] u^;.*:lr.2lri
.t^tJ.(\v-Y Js'i) )s15",.,1:l ,xrSu' rhl ;i clo* Jr t+!:, 6 6.-nrf irt
,11
gr,_l
www.mohandesyar.com
,#
.c-ti 6tarrr,-, Jf ufl )
ut|;i,rt+Jg*y
t$to;
0o
,6 .Jr.,l \V- YJifu
,1i,/ rL-tt-l!J,t61,tJrrSUr;llrl:-7lri,,[[,:l1f y-l;l
.r.2lr :.r,-26 i: .9-t 6Lr:1r.2!,i .rt ltj ,:f ],s. lti-l tr +tt
lr-: ;j,g .tt' J'a + ARxvz(t, g,,o) J:t^. iby *-jL ;r;el c-rdJ
x-ig pt+l 1-..,, *r,lt+t clt.tr Jf dS*, t+b,
l[u_l .r:-1t61 .,rLl
AR"rz(1',0,a)= Rz@) Rv(A) Rxo\
= [::
L
-ll :l
;, -;]
l': i 'i],p) [r ,;
,;) (Pr-Y)
" '
'l l_-,0
L"
t;;;- so rcos a .;,i;- co ;i t, d
4J ,j-l r. ,d ,?j ,sJ.^t ,-,rfr l l+1,,r, Jl .trlt c-*^al rt-.-: (Pf-Y) ;, &-r
t+--;t ;ttf --,-\.Rt(") f\lr s,Ry(p) r,Rx(f ) l+l 'r/.r-"li J^'
tre a';.; (21-Y)rr
lcac1l cosljs^1 - sac1 cas13c11 so's7l
AR*rr3,0,a) = lror0 soslsl I cacl sa-sBc1- co.sJ I ttt-tl
-r6q ,Jt+lrr: u*;r; c^-b.l
.c*l
l-''n
'L* t t*
..
.1
,sin
c|s^r
Jr;!.1r Pitch 'Y
c{tc'1
',)* t* Jr ,r!:'roll '\
.i6,* Jr JL:: yarv .l
www.mohandesyar.com
0
,r.6*,{e ,}.2V
i}.;,&,
,rJtL,
k- (f f-Y) iJ:b, .:jLcf Li^L I tCfrr,*,;,tail-2r r-\.'3 clrl i-; ^f +5o.y
3,8 1lslt,tn Jr,1 t;lsl+ X,q Jr:r.71:.21-l n -.;t+.-u lt+jl tslb:s cD.
.o i;l.tla, 2n
,_t-;JU;l
I Jrt'. c,:t'X-Y-Z
6l_ly c;,,-
,F+r l4l L
Jr
rk u_l byl'd-U UU
6Lrd:L ;l jcr-^..r,-! yrl.. rr-* .p-.rrT a-rr ;!er
t{J d+T.r cs-!a rJrL 1,.-* tll-h:-1.5r,rfr)
tr,srL- bVr-v).+h
'r--rv
1 y-l_2r .r93.Jj;lr Jrar- a3 aJ:L t- u,i,-,1:,r;l: t5a5 u!,4!Ar.i;,alrL
'CJ- \Qs-*rr) Jk
?"r r
AR*rt?Y,0,a) =
Liii
(r0-Y)
Yr
Trr
ii:]
+t--. t ,5rr.f o$t-L (Pf-Y) L.tJ
a*l^-,cos B t -?'rr d-*; _;l c;$b -5rI ,fJ \ 0 +.:l: tr.r.2el .*: I cos p
^.,
,rvlcA t rrr lrg,^,. ,-;l c;l;b 6i,jiJ\1,
SGV:t.r-;.,g
"
ili,r.cp
#
"
.r.2.el c-:a, rrrlc0 a rnlcg c+;l c;l;b .5rT
uJ\1, I :
il-;,rr\ J rrr -tn-r. L*tlt
;-i
0 = Atany(-rr,,, ffl + r;.,y
a = AtanY(rrl lrl3 , rrrlc0)
7 = Atan Y (rrl lcp , rrr lc0)
ol-ict o-o)ti
,*+
(??-t)
\.c*l
6la-t:-! .1: c.,;l;;L- JrT Atan Y (A, r) ,rT./, at
'^kbl Jti-r! tsl c-i c-)lr FJ.h.2.: L Ll ,:.71r:;-; 2 ,-/s, vl9. Jl
\
,.*t:. da UU ,r-l .,-:-:lr f+b; -1oo < P < 1'o iLoU.2r c6.,- ,elr o1l2*,8
c;+
it<U-S,rt+l-k ir..:.S,- r.t.i- cJtK; el...;rl-i,g,;T tsASo.L. lr,;,-*l
2L:",".y 5 r gsl4:.)ls;lgi-rr dc.,1Li,-;,_l[ ,c*ltan-\(*)6U;Lr c-;5rr Atany (y, r) 6b .\
-\f0o Lr!, AtanY(-Yl. ,-Yto ) ,.-^=,,,.2* .tr,t.rti:-l ,t.lrrrlt ttltr n_sU S 4r;,r=,;
Jri CbjlJl ,'rtt.+, d;h.)r $ti ld'\)t Atany(t/",1/") ,SJL.;r,r*l
*.,l$ + L \l:, i:-lr ;r- t'.:lr: .ulrl c*)rJ I d" ,lt 5t 2 ,,_2\ 5: ,>-l ,t:,1.)l;-*.1 Jr*
r: U: " J),Cb;_l #r*prl. .,;51;- .1 AtanY Cb jl ,;.iJf+lF -b tt fP"o b "o
,-,+,:l ,e.E c*tuur: ut+U tltt>1c^.1 uun.pl-g2.:.;$t- J;h 6t-;r,lJ,r 7N .tyu. g+.8
.c*l rl; . ;r;
c-;l;U
www.mohandesyar.com
..'5.rrt-;,-rt+J:'Y
Lry
..r.3
g,-l
r"b-
*|n
) '4?'"i
AY
'iy uirl-r, J .tSJ-*
ilrL +1r,0 = *1""..iU?.(.r-:.up d-.-i,4
6U eb.tf +L*.bl :o JJh- l-9,*r-;-,lir-f [+:,.sr-rlr, ;r=:1..1:
;,r!rr f J--ir: ):.rl: c-^.-al t+h'*5'.,-t-,
KL;.eu'D,(?7-Y)
i*t--,.
,: slF
.0 = o 1. zr-J'J ,it 6 c*l ;l ,s12.t 6'_1 1s
c* vl:t ,S_,8 - 1. o Jl ,or-r ,_l ts
{3
- \' ,"o
cx
(rv-Y)
/o
1 = AtanY(11r,
'*l
2-i
?"rr)
a)-t'7 +|n .5.-,p - -1"o Jl
P - -lo/oo
(\
--
(P^-
lo
Y)
? = -AtanY(r1r, rrr)
:>j . ;=-;
2s
Z-Y -X -*_st ,s\tst
-S_t Gt_*7 iliL/ l, {B} -,. .;-;t+t
Jr
l+l ! {B} .+5 er,. -t,r-h- {n} f-J,- v-rrf , 6 ,s.-nrf:l
.i-r: oLr) 7 i;ltla; *n Jf (fl- r,p'ollsl^,?" Jf ,s=-,a;;l-ulr
il ,{1} cntj Fr. o;r,{ B} S-* oK;, jl cstr. Jr ib:t},,rs.t ,-r_lt>
t.J,-r
c52p Jr .,tr, g aS +J o+y .LU.f *sl ts\lu t .,1:, u ,j-l b*
Jr iL::,,-,J-l d:"1 * o-.-? !.:.71r ft,-rT jtS.. d t-Jr-r,-,12.-o
"-F,st+!:r
.fEe Z-Y-)I- *-i
,#;+-,j.,-l U-l ,t-rLt' {;l * , ,Y ,2 csr,"t:n
"s!-l_st,
i-;l.r;la".1f-e:..ra:,r, ul_t^j ),;lL-51; jlts>-p:l e.t {B} rstot:^, \A-Y Jifu,
,..,f:r * <sl:l*.J-J... ,,?' 1Y ,X' t'-4 cj4- * * tr,g *
2 Jr a
,st-l:, t 3 I, Glrtt ,r_tU.rd .,"1F ,iJ j: t) t tu t ,JD jbl ag-2,u ,-5._
.f"^tcf ui.-tJ ARt'r,y,(d,0,1) rL.i ! ,d-l or.3 lL c.tbL.Jtt'*.2-Y-X)")l
c-r)s .5.- ,c*l ot) .'": ^! -rL1l ggl-171 ! ."'!:, g,_l d:,_l p:l: ;t:; ult 6 .1J oty
.f_1,#ditil V_tt, { {g-y.))
,fiR2,y,y,(a,A,i ,slt GtV.,:./1i ,*:a 6lJ llt,g,\A-f JS- t qt ti
Jej a)f + t+fr, FJ .b.r, ! .# o:t+-. .l {8,,} : {8,} utQ ,s|.xrh rl
f
www.mohandesyar.com
6f ,rr*{e oZ.; i1\i J1,,rJt!,
Z6
Ys
?o
.Z-Y-X
f;R
.c-l
eJ.-3
i!
-$l
,st
lr;
A- Y JSJ
- fr,R. E",R R
Z-Y-X.tr-:l st-l:, Jt-tn\,c-! c* g;t+bst tl.f-,'l ai -2: .5
+T.f c*rde tj rt-t'1 {A} du c^.-.i {f } a_t+ ,s;r4-
f R2,y,*s, - Rz(a) R,(0) ftx(r)
f." -sd"l lrO
=
,] l_,, '
[: ':
kS
(tl-Y)
Bo"
+l3'.,J"-S"--,r t+--rL
=-e
'P'l
ft . .l
;l [" :: ;i]
(v._y)
tr....1,so = sin e. tce = coso;ir:
af
t-*,-l
lcacg casBsl - sc.cl cosBcl * sasTl
f Rs,y,1s,(o,, A,l) = lsac/ saspsl * cacl sasBcl - ro"7
c/s^t
c|c^t J(V\-Y)
l-tB
,54-t* Jf .r!r, ad o.Ja ,Slt 6 c*l 6laa=l \ )t 'E.i, ,.iy 'a4* AS +5 otf
t\t E,}.t.JL 1s or[:-- -* c)a b ra.=; ;r1l t:;u. J-; ,-"-fu,.*;/- [ c.,ti
c*l aJ--,.iti 6t.l.7-9,^,. Jf ib*,* pt+l;l ,-, o.LI cryrrJ .,,-t4 6fa-:c*l
|
www.mohandesyar.com
cl,.t-tnJr
'** 4;t,.r!::
&
j,,
f+ I ; I
T:,
*-;;$
-:j::;
.Svz
cryr.r (J;! b.JrU. y-l r.t^. J- +,c-l JrL (Pf-Y) lr (Vt-Y).j+L i:t
,slt ;tlj,a b Vf -Y) it1! ,F-r ort.ct .c^-J jU ,rLr, ,r-tl ;l Z-Y-Xy'-:l .st-h;
.r-r -r6t ,; ,frr- iLs:. ,y-tL t ,lt:i Z-Y-X -f,-:l ,sL-lU,J:-,;T c*:r
bstsT
Z-Y-Z
:c*l
;;r's ra'
" t::,,1,1?rff" oil
s;
(Jltilt
*:l
J: t
{B} v*rla;;l u-&-'
y,'I--,:;Y;;r* f*:i
,sfi,t J: j {n) S-* -. r.rltr3 ! q--..; t+!r, u-l ;t-n 6 .45 r-. j;
plh,l 2 r,Y ,2 Lsl^1t^- Jr,r!:r - i).rf,.rj.up -*-:lL-:l: il=-rt ,kl
.E,l Z-Y-2.{-ll crUl L 0t
,,i1; ,c-l or.i,
"i-[
r.T .up c-)4 g;3 Jrt jbss ,r-tt ,Jl^; e
,bb;L" i# Jt"r !
u-l
f Rs,y,s,(o,,9,^t)
- sasT -cacBsl - sacl cosg]
I co.s1 -sacpsl ! coc1 sosp I tvr-rt
slsj
c0 J
-"/rt
lcacPcl
lsacBcl
|
:c*l
r.uT
tj tt,if:r ,r-tl
Cpl: I Z-Y-Z ,L-21 6l-11;'+A ,b
c*l g=:q ibs: ,r_tV
ftrr rrr
fiRs,y,,,(o, A,l)
rrrl
l"rr
tt rrr ,rr l
(Vr-Y)
Ltt'r ?nrr TrrJ
,tf;i,sinB+"Jl
B_ AtanY(f4, + 4,, r.rr)
a- Atan I (rs f sB, rvl sA)
tIt vlr
,p
Ata,n
(r1 f sB, - rrt I
(Yr-r)
-s0)
.r ,P Ulr-1r c-,:.. ,L ,>tJ -b tt I Ll ,r,-i,r,. c-).
=h tt \ Jl
1P < \4"/oo,Sbltl,*\Ao/oo \0 = "1' $"Syel.Cga*l-."to
o.2l9
www.mohandesyar.com
00 ,lr.(;{a r,!l.j 3;!;rr!.
;U,
t a ,JiV,;l-g-:. t{i,tCL rl_lt:.rr $lri ,-pcs. (yf-f) *l.1a
d *; af ,:*l ,;,,-l ,t+JL ,t-l ts vlr.1r.21T c-rg 61 6rlr.rF ,-ir,, .5.- .,:*l
:r; -ur!i i* hb" ,Js.-ay-lJ) .0 = 16
,J+-t^, 0* ilj,f lt vl3'..i- '6;T ,0 = o," Jl
r*t^.,.,1,,b'y
0=or"
(v0- r)
e=ol"
7 = AtanY(-",'r, rrr)
n-ig c-)d, ur-a
=l*.1
,6;T ,0
A"o
Jl ,
o
0 = \Ao/o
a="/"
(VP-y)
7 = AtanY(",'t,
-rrr)
'+4.^t f.1t cttArlr./li
6b.:l:r]ri t- ,+'.K6tg!.-1r
L'_lg
cr cr3-++ (E
o- {!,tul:-1!ri a2l;l.5._ }t>.Z-Y-Ty':l ut_l.U ),Z-y-X;L_rl
6.x--..r ,si4lj YY 't-st-",-;l ,;L{JL ,t'lr.7f u-l .t-J
lq;,l ,*l sgla,,^. JrJr ifrr + Ll-,.:l:.1!f \Y ,as5^,.-. t_r_l tt ,r-*J1,,.'+,|; U-l "r;-r4;" 19ll:l:-rll
.-rl; ,st-l:.,i ,j:t jX d5+Jb.y.ly'_rl .rt-lt + Ltyri-_r :lr-1f \ y j,c-1,. 6l-r.,r.,
bd :l-r-,pfi \ Y t+- r:,-JJrr ,.ljl.raci .5,- 1 .r*-r Cla;-5J,2 Gy Sr,/_:l .St-lr; ,ta S
r(!_l t .:ylr:5.-e ;l-l csl.lt:n Jr
Jl* tsLpfrrll orLf*.| ! i!:: ,-r-;r, ut=: .s!r
.st-b, ,c^,[.iX-Y-z 6LJy:J-3 o:lr
u)L (iJ ! i[,
glrrlr-rlri.jjj*. il3x-;; jr?
Ll ,srl'r 6;r. c-&_ry trsl:-2!ri y-l;l
.c*l ,-ui .r[5,,,1-!.lr
,sti-tlj:
"qsl:
x a* ct.'-t,s.,ir.is,
((r-.,D
d-3^r,
L...^tL
.5,_
1; c*rqi J12-a*. tf--;t
e"
*^lGl
,t-l
.sl
6-;r+-i: i;!rit,;)l,r:l
: t* tt13,e6. 6;+ u,a_t^i jl Jt, tr_l .ry,g ,J:4 a-r: \"o ! JrL
t-J ,lj opr ,;+ tt ct-*.?L" .c*l Jrll
-ro ,(6.,- tsbt*l il *
":*)
{B} =*th ;l J-i .-a:.ai.r-2el ,*ra, ,*t:, L-.1b s un'al.*1s\ ili,r b 6;+
,l"-.&
-bt
lt
www.mohandesyar.com
,F,16,-rt*rr tl*i
Jr
l,
67
{B} ,-,+ .# A;,a-l ,j.[:- {A} fb *-rtt[ t
..r+: jLrr
c-! c-:
;)tB
E e.-nj.16 .;l
0 L-el;;;l.lL, Ak ,lt"
Jrt,, t* r}61k.,ltt
{A} t d-*; {B},r56;+.vlr,g,r.rL:,.r!5:
L-sb
L-AR(k,q
[t
R*(e)
'.r;li J'L s tr ,r-f L ;rT :,:l.r ;L:;
't^; ;rl-ig L
oR
L;l
L
.,lttc,L-.;h
-r) bl: )t orl-* j:1.
"l;ilsll2-i,r--;.,l;t*;lU,3r
,t b rt o-(- ,st*|, UU .*5.f A-i b rl-r ;-rl.Clr -,, ? ,-sb .t.*,g $J .b
.,|:ra;r1l .FtsT cryi& c;+ J.e;cs!, r x \ 6ylrr, E Cc w-,- 0 ;lt>i;lrl
.(+:r !, \1-Y Jfu) rrnr.r u'!t^i (,)ti i:+) K \ l)
,JrL, ilts>,r-tL,:; vt ;;l {A}
-L.l c|t-tnjl ,ri-,jLrr yn 6 r,K:^
.r,i .up t) tj 6ll.,.,i--,st+fr, ,st*l '23e6
.l
Rx(o)
cos d
-.in B
sin 0
.o,
(vv-Y)
A-l
Zn
?B
?o
,Jrb, \sl: t .t*
c.,til
'AE
\ 1-
Jfu
.\
*-f,-:lLi,r.,lrr.e,'.1 0L-1l:lRrltr.{e}cc^#{B}6}.}-lrsltd.-lLu-l
.[f] ,i,r .+.[ ,r!rt ].[-sl\*i ),rl*l ,+--,
www.mohandesyar.com
f cosd "
sin0l
nye)-l \ . I
[- 0 '
sin
RzQ).5
tv^-Y)
cos 0J
fcos0
-sind "l
L"
\J
lsin0
"l
cosd
(r+r lt 7-Y u-r) rb ;E; ;-tl-ie,.r.:L ,p t
(vr-y)
"::;:t;;{
,irr,r!;,
I k,k,uo + ro k,krao - k"so k"k,uo + kusdl
k"s0 krkra? 1c0 krk,u0 - k"s0 | (A"-y)
RK(0) lf"fuu| +
krs|
kuk,u0 I k,s0 k,k,a0 + c0
Lk,k,u0 l
..:*l ok =lk, ks krl's,n0 = \ -cos0,s0 = sin0,c0 = cos0;lr:^S
,ll oK jt1.,,':, 6L-lr r> o*z c*:*t dJt 1> c*,!c*-r i,,b il 0 c.,)!
.r-i.f
aS
+5 +_i .;Se ,.J,--rr i!r, ,r_tL ;_t; + lt *-sl: ) r-rtu ;-l
Jrt,., ibst ,;-,,,t.5.- ,jtL+ relj,-l,ol.eiJr ,-i;n L-j::
Cd)de
;-J,g
(4. - Y) iJ:L,
c-rl
ulr5>
rr^.
jl
'f-ul
'r*l^t
jl0
K
c*lr,-itS,l
;rbst
.5t+-t)
,r-tl Ct) S
U
U-l uS'
"rl'-aL
Jt .trl c*t ,T t-:.2r ,r[^r y-l e-H ;l u.z;. .(Y-Y s 7-\
o
AR*(d) =
f.rr ?nrr r,,..l
1"r,, rrr ,r.l
(A
\-Y)
L'r' rrr 'rrj
'6aT
g=A.or( rrr * rrr + frr- \
Y
["r,
- t,rl
R=*l',,'-",,
Lttt
(^ Y- Y)
1
t''tJ
www.mohandesyar.com
,..JS."*U^' e-.-2s \ h' ) jp :,'-r:;;j,
jt^.J.;1.,, dr.1lr rrt: ( -nk,-0) J5; + u-S-t c$,(o k,q
J-rtuet
6;+
,Sl:l
,rsbst*,?-f
q,.r!r:
,slr-sl: tst+f:r-r:
dc*l
cs
,r-tljl
"J',-.r;.rr,.r-!rQ..:*l
;t1:
"
J:t'.. i-e!
,r-tl it"
q,L2"i-2r
.C*Hl l, J- rr u-lrl .F- +t:
i* t rLti Jrt* ,-r!:r Jt^'''S*S
;T tai-l.rr -r.-+ ile..-
t,.r!rrrl.ti..+Lt d.:*l Fu.. =1
,(AY-Y) ilaI 4:-:*,-u.:lrl J- .rr.r.tp;r{&l 3l9y^. tr,-r;,rS ,I- -*.(4.-.: t Y-Y U-;) rlr.up cd)l, ,glr,d = \A'o [- s0 = "o Su;t5,o ts
A-Y
JEr
Jr ,r3 ,c-l *:- {A} t l+l { B) :s}u. '*i r12-o Cr-l r {B} *rrl"g?
.srrl o:lr;!er 0;;lxl+$rSe irr;l ^t) r R - ["rV.Y orvoV "r"lr jrt
.rt1T &-)& ;Su. J:at {A} * c*; I {B} *-n.,V d!,
,r-t\
"I+
.+l.f rld)t ,t:5;n'1 ,r-tl Glr:t d-*; ,(l'-Y) il.it tt isf i/--S-ti
.r91 $lF [. " o]Tt r,! rtS,rl:r,,c-l Ei!, Jtt' Jtill ,*r,rkt i-r.-rr;r,'
t,
"71,0f lo
"/1ff " /"7Y
./1ff
" /"py
-"f l"0f " /"
" 1A7?
lo
-.7\'0f " 7\'Af
o
4ry1
gt
-
ro
ro
ro
(^r-Y)
\/'
JtAiv o6!-, irt ;l oJ-1jf ,sur-t* l.e,- ,Co., ty. ctibsr !l5 t"!-l b
,JUl.st+r,rt43 Lr,-r; l. ;rl-irt,l5l;, JE:;l ir- 6ll.L..--,,) a+t? .-utciJrt4t
iJ:U- trr .,!-+ tr&r-ti+,;l ,* E CLI lJ at.*. ,rj, ij t* 6il t4T i-r., .f
.'s b |
"1,-+
fl
l-Y Jhr r
{B} -. r,rL3;
,d-l & {A\ t l+l { B} ,'-;.,C t*j i"+
,l',r Jr
',?.e
btr06;l.sla,,rtS,lAP
= f\t" I t" Yl"liLii;l^SAk : ['rVo!'rV"V " t"fr
.ttsi d-:au ,;Su. J: jl, {B} *-n-,V.5!, J{ ,r-tV.t_*,g o:lr.;t-er
-r, d tt;tL-.11,;=k J,-S"- t ib*;ta"l ;l ,i;, { B} : {A} cshr,rh
-ulJitiJy.r5,- t $,{B') t{A'} ;,'-4 vfrj+trr i-s; !,rr.r orr Y"-Y J,fu,
www.mohandesyar.com
01 ,l;*{e r1l;
ir!;r!r
.c-l J+:- {A} t {B}
{A} q c*;
t+T
,rJU,
lrr:lrr
irr, Ll
.trK,} {,4} .t3:-: ir.;l
,r,:....r
{B} I tA}
t,
i)j; bljd,c*l
to
ft'" \/"
A nt
I "r"
A'r = "r. o
ro
|
olo
L"r'
o
?r
rJ,i
to
to
\/"
olo
6 622r-
Jr
ilt-ts Y'-YJS-i
a,;15- ,sl+-;r?,-s!,,1, r
f l: ,rb.1, t* Gil J djt- JtiJl
t'"
tr. I
fl, |
\l'J
(Ar_y)
,-*,t J: i ;t:1 {B'} a, c*i {B} vntkt ,.*,, i,:-r +
[\l' oro oro -\r'l
B,n- l'r" \/" olo -rr'l
,Ao-Y)
E'T
to \/.
l";. oro
olo
o
L'r"
-y1,.
\l"J
.:l:;!er {A'} 1r;*; t {B'} -. r,rt+a bli,r,hr,rh ,K-s G;lt& -U tt JL
;l orLi-,| \ folj.rl r:r-lJ-;r :oj,t Jy^a ttS,g i+r;l aS 612r,. Jf ib1o U-l
www.mohandesyar.com
,# ,eV;
,-rt+lr''..l
\i -4i I
J: j,,4rt ,tb:t c*i.,*5^*b
ia. &-l a +-i
t, .r.,rl
{A'} ,. c.*; L {B'} jLrr,(A.-Y) il+ll
(A'-f)
cdra
Qb., ;tt-S u-6-h t uly.f l, wnrl9'
t-rcl 4 s c*l [. " .]" iT ;t5,rl:, ,.r,1_; Jti:l
tl'l ' t" ?Y
/,?y "/tff
-'lfOF " /f 0f
"ll'0f 'f'l
'7
A' ,t-
B,r =
/o
-"/fOt
"r"
/o
ro
iJ:[.. L*t
'/1ff " /"7Y
"7f0f -\/\r-l
.
?Y
\/\rl
" /"
/tff -'7\'0f
.7\"0f
" 147?
-"7!'0f
o
/o
oo
/o
lo
t,,,,$!
(Av-
I,T },,T f,,T
c*l ;.:a
Aqpt=
rr"J
,':J+f L-b t.,y ?-ftJq-* trlirl,,-i,-ri
AT _
(^r-
"tA9.? "t"l
gi 6rr.c
Y)
)bL S
(^^-Y)
t;::]
c*)4 ,s;+ 'L- q ! ;tS,r-i.5.,- ,trj3u; ir.,;| ^S 6sn Jr ;tbst t
,Jlop: {B'} : {A'} a5+J +j .t}lap :t-*,-l ,i.r.- il ,x1Ky^. Jr iLs;&JL
s ,=-tir$ st ct-l 6;+.:B;;l .t-J rlt ib': u* ts, r t+T 1+,. c*l ,i51
;; ! \ Y-Y ,r-- .s-r,g pt-+l '15-J, 7 -e ibs: tp 6il, t+T irr ;t(, vl;c;l ;
,s\a
oxT
'+:1
*_ll .St..t.L!
)rs E
,V :l ;Tyr
*,lJy_l ;:e.r-.. ;l gju ,rt, y_l_rr,J,5c^n
gta;;., l,'t*
:.rs
,,[a,
a5 r_1lr
,s-&_t:lr-2!l lsrJ;-6- ,r_U
,sU.
ultUl,c*l
e Jl .t-rt,rl;- .l*-ll
.rj ''^llr ;t, rl:;!l i/-l ,f tL J--*
.>--; ,*,d J:t-. L-sl: s k = lk, k, k,l' Jrl'. Jttu, *J. y'-:l ,sl"r-ft*
r-r,g
(t=krslnT;0
(r=kzslnii 00
(r =
ky Sln
i
(Ar-Y)
r=cos-
www.mohandesyar.com
t \ 6iS&E
i]9 fi, dt!,
c--t rli, il '&\ l+l oo J -\:*; F..ut-Li
J"-.l(,_;l
qJ;tq
ef+ef+e[+e[-\
u-l S
,>-l
t:,
(r. -Y)
,f .rr blr Lf t ,slr-S .h) J .l'l,.Li tt12ea bli.-r. b c;Jp t U-Ug.
JtLl .A- lrirt I x \ rlrr.i- it1:euy'-jl u;LAr:.,f1,;bel ,-16.tf ,.-.+ rr.r+
l! alfrt+t l, t+l ,r1,;6a1 f x \ -21:r, ,f5; + t"r!1. U-l Jl .s-;'g dJ _h ,,
,[1;
tFg
'eU.r
0:+
,L_51 ,56.n \\;l 6las2.^. ! JtL ^5,R, bbst ,r-tL
Y(e1e1 - r(r) Y(.,e1' + eref)l
fr-r.;-y.l
R,= lf(.,ey{eye1) \ - Ye { - Y.l Y(e 1e; - .,,.r) (1\-y)
I
lr(ers - y1) Y(eyes*erer) \ - Y.l - r.ll
dLtj)
,c^-l
f,F
c,
'
Trr
-
'
'
C?--
Jl
Ttr
fet
?.rr
Y -
tL:' ,r-;u
- frr
fet
,l\ - , \r
fet
(rY-Y)
\_
et=iy'\+rrr*rrt*rrr
Jr \A"o .rl,rlr.i_,J.l: jb1o,r-tL 6Gr-r-r: (ly-y) ila!, d+t.t-r
Ul .&iJ.up ip c* . { r,.-,,.} tt_ltt !-;,v-il:.ulp.j!t^.
rrr6,U!
t i!.2r ..uiLr, c/lr 4b, i cJL u-l ,sD (lf-Y) .st".lq! ef rlr lf ;jtg
..lL r,.rp./t t-\, \l ;-;!-2r o.,l.e-e tre;.5 c--l;;y,(At-y).st++r. ++,
-rrlo.r.i
er_1e ,b :l d Ck ;-p
^t :ti S
c,!r.r tr jl rrl.r- ,l \ ;rl-i,l lrl+-;r+-r t+& <,r,;--fTD ,G\sr 6t{,r-.:_-.:i*.1:
;ti iI s t...J.,-1.:b cJr.- ?jL itS. q c,!l uSJtS. cy\ vj;:- g,-.r, .rl:11*.1
,s.16r[;t-" Lyf ;*t/ e-rT *j u-4 6 ,s.*rV .::J,c L-> aLiV .,s
t-..16.S,- Jt^,. c-l 615^, e5.!,c-l o$ crlr crli:l + aT *c^S;lt*r.Sc^-;
L.-1: ,ri-l I 6rrlr;lrlJltl .S"- ..t-t-1;!r,,;l ,oJL
tl-l-r, ..r.r: ;t-:; I k f ,.,
d-/;
,s;+
tJ u_l.c*l or-i uli- .l .5r!T
4 ;-tuLt Lpd;l; ,6J:p
';j/i
rSt-ttu
www.mohandesyar.com
bbst,r- tL,t2 2,e t J-i d!r.T iLi
ilt-.3, L- i+, ,,.g-1.jit:-lrJ::f rrll'
:::::":',
,lJl-, cr :.r ::
-l,,.;* &rs.r*n;.f,l .L*.&-t G.rf
tr
L-
rr il-:q t+r,r["33 ,.):ylcrblj S u.\u ttl+-, , " ,u_D\.rrl.r $T
I
.rrlJd 'DrT/;!-u 6 ,J,4P'jvo' tog)tr ,le ' " u-t c-lui-,
5,tJ..rl,
,J-1lr
c,lrr.r
..t1,-,.
jl ,s;J+"
;; (s"> cs *l L- aO*-1, c* tD J:-;L r-\-i sjr,-.;,
'h,
t,-t&
,slt,lW
U_lJI,JLro.,:.c*l orL aL;l a;lra*>l.o;^> Cr-l tr i#
..u Joli fJer,r -rl=* ,- "=- ,J:., 16{ 6;+
'*j
,tJ .r:..i,t c-:l:
rli sta;lr; ,Lrr
1-Y
ur- q5te-1lrr1 ..rii 15LCl--i y: .6-ll: -rSs-,rt(, dt^_rl:, ! .lo ,JL.oi r;l;r
..llc,;ti, U ,l ,4tr.1lrra 4T lt-:,c-l c,eLt l-o.2b2 i/-l ,.1,-{ .#r+tr ,rtt -o b
t aL;1\:r,.5: .f-Frl;16 olti,'larlr; (,r;-rlr") ,(:*" :6tb,g- &tS..2r
Lp; c*l gS-. r.!. ,lrr, j: .r-i[. ;L-S,-b{ .-e 5.0;\s\.;r..-,L_: { sr.\r.f,-S".+-5.. -b I I \ - Y J"fu, .2r oJ-1, orlr lt l; ,Jtr lltra >{:, .*!
^*B d)l;, ;l
^J,_S"_ ! t ;_r. tL. ,r,,.trlr ;L*! !-{a r ,rl, ;;lsl ,)t j'.L-: yl:r1 u ,}-l
.it!
ya
v2
///
.1112
c,-c- 6tr.2l:r1 Y \ - Y JS,J
vJ
www.mohandesyar.com
?Y gl
g;b.1ly
upe,.,
.u.;jr ur\:. r: rS s\S;-..-r ,r,L11\sr, 5r
JLr:r.. d-:a, u,;Ll_ ia; jsr, .-. f ,-I-iL r-\.i r)F, cit.- JL^, ,Y \-Y ufS;.2.r
! ,[.r-11:2 u-l ,f-A-bt ay i-"Je;l 7trjb.,V JlUt.rL3!...-r ,t-r ,s-lt, s
jrr .t{.-- e [.r-11:r1 ,y. L.L ,U)'q..ff i .L..- ,bt.;. tb, s:+s
t j,6
'fu,t+T
;t5- Jll ,soV yly.,r c-I OS^,i r:-+ -rlrS,r,-t-1lrr4.r-2l:.l3.:bcl,t=);rlS 6) t
,Jr.i ib Ji.rr5,- c-l OS-, ,,g\4;tstrgJ ;l u-ll U st i-,; I tj tt
^S
:c^-lrr f+lf
-)l b t ,c^t? e ,;l.ll 2 .3)r 2b t -r .tQ i 3i ;l S c,-l 6rlsr; u!; rtry
,1lr p-, jT Ul e
.;l E a.5y rlrt /.st"jl UG .-ut, a:-,:l: ,r(:-, E tlr;.c*l
<stlst si jtt;[Jr A=^.r .,.1
"rL;
,t-J ,ll L:i ;l u,;tS, / .t5,c^6; ; ,;l.ul -hi- t xlicl *f c*l ,s_tltt :l;i ,l>1.
.r,-l ++ 6.J aT
f*r-r o5,;T ;.1.r,
a, d*^i B N Dl'<rlrr n+h .,:*l ;l;I 1g2lt1 o1l9.e u4JV ,rb4.rltr'Y-,,
tj ru-a i {A) r,-rtlt p | .15V-S;L" ,.=:lrcr ,-u,U fJL, {B} *;r3.rt+t
,.?.;t+ ,,;,,,-lrq .rJ\K qsE
-r.
dt-S,-
j\
U-t
.-.
,5
t^-lt-
AN
e-tu-lt.- r.0; ,O/ f,.rh:r
-fR
a7y
(rr-Y)
r;lll t4;,:tTrlrrt: .;f,
.r,":L,l :rlj ;1.-L, r, hr,-r[.g3 i+- ..r.- jt(. : ,5)).16{ ufr,
{A} v6jtr3 r, ,{B} -. *.r['63 .,pr r-\-3 , i,j oV asr j't ,dt tp \
.-,.
r-,;1r
rl,-.rnrr,:-2lr d^^.ll c^g.1
1fc
Av
.11:,:*-.rl ;L*t^;
-fR
ay
jL.,
i,*
(ff-Y)
q^etr.;l-ul l,a;; dJq,c-l :!T cstls;^.,L;:..,1i,_ Ls)1;1 .r!rs,JL c,=r.,r: Ll ,c^..i|:.up; 2l j;rat;lsl 1((lf-Y) il"t.2:) af5: rf^r
,5 +J aty .$rc/ t4dl t {A} q {B} v*rkt ,1,_+ tfu t j't ,J:4 6lr
f
f
i il
,r')L .ttJd jV ,>n-rlrt ,.},-rirr Ll ,\*c./
.JJ.f j*
tt A Paonc
-rlrr
"I,-rn
lV - dY ,K;rT ,BV : oX JI,YY-Y J5;,
*6'*+ ,.al: < t ,y1 *72- 6trylrri 0 ,[.-i -1r
o-r,s ,1t5,
www.mohandesyar.com
,-{ eV;,-rkrr.ry
.lrvr
Ll
?l
YY-YJSJ
"1,-.tr
./!-,tt" crtg-)'. \"-Y
;rs it1. d;d> Jt
5"-! y t*.t-i-2.1r ,;tful
"sQt-..
,r*1.. ,:-;! ;t-t". -t-t ,G\tr 6[nt(*t el]-rr t' j-*
,sl.eylil,.1-.-l'cl-2: Ll ,c*,1 J:-.rr JU, 6t rslt 6,L. ,j-1- \ Jl
,c*l
C+
t\L.j
c.:,b
Jti "5
.x-iL ,u-il:
t, D:,r-J. ,C ort - 'l td+il ii+.-,
2l-rrr-- is{ --e ,slt csl-: ilj at:u
"r-l
(fO-Y)r (f t-Y).st".l+!-2: o.,r-l o:lr !l^i.i JS- t'1r-. d,t-t^. .trdr$ tt+i.l-.4,g cir-rlrr,. f x f q5L+--rL it; b)lt t n:-, wt';l 3;lu. 1.q;,1
Jt*ut+!r,
,'Jc.
.r1lSu. ilrlt;U i,t-t-..
t'-r31
op=AR
rtV I
#R ,e-tV
rJ
J,,,I,-ri .sL+--rL
-b tt tj ut-t-l
v-e 4j
b rlt;^
in $n op
+-*J,.rS"-r:
.r[: sl.t--r[
lt:.,|
a5c*l
1o- Y)
;T ,-ir,' .5.,-
L_i
op=iR op
(4.1r.a)
,--tn.rr-1
(tt-Y)
.up 3i ,k Y? ),-'r,> J^t Of q;! ,;l6r.e: Jg- a- 6, illR.lr.2eic-ra,
? s u-J J'^t t
1.1 !:- 3 $?-Y) ;rl=s t5 itt i e-tV v-e1t+l ..-1,
www.mohandesyar.com
?6 e.V
F,Lc
!
YY
2,r2.b
,j*
rY
il*
r.rr. d,q-b-, ,[5:l.r--
,d1,;--r, .c*l g.a .,|.s
.a:*l
t+,-,-;U 9
,rrtj' ,l cful:l'rt-r.
+,
jl ,,;,-rt ,tlt ,s4* Jt t
,f-,d l3 c,f-L^.. .rt,F-"!-
,b-,. ,j-+ ,tt.
:.1
op
in
in
=AR
op=AR
"rR
C
DP
(1v-Y)
AP=AR np
AP _AP
;t--t-..:l.u;. ; -: )ll5 u1,,_,F J^r
\As
--p J^r YV t+-,;t,.L,:l.u;,.[
.c*l
Gy tt
;l urL-; rtr; ,.+li e ,IJJL qU BR s ,3R,AR c*l gS^, tCt ril r5
;Li:r, !, iT ,'r/ r*t^, ,t i- I $ R c--l -i4 ,;t-f ,-r-l tr.,-J .J,-+ A P; ! b too Pt
Jsl
.+3:1t ], \ ?-Y u_r .f-tt6+ t-s& sl$:t^(;
-# v*.rkk
c-.tr;
\"_y JL, r
,r-tL 2t t-tyb ,sltb .ia
..r;! \ A :l -# g.1 ,Jtek :l-t'; 3 YV ;l
,r_tV jrt u e , r,3R,s4* L, +4
.tl.u; ;1.r, d.r."r:
llicl,-r-L v-* kV
tf
,AR 3R,,rfr)
e,_lR
i.,
E,_frR L,
Cr:CrxC,
t
qJS,s!r
.c*.1 \0 g.1 rgt+Lc :l.u;e,Yf dy
i,t-L,
11l;l
1^- Y)
,slt:-e,5t4lc :lu
6v
t1l
B. Noble, Applied Linear Algebrv, Prentice-Hall, 1969.
12)
D. Ballard, and C. Brown, Computer Vision, Prentice-Hall,
t3l
O. Bottema, and B. Roth, Theoretical Kinematics, North Holland,
Amsterdam., 1979.
1982.
www.mohandesyar.com
t4l R.p. paul,
.Robo
Maniputators,MlT
,r"rrlnl:
77
"*" '\i*i
t5] I. Shames, Engineering Mechanics, 2nd edition, Prentice-Hall,
1967.
16] Symon, Mechonics,3rd edition, Addison-Wesley, 1971.
l7l B. Gorla, and M. Renaud,
Robots Manipulateurs, Cepadues-
Editions, Toulouse, 1984.
t{at
*.ts 6 s;llla, Xe Jr tr,
pt+l 'u f t *t ! !1 t+L:,
Jr l+l .P.rl:, [\O] \-y
.t-rct.:lr a!3r
U-l nt +51+, c/f:,
',-_tl
.JA)
rd>..2)
0 tilsl+ 2o
fA;;l.rh *o Jr .-,? )r4>.-1) l" ;11-r;la, Yo Jr l+l oP;lry [\0]
t
t: I Lpb, U-l E +51+ Glr:t,r_tV .:-*e orl: at-1r
1tz.,l 'u f 4t
a-.;r
Y-Y
.Jer
.c*l ,P {A} t l-r:,1 {B} ,,*l {JJ jt il t.,12-aa {B) *nrqe [\ t] r- Y
atlt J F^rc/ ;fe: a-.Jr 0 e;lsla' 2" Jr l' {B} v-nrv w
6 Gbtt,r-tV c.*l ,-rlL.r*fng *tt 6 6;l-tla, Xs Jr bPV
.$rc/ -J o P a. B P :l b l.r-,,1r2 ,J: j
.c*l J-Lr {A) t l+l {B} '.-l dJrlt tj;'u-1 {B}
f-Y
=*ja3 t\t]
,-,.
Jf
J-S =n'Y'-': forcf ;fer a-_2: t"" ;;l.sla, 2u Jf ;rT ,-,r
tr.2l:2 *i.ei 3 ,sb::,r-tU c-l ,-rlL.gfng
a-yr f0 ti$la, Xs
.$rc/ -JAP ,, BP;ll
.(i - \/) r,*_-rlr) ,>-l e-oi )
.'-:y_rh [, f x Y .r_tl f ,B [\r]
"*o',\
5c....r- \ .i:rl.rl ! )c,ARt'-:rltt,6_* f:*
b
1.,
.r--r:l d-)de
t (A'-Y) iJ:t^. [Y\] ,-l
rt*, 3 xS 6i-1tl;t l- J*; l, ,;-r&l [Yf]
Oi(t Y-Y) ijrb, Jvjbt,t_l ,slt.r.rr c-:qlJ abs'
t-J,g ttt -,: L 0 : \A'o J 0 = oo rfE.-rtCL U p-t fut.S
Js,.at- bbss r-tV ,-'t-tn Jlt Ls;;+-;-[; d+-,-i ug,lr..l2t-|u IYf]
:45;Gi dr+ JtS-[ ,1,;* b -\..rar r*j; J:L i-1! : t*
,r-tV.5-- J:h,
x-;;;:-L
Ll
L-sl: s
0-Y
v-Y
,-u,J
A-Y
www.mohandesyar.com
7Y
Wt-
Procedure RMTOAA (VAR R: mat33; VAR
theta: real);
Jy.at, JrL
K: vec3; VAR
str Jt:- Jlys;:+-
ul,-[; .S.p,-r: .s-S-t LE-r.t-)
Jlr *i; ilt,rt ,f-tL
Procedure AATORM (VAR K: vec3; VAR theta: real: VAR
R: mat33);
L-slj
! t+i J 4.l) ,lt pr (-i, t )[ Lbr,y_; 3:
t+J it^-,|U L-,,!+?:r, .:JL r> .d t- .ll;u- 6tf t 6\D,,-rti. L-l aS
.+s.r!F,c-[i 6trr5r... Jr,,:t-J.6,,,J:,,r tsL-lr; 6DL A-Y ir,-; [YV] 1-Y
.+5r1.$ Z-Y-Z,L-51 6l_ly 6lrlJ A-Y y_; [YY] \"-Y
4S.ii-- .+J !r"l
d,t.il)
r:-,p3,e
.r:3.rt
,rlt r,_b*Q c _^..-E ,.rL:, ib,: ,;--tl,9s ,-.ri" ,rU,_t; ttr [\"] \ \-Y
:(c--4
',;) \Y-Y
ul ,rbt - t);+:oa,?r'lry [\f]
BV=
li.;"1
\
Arn
pl=
"14?? -or0oo olooo
or0oo
"14?? 6looo
o/ooo
oorooo
\7ooo
^::l'
Jl
\\f"
-Y/o
t/"
.+5 q-t^, L nV
\0-Y ,f5.-i;: tji.l:.;t,Jlc$ orl: sr--rt r:"-[ l
!, Ef u,?..l=.lr iU; b t+l ,yJ ,lt ,4; E
Xr-
'14??
o16""
o/ooo
il csl*th [y \] \f-y
,*+r +J 1*t,++r
dI
olooo
-ol0"o
"14?? olooo
oorooo
\7ooo
.ui
\\2"
-\/'
A/'
a*tr...
www.mohandesyar.com
,f ,lA;.rkJcr/ 5\)r..oi
Brn
aI -
\7""o
olooo
olooo
.1h?7
olo
olooo
\o/o
-o7foo
t"r^r,
oorooo
7A
.rott
-trr"
"1h?7 -o16oo olooo -Yt'
.7f\'\'
'/V0' -or0o" -flo
3r- '/Y0" "7fl'\' "147? l'7'
,r,4,rT -rr, n c,JL I AT'^*l^.60 d J-r.j [f t] \f-Y
AP'rLL K .tj,t
abst0;;llla, R Jr {B} u ; '.rlJ:k t't {B}
J
.('.,.rf"1 {A} vrrkr i+, J R ,-{ .:JL el ,25u.
ir+ tB) .ll;;ti,!-s"- L. 6;11--r: t+- {B} r {A} -rtta.- e: [rf]
, {/}
l.lnl
'^*-rlt1-
Jr
iL-r! 0 s;l.lla
u+ t,c*l
{A}
JrLt lll :4T,r, c^-).r
-$-t o.rVr, .l5r'. i!r:
AR _ ARK(0)
,>-l ,$y
fR-
*'^\b
+or iLl;
erce
;T-1:
K-l
r5-: c.:t3;
lj ut-tot
AP
i'
r;:r
'f
i]
,.rlrr ,-p-JU a- 1J*5t
4[
c;-rlry
[YY] \t-Y
-ARZnconDe
d ** t' -rt lt ob:t ,r-tl u
l.ril '5 c*l
,i ,5 ir,-l f t+l ,slt ,tv &-
r,-T
c*r" il;tV
p = f n op
pf
Rl;
www.mohandesyar.com
tt Wr&,{
?t'.rfrr
tsLp,_
AP
tL tt c^rr t
rltt
dc*l
;ri
-&.t ,b
=AR\n$nDr
AP
=ARSRCP
p = An u p
AP _AP
.pJ.1-L&"To.^r t ;bnPr-t ,tSu.-j-il \.. .L[- 6.o P bfr
r-rb ,O=.3L ,rrLo 1* , ,rrr.i; JL :r j] ibss ,r-tl u ,-&t 6-r jl
,,t+l ulr ,ju U-:+..-rr.tu, rh-l i,e \". .uL- \rgRs,8R,dl? ++
. '=rr rlf l ,S,l
tt-... ! g-" t ?-f .Sbk rl-ro- .5 !., ;1.-t^,
al-,.:; ot(:-, ,l :.1 ,: .t;j .S,_ ;rlr ;[:; ,slr. rs$t,-sL-i Jfu t\t]
u4r-/..:*l r$ c:lr ;t:; ,t(- t ;.,,-l ,roi^. a- Yl'-Y J*,.2r .c-l 15lilFl
,i.st*trr r i;l.ll*,f\s ua5,'.5-ur,r, .rt-:; xyi^i.a y \ ,1a2 0
cfi5: at o:;- .JSs. Lf;.- | xy Z^)a 7 7l;;tl U z ua*v.+[s; Jti;l
.j-r:T
c-rar z 5,r,0
.sgliclt:-l
6ltl;;l;Lo:; pJl,
;,Lc.;... Yf- Y JSJ
'aLjI
\V-Y
www.mohandesyar.com
ff:,;;6
,t2.1616a15-1r.ti.,,- .-r,-jrsb; rs.&-) 6rndYf-Y .$ y: ,[L, tt-l r s,p ,a aaL/ & .c-l 65tS 'il.-:;.. rtLt
g& LErl3 d-- t$ J:4 JliLr. b 0 : a (J;t^4-Jb .c*,1 r.r*: ob ;Lij
.t; ,-l s-rcl J^f l' :l -rr d
rlx,l ; uAi iL-U , ,;-,- 1r &
*J t n P ili; .;16r alui,- .t-.J.,C P .b s12,, 'alj; o tSc*l usl*
15 ,B ,a Lsif al-rar*
c)a-b51s r--i't* Jr t-,+t$ailrla;42 X yzuJr l+l tfrtttf
,s -l:l .st-|r., 3-r!-r, ,6 ;UtL + +i ! .rr.f crl: ;125r rl: qlrlu,r.-\ @
.'-;..-t' J:zj R*(6)Rr(rD qV ! s* s-14 6;14-.5,'-{,
^iU"
J13,.e* ,4 *uJJu.;t.+l c.:U t:r. v.;Jke .stor.l'^. Jf LCtrt u-l
*tur -h *,..,/-!rq 'r.d Rv?b)n*@)
L-:
-b q tF,-/t =-* -t
c-*l
tfu r, d rri!
;g' Ll .r-,;l: & 6t* ;1:e Srr,z'
f
^-t, -b I
,Sr,ru,-,. fJh )l q-tn $- p-.q a!9:
,.rfr).-:ti fJqe r, r.]---.i
-rrrr-,/ 1lW|b il
R*(ilR"(/)n;'(d)
e12,ea,,,ti il"! r.-r. cs-,t +J:l R*(il v-,- t', ,[\] .*U ]-r;
"t-l
.I-r:1
.-.
.c:f oL.;;- Yf - YJfu
www.mohandesyar.com
Y\ W)-
,*
t+-,-;t
vt' t*y
r-.rC
.b..
;1.2r r,f
,s--J.
,l
a.o)L .y_t+ -r[-
'^Er-*, t, Jrt., ib1o tr_tt
Jtfu, ,,61, 621 a uj L .c-l ,r.l
rr..l rrlr (VY-Y) \| 1.4g:;) 4.pl c-r r. b h : .0 ,a) Z-Y-Z
,L_51 6l-121
.(c*l
J-l- Q'
.l,-+ ,l:r7
;1T
tl t
0 qlsl^;
k ,lrr. Jr e ,lrt
;rb-, ty.
't--& -b t;_i
--\
] C,
Q' = R*(O)Q
c*-:r, ,\*c./ *t t-j ttry,-or, 6b,&.:tst JyS,(1. -Y)ilaf ;lr:tr-
IL
r_-pi
e,= ecoso+sino(K xe)+ (\ _cosr)(K.ilK
= \ ,sin 0 - 0 t; r-ht ll;.$q*.:) 0+-f .rl:r sL-l:,,,Jt [\O] y\-y
.{.rrl c-)4 5 k
jbst ! Jrt, i;,s> ,r-1,L ,(dt = o r
'lr;,lt t* Jr 0
,cosd
.r.:5 rrl.d .l (4"
c -^.--l;
-f ) .lrl;l
J.-SJl: .jt:rr: dr+r ;t:;,Y \-Y e_r'aa; ;lc:ti- .l t, [f " J yy-y
.(:rl.l c_--.rl t+t:r
ft+il
P\ 'ALi;u 'G)tt *J. , iT
:-r;l;:L Lli; U-l \y
\+/
,r-,-) .lrlr .,.,-t++tr
-*rV ef .r.-,-; s.lJ,fll [yO] yf-y
t5 tj al5; .S i_r. u p7 5 ,u p1
.'rl' ,lt {A} *nrl11 ir., r ,P1 .\
.c-l {A} jl X .t-t* + ih r uP, .Y
.:.11r -7!ri {A} J XY '^^;tt ? s,x. ,,}.t u} +.S--rj u p, .Y
.+5..:tjl ,- .uLitSl .st+*rt 6bb,#J:"j [fO] yf-y
-r) d,e-oi ),oi,\11 llc,-21..;fr, ,r--rVtaj_sy-rti, d+^, j[.: [f.J y0-y
.i-\F ii
ulrr tsl+-- jU'4S rto ,s! ilrLr' lt.[-tl,st-l:, il ^.c5-^-.J" +5c^,[ [ff] lr-l
,u
-sr1161
ofJhi. ,YO-Y ,[5*: ,, qi
.4ts-l c*r4 I, tT JbL,f O-Y JS- q
^"i
.t-r-lc#)d,
ir!.
f tof
@
[\A] yA-y
.x-uT c*rde ,8T JIJL ,YO-Y ,fS-: a, a-.r; l [\0] yi-y
rO-r JS- * .", ! [\O] io-y
1.,
www.mohandesyar.com
,{ ,C6,rt+{.y tt$*i
VY
r
I
2
t< ----l
s
'J,*- a6":f { ort k:,s\.nt[
Y0-YJKJ
r\ -Y
.r-rrl ca)t b Af -rbi,,Y?-l Jf- q
^"-t ! [\0]
.I-rrl cd)4J t tT rlli, ,Y?-Y JS- t ."-t ! [\0] rY-Y
.{rri c*rt b 3f Jl.r;, ,Y?-Y JS- q a-.r; t [\0] rr-Y
.t_u-l
.,.:*l r-b
l.r
)t
d*:a, ,"^T JIJL,Y?-l ,[5,:.,."-t
orl--.e,ifr)
*-tl *
,,tQt> +5
t: [\01
-B
[Y " ]
I
2
l*-s-*l
,J,s-,sbc-S q J-> ,s49.rV Yt-YJS."i
www.mohandesyar.com
lY
w;
Lls a- l54 -J,.-(c;.L:Y ,JL;i) b,itp t, $ 4- s*
*rr ;tl.i.1lr ,S5bTL1t ,,:.:,r5rn L ggl;i p Sr-t -L
.,:*l 6sl;TLrs i(lrt + /r) ,stl, ,u.rt N ..sU; y
s ,tstbl
f.-t
c*l
Aqt
'lAV
Bl=
.rtt
-" ,6"
t\O](@
6/"
lo o
-.ro'
-f /"
\'/"
d*:a,
tt t (r, \ r-
.rto
.o-.rsT
f.*
5.,2,:.
o.li orlry-; .1,-+
"rY0 "tYY "tA?
o
fft] @
"oT
)V+.;rjlor-i J-, --L- f--: t I $ tF b u, s or ii_yl:r, er [Y0] fA-Y
tltt st U ,gb L_:lt ,S ib:: dt 7 a1 ,..L 1a a5.rpL cUl:
"y_l
url43;
J^r .S,_ .* r-t ,r!r, ,-S_t orVt) :uU -rap cn0 Jt
-8,
qU (.t; g-, rLg; -r:) a-o)li t*+ ,c).--aV ,;,-l1l o:te---,1 tr .(c*t u*-slj
bbss ,r-tL ,ir.:-^^r ,d! ,1, ai;rt+!i ! l-! ,r[,
] iub.t+5
L-
:-0,
.-l.uk
'r-l\
.5-_ ;tfrh .5 (JtS-q ,U t 6lo.lr; Jt-tay>ti) +r*,_:.:
,;-rrflt 1rv1 rl-Y
.+j;GI (1\-Y) L,t J.r5+t-., lr err- ibst ,r-tt r" t, )lL
,L-51 6l-111 .5 (JtLt, ,t,, t ,5lr,.lr1 ,-rt'^.i!) +-4i ,r"l-rr3l 1ff1 f"-Y
+D ((r-,)) cl*-9^,, ,, .rJ a*l-.' l-, e:* jbst ,f-tt ,o ! )12 Z-X-Z
tS,_
.+J
.-.,tj ,st-l:, .5 (JtLt, ;t\:+ lgla.trq t-t12aa. )l:.) +--t ,;_rr(Jt 1ff1 f \-Y
+V {r9)) c*-;,, ,, .rJ a*1.- t ,}r.*, bb1o e_tt r" t, }Iz X-Y-X
'+5
Yc-.-.'i) uaSt&bl d-rAtanY
eb LJ t:*6 ihiL ,t Jt .\
.xt i_J- ! eb
(
U-l
+--i
ti
A-^;e
6la'Lr21;,c*l oti.; i-s;
t4-;:f- lre,t-*6
a:rd?rt\yb t+r,ri.g? uKrl:rae
.5..,-
J,
! -. r,rt.6; .5--,'-;l: -b tt,-&-t orV{
+r.ai JtS-t. ,1.,; q 6lo.t1.r;; .{
t,
t,
lt";rl
csjlt;:J,:L i;i^, .l
(y x y ibs,-,r-tt,sb+) 0 \:l:
.r+, jt-,:j (Y x \,r-tV.i- .sb*)
"-;*
,lS,}*
(r,y,,0) ;-,^
cr_Uo*
www.mohandesyar.com
Yf
.L*_JU JS-
t (r,y,0) ,j-+; ,slt
..rrr,,l+l r t,
:::;;:
+$;UT
,*
t,
uLttj
Procedure UTOI (VAR uform: vec3; VAR iform: frame);
Jtf :l .1,_+) "User form TO Internal form " .jr.ii- UTOI aT.2, of
dbL 2i:l J:l r;u ,61 -elt,.tt.c-l (r-- tL w*.,V r-,f at r-u:Sorll--.1
IV ,11.j+t .-l .r-tl Jy*at. *rtrkt fr;l 1r: 1# ),(r,y,,0);t
.!t lt*nt$lylr.f .c*l Y x Y;te:'rrt-.i-r Y x \;tS,.2lrr1
Z,s-&-tLlt --j.o-l [' " \] f- L;;T1t o5.r+, il:; r x f 6,3-.r;ls
,45;GT * b g ,r: f t+jl t $l Ll;r.r-) ,k ;- d +.-,-r
..5,_
aT
Procedure ITOU (VAR iform: framel VAR uform: vec3);
4,5':fi-.
.l
* ,Fb;-r;l
.15
*-*F"qr,
,.,!-.rr
rr 6+:*,-i 6la.lr12-;
.f
Procedure TMULT (VAR brela, crelb, crela: frame);
U-l
u.;l d+J u3' .c*l Lflf f-'- -/-rL, t,tstt)t Jrl rb r: ,d:, rD,i
.(\brela - AT '>U.) ,;L.f uQ^d rJa:,r-r 1t+l -br 31,, ,srS,l.h.:;.
+J;UT
t) J.t-tn+lt;.,ir,{L;
ay|'b
"1,-+.S-
af+-,-i seluL2li .f
Procedure TINVERT (VAR brela, arelb: frame);
,t^;L
6,,_l
u,Ll
.J
+J
.(brela
.r;*l tA)f lJ) r+ J cr)1;3 Jtl .& ,o-f -,-lt,tt
y:.) +L;cr LF.L rJAr,rr
AT
,,9:l r.b-r: 6t., ,s.,6
a--.3;
.15 ,rli- 'l iJ=-:t .s\)) Jp'-att hf,rtla y-l .Jlo..\J o:l: ,r-1 ,shrtrt+a .0
t-*S q,(,:-l d>.y) r.zr...>/ 0 i\ ,t.t) [o y 0];-t d-b.- ! (Y y-r,^,.1r)
d t*+.5 +J 1..J ,+ J) r) U|,(\O-Y) J't' $L r5rlr; .:5.3,rr o:l:
J TMULT 6tra,.[y * .xl*. d +.-,-i Lsla,lrt..re: ;E^; I hpt+; U-l 4J
,c*l pl 3f a:.;ji c-r+ 6udrl, *J^ ! (frl ,st*--r.r:) TINVERT
{A} * -# ! tB} -.r,rtl,t ,brela.},-rr,.y-!r[.c*l (;) relative,,rL,,* brelarr rel .\
'l''S't "':'i
www.mohandesyar.com
VA WP
.xiJL;-l
XT
- [,
y e] - [\
y 4 = l"
\/o - \/o \".r.]
r' Yt. f0r"]
- l,
7,7 - l, y el- [-lr " - Y/' - \'"/"]
XT
..r:1L.j
v4 ,atr r, F,L: '^b:+,(.+y ,r,,[a--) .r5
www.mohandesyar.com
www.mohandesyar.com
JA
t,
.,S1',
tfu tJiLAi t{ 6J
L.;:-,u
rn.ri,o \ -l
dtL ;l l.rc:S rt7-l 6bri dJ .b-rr .u* b .Sr rJ c-l ,5f rt' .-(.-lt ..st^
=ii;l ft\ At 6ki'.' , i-r,3 ,.rLJ tLe2-,;tL ,&t^+ ftr ir9Ja,..-2r .JSu.
.S*-t^l- ,4tu_4 ;-rcr tgJJ (r(, g;t.-i:, ;r -rn t- iL.; r, c.;) ;ti
&|.t-Je trtb,Sr ,)Lj r.qbJ Lr-x.r uL#1, i-lL .,SrtS,. ,st^.u!
L*y 6 t-*c Lt-n.S.-ti-r rJ'q t4l lr5rl."-l crt^-rjE:f: [o:* tY u-\ ,e.
L-
,;ifr-l
,t-..J.,g
llL ,r5ttS. tsr;tr st+-,i ^lj L;JJ-1 ,tS, ,;:irrCb>,-,t* 5+*r- 6,.rfu ? s 6 .5tcLir:,&L.. . d'r g)J
..lc .loli trrJir*
q5;[i*;e.2,
.f-ulncd).., !, hr,rt13 U-l ,n &L ,-,+ t C,g ,P
U-1
.# ,;"*,,:-l
Cb
,,t|.*j-33 tdT.jL;
uSjt(. ,st^llr .$t^+ LllL tt I Jt,.. jl ,-*b
2*t^, csb.,iy j.*,J-"; u-|.r, ;Ll Lry.c-t! ,*r
fK.:^ t hr,rtrt
..l*l J-L 6h*L;l .r+[ ,).p.-at. jT iq r, c--..,.i ut| ,s-ry 6;+: utS.
il-*rq S -;J -h 1t ,-l,o L.1l;l
f
11,
61as2.,., J12.-aa,
i*at
ll-icl b *U,,S=;[S,
d t ! uQ !l r, J-L.LU.r L.lt It f L-1I grl .llciL- JL-,-|.'(.lS.
Y-r
t
a. J--i'
L$)\
www.mohandesyar.com
/1. stJti,.,Jb1;t,.$1.:.-
YA
6f df...-:r o:r JL-,-l J:Gj ,sb ,gl Jt-dl C)l!.-l .:;Lcf J-L
,;t.rtfJbl tlyl t -l rf5..:.2: .ty,l t6+,.;.l r,(-.rS,- 6, JCt-.1r Gl at*u.
dt+t J r-# cJLr)-iL utJtS,,_sl"e;t, ,r^fp;l.L)LyL,.ll.ri, rrl:;l..J
dUJ tsl+. ; t.rLl) 1L u5Jtt r.st^r,il., * .r;rtl J=S,: (J'rbT n-..2: .S-_ ta; !
;l;. L-r'j,;6.. c-l irS-, a5-1:b slly 1:.ll(.rlri) *riiJ gl+l^=,it t (,r,1rrr1
ilr-5r,..S6rt1 L..2:.5t,_ l\ J-L rL eqs,.aatlr;rT;rl-;,g,liL,;1lr 15rbT 4tt n\
,.-*S;l d;T i:+ ,rryyu-* .r/,s;LJ.r, ,.ulciL- r;-r,F-ri_ + F Jt \ kb - \
"
.ciS p+li -b t,.lylr 6:l;i4rr 6 ! ,.t4ta 8b ,'*iu! lr- ,rF .r:-5dr.-,
.re|,-s lb)' trl-.i JL;l lt : de;GT:r! ,t'L i-t. jl I, W., 6jKo,.t;
+t-.f rlrl .*;; ir:^^ { Url&oj; ,k :,c-l \ ;.rU l:l ,Srr,:- * ,#
a- 6l :-i -r, cl+ 6_p ]S c^A3 tw 6lJ.
,TL 6rl '. J*f ,rr! ,li,5ta;l ."
\.c-l
J4L ,;.: t- e. b, ,rot ,-Jjti ,_rt":rt
:V J-;, r; ,[l.r- { ,.r+
t+l
",.-,
;tT
L-
'
rel
.i
dJ J-i
eFua
Ig
1gl^;l;;l
uJL
6l^^;-- J.aL
v
,ta:,
Lrf J-;'
J''L
65-;lL "; \-fJfu
l5:)
*L1ut
,:y;S JL-;l J--L
r ,.r[5. ,slt rLl..- ,--L\
'F +;
r-?
I +-i ,t\r_:
Jfu.,,| .;,_l . \
.n-:1, -;! ,LtlJ+- \tr.
--lri,
.rL+
www.mohandesyar.com
Yt .;,*l
: .ru-ft, ,:L f;L;, . rr+; 4 "ffu, r c*l gS--. t+t r, u2rt 's;1lt
b ea\ t r+ ;l uli-; .r,;t ,j.t; Z lt +,f;t;=- sb,;L tL s pL;llg;;lr,st+-+41,
.dc
tuJ,J..oi y-l r.ql 6t4.i-i, -2:
,it.tS."-t t+l t +1. C! 6 r.2lr r5.,1 .,Jrt-. ,Jr ,., G\yjl L{j !!.i--r,
6t+tibt- Ly r itS, ,L.l ;s' r 1t5.,,;-l ,d, ,S\;:U
15;;l sl;-rG JrL-, u-l:l
6tra.lr[, .,:.r.rid*rt ffu 1 Ul. ... ,,u]J s a.ts,cf.rE Jtfu,,Jt-L
",$1..,._L.-r
1s !
,J--L tJtu :5 irt' ^l-.U .S.l- Lfi i-,,5^.arr. \F LI i ,d,!-u litS,
| 'I _rr ;LL c\*.u
-rrl; crj F 1: .-lS,r. .j, -i
;l;K. .5r[. .i.)-y; -21:ra .5.,_ [ ,t;i p ub; iJ:-r* i ;LL rrtu, .rr)d'Ls,--,n Lp; .|-'..s+
hL t,uS--l ': iJ(L tt .St/ jbs, ,i - \ !!1 1 + ,;i Jr i \t 6 1f ,-t
.:J
,r,_s; I :.i,rr L ;l-L ttu st,# ;ti af :.rs ,> L. il;u,. L
"-;*,Ilu,
u-l 'tj '-4'-n; u/21a'. b t:* r: -P ir- iL-U blr,r ,1\-t,6l1L .gL:.i r:
U-\ .:yg 6rr3';lxl,(J;; iJ r) c*l :1 r 2' )t / t 3 u!; 15U-f -r: et-U
Y-f Jifu,-2r .c-15-,*lt6;l5. r-r f d rJL t5 h,1 :-1lr r3ry5 o;13 .r, (; i,,
4-s
il:i,:Fcr ,,ej,;l-xl iiut*! 1),a;-, .!1, $ S S;:, ,s., L;,i - \ .L,.!,
'+t_ tt-+l 6lil;-l ,FJ k 1) ,a;_, t,t ;-lrL. e ,sD,s-&-r,!, .c*l or-j c:l:
It*tl 6-\- t a;l;-l d.ffu .rrlr rF;i bti,- J-rtu J. i - \ ;\-L s^.6,:.*l
.r: -l:- tlt or_.1 t, cl;-l LLi ,r,^3 u.l^. i ;LL tttu t d+t,2r.c-l Lty ,:'O'4rl;,;t-; ttu ),
AtS.. j_r; u!,t pI ;,t1, (E),
"#
.syJLi:i - \ Jr^.3r9,"5 1* v-tn3r r-!--i- lr-s JIJ 6larj- $ G,-r,tor-r Jr ,i s',- u) * i - \ r-r* jlr3tu )) ,;-L_sl: rK31 ,{tr;
aaja ;r-l
,r-f Jfu,r:.Jlri r+li or-r I i - \ Ll
\|,-*.L_:bb
"4.,L-51;.rr,,lu.
,ilo-r.i g;-rlj(i>b .L5-t-- .- ! *t
i Jr^- ) i - \ tp ur; L_el; a;_y
;l o.r1K'^^)- t5 ,h,l5b ,r::5C"t'*F)r*l
l!S"" ;^-,L.t-ttu ), drJt r: .(-[1(J;;b"
ot-q
c^.)lr
,solL
b
\y r_r_l-1:.c*l 0*U o;-1 c^X.i Ll,r;', 6r3r;lsl)-rN )J
.#.rt;:l
t c-i JF; I + ;.,\-ie
,klr'4.L-sl:s $** rAr..b\r: af +ieb L r*",c.,.
{lt.r,L,a.l-, ct-lt,
.ttt6a l 'irr .leiJ: \r-r*rr [*-l-rr) .L;;r.,] .rL, ,L.l ;lsreT d#ro ,slt ;.,ljg b
t hb U-lJl.c*l o$
orlr
lf
U_F &-,,:) ;!r
.L1lr.S_
\-t Jl:l r
i.,ii; f-f .,[.-i,-7r
www.mohandesyar.com
/*)0r-l
0,1
..:*l r
st
isi
"A"
;I-L c/ut:* dr.1 cn[ ,sl&l) )hl ,!tr^ ,,5=;t-+ $Lr f-fJKJ
,a
,,*t rlt\:t \ Alirr, &\
.d ,tb
'A +sl: s \\ J*
;bbL
"8" ;tibL
a
lr
t
3 in.
I
i".+l+
c
.rss. Lrr.
5 in.
--+[+z 1".+l
f:l
e { b gil u*::
ln.
l-'j
l+.2
,/\
d o:L
!t 4 f-f Jfu
www.mohandesyar.com
A
Je.U
Jl*dl
J*i
# ,tF P *;6-,f t J--t ., A ;l'i[-[- d ,r., tS+ Gtrt ;!:.r
."-; -b,r t4tiL-L- rttu t *, b q;b-r J-,. .t-r9i r:-)4 t tb h,
p j.oL J-rN )t J-;., r5 r a5 >-rrl or,-r ,,;tibL- I CVLy i$t t qt
'(A 1s.c*l V in !!, J* ,r,,r-2b.1[ ta;i i.r:..rttirl il., 6Lt
itibt- er ,.r-!
L-,lj
t1
I5 t 1.4-.,L-51;,,a='1O-{: iloli *la
c*1., a-r ;jti ! otL ,^(;:, \t' Jr
y-f )5 ' (r-.i,
|t^-c J.
t2 s ia)t-a 6y
$F
6r3,;lxl a-"Jv O*
i- \ ttn-,;l
.c-l fOo tlt,it-tpGr\
a,-21;;.,,-1.-r.:
L'.U JL.a3l Jna; f-Y
rL-;l ,:;lr ol,^a 4 ctQ. ts[+-:--y, c,!r,, C] rslt, -S-]S- { t&! JLil 'l*
tf)J.2: Ll *)* ),[.roJ$;- J t+tibt- vi ,6215;i21 ,"piu ft(d-l ;-e
,-u.Su, Lfi^* lt t.lt e: JL;l J-tL JS t*r. aS 4 r, ! t+- L ,,rS--l;=',
..:..i1: r+li ,Ss-
,Srt t* -,*tJ) dF ,s$.tt
,r5-- .-r;rl: ,-f;*, ;LL tf }+,rtt!!
!f
:, 0-.'^J.-l;,t&t Jt--;l rs6r-bl,:l
;t-L yr.. alr;l .t_r,c,+/ti !L ..i|rdl af c*l ,(; ' , tr t-r-l cLb tt
bL : .L1! .S-- u lr S; ' , t* ts-l Jr ibst L3l; itL ,pt -tb\.J:.a:rr iE d;
.J..r:,rr bE 0; ! I ;Tr L[./ L;Let"+:l:b.rt\y-l .S.f Jt:-j,;l L-l *
a,-r d t.r:t=r -bV+ .\*,g o-\,: f-f ,[5; -2: i s i - \ !|,:, .J:b ttarl
L l,
,SlroS,.-t'-f; (;:" \,sa;,4J i,r:..lt.c*li- \ !t r-f )raSr.-:-,:t-t
i .l,. cs6t,'L ai c*l ,d, ,Lb .iFl ,khl, Jiti:, LVrl tt -,-bl. #.,:*l
zLz
(ur,:,
c-r*.) 6* it-U
\ t* rtf J
il,i W ,rn- 6l;l.r,rr cri ,s;'Jxl
Jt .r>*l o-u o:l: ;Lli f -l ,$; -2r dt ilr;l .c*l ,1, ,a; \.pz-t st-rt iLi; I a;rl.ril uL_sb.t&t ,J,UL LVrl;:1.r: ;-b!,.rr $lF ;u d;,-u,t, .,,-JS J-L
;l-:; f-l
ux Jr af c*l a; t a;-t
u-l .tyr-r 6j'ilxli
'f5;1r E "'Jlj
"L-;.
,-sl: o-l .rlLs;lr/ J"-.rS.,- t ,,[:5t;er ! o;d 6Jlj(,)b Lp;;ly, o5c*l c-ri o:b
.c.*l p:-,J-U tsL+L^; u! ,.r:ot6 u!-l 0; L. | ;ti ^S
U-
g,-4..srl:
&
,Sl,+-lJr.r)
i+ \ )i;t*L
.'(1t +- .,*:;r llLl!.r Ufi s ,|sl
L-sl:so,,Llt J*
rs6t-t* \.Q;;i
"1"*n,
.;i-*,g i-f;,-U, cJiL tr S dJ \,an-r
[- a \
) tan-r [i al *;J
www.mohandesyar.com
/U sfiit(r
)t tu l[-rl c=rL *i*;,slt. cjt$+
-,.-\1,5:,0
1;tr1,;t
.fJLi.-
AY
,!-aL\sbs,d tl, jtr;l f-f Jt*i
..ll.,l- r L,b
*.L t#Jil-l i^.l :l:yf ;tt-,.rS-;l ', ,;y
kb *ilFl \.o. = en = lo )a,. - an = lo
,-u,L u.,_u \ ,[--L Jt.xl-r,_r;
cJ-i crlr
C/ 6la:l:-1!ri ,* ln - \ b
"],ti,)t,y:
4J d,:+A t .#.rt$l ,t- ,,2lr1i b d, , uJ k 1: | ,;--,lS. 01 cs|,. ;:ltct
,rlr-2f ,J t t C,g.rt-;l ol:"lr + lt -e rtf, d, 15!, ,.l;! d_-; \ J-;. Jl
.l9,,t,6+* t ln p ,slr.a;-lr\ rt_l .0, = 1o
g;v[- I 611lL c*J-5.,- ult $ ];-,r aSrlo.r-i
-b ts q*..;ri tsb:lr-rF
"iJ
.J3^? o:L ;til .u b rs.lr d,t-t^, b U! t* JIJrbL U_l oflg ,fl
1&-t '2V +.'S F+l3,- rl:31-i.Y 6t-e1^-; 6U0;
;LLL_sl:sd,
b.l, ,stnrut
,Ft+- ,*+ lltr-f t -!r,, \1, *,r.i oJ,_: oS cr}o;
;*. b 0; ,(c-l r-bu-l!F, d) ,r:tt .r_tJ J-L 6Gr-r-
U,
.a_f;
dJJt{-
t5
L-9-tr-lrl.^-2
.5-S
^-e ]--L .e
upit
t,:
b d; ,Jd!
--;
.c--*
r51t.i dn
an .j,-.r-
I )r-l cJL ,,-l7r .\
www.mohandesyar.com
Af kll
q t+*rka Jtj.t
6rlr.2|1 ,,!t
i-r;,slty
6\
i4t1
(J;t+Jrj:-r* t+;ts. .-e,-f;.slFf hf
-b ,.rt^r-lt, lr -S--t c-J
t.[\]
\Jrsrtl-,:",1Ur
rrs.,4,[;
g;Jljt)U af c*l
u-&-t 6$y
r5t vt:S tt-l tt.5ll..r": clrl laa;tS.
ei5-;,:--jr g;[^ ibL, s ,urrt I .lFJt 1;t.(, t rolirt ,+L.- tt-l .tJ
;l ,sU.lr. {"-';rta-c,-e[:
,.,:; 6lel>;!:,,J^ cnU .S=;LJ=- ,!5, ir-t
"lr.d O*
\A ir,-l ,r":L c-i,l:,-J-/ ,P..r:;;[.1, I G,r-7:.,+-yl:
:Q r-ltl, \A a, ,rL-L
.,.r.1 *.r15,i.;
.o-iaf
.,,r (a;, a;,
d;) JS*
t ,-;.r,, 4la-'tr-tu,,, tx
'>y-a+,
Y-i
-J-,,lJl,
JL r
kr-&_e_ r ur!-u Y, \ ;rl;,st+h! il? r. f-f J"fu,;: o:l: jLr tr :l \b:'
s >-iul IJJ..J Y irL; L), ,sn ;6bL- r \ sJt-: !! ,rg jtibt- il I ].-i..r.jlo.u
crr4 b d, .s-Je rlj e urBr A.sl+bbt- c; Cfu oSc*l ur* ;l *t_
.I--rrl
,sE-b-/:) ,.ui 6j,;lxl'A-l; \ )t ,*- ,Y JuL *ilFl \ tD. d, L.t .j'l4l
J,fu, d.i; il1^- JJI-;1+-i t .c*l Yr \ ,st+!lr.(;',l-t' u,$ J-;rr^-,
.c-l Y70in ! -t!,r dr Jli., ,f-f
6il\
.lJ
PI
v-t1./6" .5,_ J(..;I ,sU b q,:l:-rF
,-&
at+JL ;r'r:T
-il
,k
.'S ".^llf s-r;,,F-;K.
W.lt * Q.n:kt Jt^.;l cslt rlsyll f-t
,tr..!, t t ,jT tQ ,sgJ,-t, a, c*j h! *;tS. *t_,r; nL:,
,P
'.*rV
,r.;.6 6113o2l; LSL; rrLa ,@!1 ,shr.rh .rJ,rr^lF
{i} vnj.4;
"*
.c*l o$ ,p i tt ,).- t*+
^,
a1
* -*:-r) cr'F .l.p.lr
"Srt
,l-J.dr6t
t+!!
ttf,rh
cil) J
:l u*:c*l
;t5. A==-- ,tlt 6 rs:l:-r!i
o-vl 2; ot,{i} -. *rt43
57Qt i+- .t-;.,gr|;l i ;bL r-v J,P;-i
2
g.:A
,-,.
l.
Denavit-Hartenberg
F_6 [, ;L;; tlt .t>.5.11..u: (, { u-l + > 6.,L_r g;Lrrlrrll
,L: ^':l -&_, CL 1 ,.:l5y_l-;r ..r.1 cLl G::1s JG"ht.K;,
-rr.c*ld,rti:,,-fj!r,
i+
c-l
I
J-;- i lrl r {r} .K,,-, ,(-!'!lF-, CL r_r-;: .i)L:) wt:5r,_l
vL-L tf- t rl
.ttlt tl| i
terlK,rL:,i!L- .lurlr ;rti,-
i-rLrr
.y
www.mohandesyar.com
)U
{i} frl-6; :l X; tr .s}e rlt
d5'j,l(. r.rtrr;!.SJL.+- Af
! i Jt-L rv *li; iti.2r {i}
.c,-l i + \ !L csrr. i L.t;l ;l c4- s t-Je rlJ o, ,sE-b
a; .s-,.,J.s.
2r+, s 2, :l ..$15'l.2Je J rr.s *; ,a; - . d',-rJL.r,
"iJ -b t,
c-,yt ./kl S d,g rJlL'.., t ).itt ,sjr;l.sl X; Jf ,c-1, C*r ircb L 4tL
c-: e.Lcb U.*Usz.u,.t1l> & Xi cl1.r;,..J. tJ-bJ) c^t? t,cJL y_l1s a;
,s.Jrl; j* 6-Y rg;-1: .rLcr ,j,S l, li -,rr| *t r-r_4 s ;-f ,t i-r; c*\
or.i o:l: it; u$c^JLr).raL ,rttS, 15t! 4 ,sD {i} : {i - \} ,sh-rrh
.c*l
J)
.-,.
or rr-r
.Ft r* .d:
ti-LL U.ti r ,!ll
*5'';l4; r_l ..j,;F F+lr { " } *r,rt1i l, ,L, -) . !!, [_ ,;tr:, i_t, I J-d..
=r,rkr
itS., .c^ij -b t Fl v.ft.tq" ], ;.,T ;tl-i,s,*tS, st! 5;t+- r: e c-l cr0
.s-J.,g J:aj rnh
* +-.; ,-9-t ,s4,-nrt{" i-r
-t>
"1,-l
\\
{i}
-.
atrt
,S 61,,;f
lr,s F
W),
u.
,-L-
,}+ 4*rV
O-
.:ra
f JSJ
J---
www.mohandesyar.com
A0 t+l1! q t+*;le,
)Lj|
611.:t4!j
,r Jl rr slF;ir:L ,c*l opr {.} -r?Jte .JJ?
y:J .b ;LL #, 6:i,6 FSJ[+ | ,sr* ," lJ {" } ..r,rht , f_A -b tt
"rrp a. - to t e,. = 1" oj7 t,rl:.,!ri y-l;l .rlrt .l ti .r.1^i ,* {\} f,rt+t
.0r = o7o,J.iL Gr:S;lt,dr- oTo,riL.r}l \ J^-L Jl ,;.,r:a,^.t,
-tN-,!,d,, = o10 JtS Ce vtr;l ,s.,tl, *" Lf, nr./u ,,j.-;, rslr.
W 6D .d,^ = to S ,.--Jc .b t cstli t {N} .,. fJt43 ir..., ,r5; U-!6ltl+1; {If } -. r..rt{t i+ r,0^ = to 6 tFC vl'i;l cs} -tr c^p ,n 6-15
\ JJr.,. :l.r:,1 rt lr 2.
o
,-.
.-.
.4: O,L:- n u!-t
r/At{a
,st",.,lt, clt t-j 6[--*,r;t
1U
eW
r-rru
!r..'
) X*-r *Uit
.lr.staf
J-a:, k!.|, t ..iy rllli ;tL
tLTi
dn
!! i--).
t+-rtrt+t
::51
.r.rl5!
At
G.ts,n
.F-
to
t'
.}l:lJ
:-t; 6L-f 1: o-r-: ,s;,J,i| Zi+t s 2; ,t 'alel = ai
:Xi Jr ,* 6rr1oilxl 2;*, , 2, ,t L-sl: - 0;
3:2;gsl:-Lyr ori ,.5r3r;lsl X, t Xr-t 6+.'lJ,,$ - d,;
.2, Jr ot 6rJo;l-ul -ti , *r-t ss L-51; = 0;
cttCiJ
0, s
,Jj r: o$
,d,,o; Ll ,(c*l d.-U u*,
l1-)
1icf
,-,Y;l a;
.I:-...r -2l:,*.jc
.t-* ;\ hf,-r[43 dlJ'_ stlrr .slcS; c*l pI L.i_l-1:
;i c^tr .Ja)u^; cd)de kh!, q t+11rh JL-;l ,s! .,,-K- vlf
:1,-.3 -,[.i.;Jl 5t 2; c"g ,gl, ,{,g U-lpb i ;LL J-r* \ b 2, 6.ftK." J:l
cg ,"91rt,(o; = ' ,;--) J-L clt.tf irr *t!;, cJL .1) ,;J) L.-1: .1: 3 :r-21:
o-r-sK'A,,,ir t 5-f ,rl, **
vbi;l J"& .....- 2) r.2lr re1.; ,-1L;il5:2 X;
*aL11'ir., Jt, vB;;l ,-r:;U cJy i + \ s i ,slorr d.rfu .12,*, s 2,:l
c,JL -2) ,L:i+rA tt| -b d,; 6 ,-*rt vE;;l urlip
\ JD c*l g;7$l {i}
.(+.=i !l 0-r JE) rrl, t*s4,n,tt-64;; tt cs-*. t.r)bi ,Gr^S J-L
,rt=: rlr_1lri
i.-1r -2: a5c*l
"
+ ?fpQ Jt--il ,ju L-);
q5la.-)ti vjts
-. -rt-rh JLil
l|
:r-fs. S3
cJL tt,Lb t
"!!.e*,:;l
'F
Lp; urt'L.l,4i, +5,r,_;t:-;
lr;LL 6t}-D"....\
-rr) {+::l.u-.l
"/t-.1 rL. L9;;r.l;ltser 0 [ I bV 6t.(jit5,sr, L(i+ t :i,sln *r
^
c,pi
eb)
.x-r(",
-b
lt
www.mohandesyar.com
rrt, udrtlll,Jbritr
lJL.ir-
A?
*b- itr t_ ,^ !. ' , :3-s .Y
.t--r=\ -b .tt ,* s S; ' ,J r
lli
*l; iL;: r: L- wr,-rr *tr '.Li 1s
..r$r r!.,, li ;L-L rr y.|*lb t b 2, ,r^' .l
lt .5.-rS-;i*L ,.5615r- Jt t-,t-,J". -b I , (; : , s1.,c 6I:-b I b *, ,r^- .l
.+S ,fl tttu st;l o4K'a2J,^o t )-f l, *, ,#g F
.r- JS ',- 6tJ:-t, ,>Gi,,- o[^(:-, d +Jrt=- | ,st* It Y t* .6
r. ,;t-L .{L ,}rl bs b ,sl:l + d +Jrtt;l ,s.,t !, {'} =nt$ .?
cJL.1r Ll ,-t-J .bttrtFl nb Xr,t q{t: {lf} i+.. .4: OrL-- {\} vr,rtl,t
.:*- csv-al=- ,s1l,-jl,:l crL * t:l.r'; "5+5vt;;;l ut-* L st ,r-l +S.*.,l5
L|
".
,p **rV
i+. .+J
a---;
t ol
u*r,
11
't5)
r-r Jtll I
.J.-i,:l: i[.:; !L ul6lai,-o ut!.i- (-i.Jl) P-l ,,fS;-2r
\
Ji*, .&[.r al.R L RRR fitS,r b il 'tf ,-ulu,,-tl -utr y-l
;r-.c-l
J-L
A4,e
u,!-Lj
i Ql?-f
o-..,c-f c*J) .L.1, uL 6lu,*a 6t! 4 t-f Jfu
.r:^rs, iLJ b t+i it-, 6js. ,022*. 6t J. ,l:f 'tG 5: Lb;.c-l c-t-l orlr alii
.$tJ i-Ur:L
J22,attr;tr
www.mohandesyar.com
fY h!|,
q krr*rkt
)L,a7l
ssl
st>j1
itJ ! t+i it.l: cjl-r u.p ujl .5-- ) cstt t ,E-f t.l 5r s222 .c),e211 ,:,,.^.r 6Jk
6blr 3.,j.,6';..-jbr 6hj.lt,r +5 i-a; f;;lS. u-l csD! p) uk.;-;kt .$rc./
c-ra,
+r.th l+l
.t-rsT
aT
c*l J-z fit5- 1+-tttka cr-l .de vl{ t {'} Ft
,*; u-4 .s-*c & {\} *r,rh r ,(0\) J"-L tb ,}rl i* .b ,sbl * s
.c*L-lr- \ ;L-i'rt^.1 2. ;1.,t ,S *-Tu. cd)a V-f Jifu ! AtL {" }'. r,rkt
6la-i'---r,,tr ptS" bg *slctJ,lt ;tT'a2,;p t tt' ;LL cl^tp '.-,:,it, U-l cb.
.lr;"- a^.r t"rd;) c.Jl:.up; 4a5 |,,ot -ilr'dl ,rl6;,ln;tT 2 66t* i..r.e t:*l
,l'-S"- L * ,-eVyn iJS,c-l .i-qT iL1oL-sl: d'Jt;:..114)5,t l+t-i'r^r ir
L-L.
..u -\:.ll,! U-!r-.r
iltLr. Jtr.r) o.* riSJtL t b.r tr
Ll-/ L.lt ,s6.nt[ .# ,-4^-t t Y-f
c* + 2 ,s6r-t* Lr5 Jlqs;ltF-.^S-- \ ;bL ,s6t:* Lr ir r5+J.ty
'ari-l t;S'^^;- il g1L
,;2l .rr .l".rp -i--a a;.sUl,i i-.o ,.$loli rl==l (pitS"
orb;t-:;,shakt.rft
A-\' ,$; -2: -. r,.r[+t t
,f5.,,?-2r.J..i
o-r,:
.x,it-l
t J=tt--t - JJ^,- .5 +{ u9 '*l o:L rl- , !l'S-:T ,fili
fe ,e*th q
tb t! ,s6-nbl, ts Ir ,uU.L.:rrl: .1lri ;L-L utu cr-rT ,ss, ;T i+.. $ t-J.,g
o.113^-r
www.mohandesyar.com
/t, s.!jt(r
.\\ -L
JAIF
)ll +i:.py.
oi-
oi-t
di
01
L1
ll,2
03
L2
6loJ-a uSitS. g,i'l.u.Lr.,
sb.r.itl
{Jt-t -
AA
!l ,st^rl!
A-f JSJ
cri-l (J;ki; J) ,ufuts,. rsr;! g-l+ ,Jt#!r^,|
,ti
cr-l
.r-*d
L;J
f-r Jb r
.c*l or..i o:l: ..rt-I u.JJl-! .5-- 5 6slii Ltt u t, -!:,' 4 (.:'tt)t-l .-fS.-i;:
l{-L 4J s fu1 ,c1liS,,b ir,-l .+-tj rr\RPR,,;tS"r .5-- ilicl b *U.1"t5, r'sl!
)1;;,1!;l r=p-rr.rT Jtl J-j'-rr 6c*l au;lclFl, Gl.tt ul .$,-r L1J^LlJ
6lr. , (tJ:, t- u,::li) Gbs' 6r ;t5,1 ,;11 u-l (y 'P 'rluJ"i ;L-:;.' tr
a5.re:r.. ,it.:; I ot::r .jr^! .SJ[J J-p (v)1-r r$;.r.13i.r, e!,i r!tS, d*r
,rtr[^.:c*l or.,] orll- .l gF,F itS ua^^r rsU,eV d^.yt-;l ;lrt
.rl: ;L-i.; E Y s \ 6t.l.1-ez,-. .r,L- .c*l o-rJ- ,s&.l.i .5"- &r* E tsQ tP sr
ar,-l
r.
! l;tS, sr.;tr y-l (Jl)t"-r;;
*, # +;.,i s--# rpd,rJL.;:
,-fi.t L.b .. J-, uhr,r[+a; (w) \'-f ,$.-: -7: .$)c./ ;t:; ,o*l '*;,,i
GLry"S {\} v-rtrhr {"} =*rV JSJ' .r-l t'8 +J-.v
+ Jl,{'} -,. f,rtX- ,6r:.,"^.t .c*l o-t-i ft 0, - " c^JL.r, -!lr lr,-1 ,Jlori o-llr
itr t' r
1. RPR:Revolute, Prismatic,
Revolute 2. Roll
www.mohandesyar.com
At
t+&!,
q kr-rtra
j.j,t 6U:trtj
Y J--i
<--l>
Y uLoL
(-iJl)
.*_-# J-L 4r,srbi Lrs t-
l'*-
t2
!,rt.l.1t5.,sl!
1-f JSJ
L,,
+k5l
tr
t
Ll
L1
t
(v)
(.jJl)
.u5it(.
cs:t\ +
!-u, $d, ,crL:r.r c^,1,^ c*;
,.ri:.rL,l-rKt ul.*:6[:l [-;Ly
..)*l
,F g.[nr[ \.-f JS.i
,.
tl,. * vJ-- ,r*r. Ll ,.u
J"-tr.- ,-*j
,sb.
;!l
i-1,
.5-2:
\L uhr,-rh t'r]iL"
a
*nt$ c*l .r.i6ty.c,-; qVE a\y i:t c*t U-t,t-L,t t+T 6sJ
"l-:.
(-.
,r
; r,rq. u-,-T\ {/[] =atxa: J-- " tt ;l ;!y.> r i.,-i r {. }
,.r$tS, qjL. tt ctrT :l op: d*r .5.- 1 ,.W
s.r1 ut+lFl .'F
";J -b;:
'i-r'.,
.rl:.2f c\4 t15,,,r5.JL.r,
ilid
;l:rt+T q J-> -.r,rt-6; ,l 2 u* Jr,(.,,-Irl) c!r, cst+L-; a5+Jo.r
J-L d dJL tt .4d 2 u* ,sE-i, tt ,t-F cL+t-L 6Gr-r- 1s ,t:Sg
,G AL4) jv ,J*L
,'.-, J* I d,, Jl .c*l ,;z d;:.-rS 0; ,ul G-F i
It -il-41 u,tl5rltL dr 3 4: j-> d-1" r \.-f Jfu q;l.L -r,_q {Y},rr.rt41
lJ
www.mohandesyar.com
/t/
sS=iK.. ,.rbr;l.r
4Jt
ir-
.Jlori .:l: ;tii \ \-f ,$.-i.1: L.b ,s6*|,t, ..lr, c-r.
0, 6 +J.t-r
!, F-ri- Y .1 \ 6lr.1e,^.. .J-l i;, ,srltu d, t 1'- o\y O-l clt
t, *r Jr ilrr jl ,r,2t b.r.:t 1'o l-ti E q, t-e!..:-l jua a1 ,-*,,S.f Ct
.s3i l:-l,,'l 21
0-i JLr r
;1.1:
^S
rrtc/ ilJ!, (,;-t J J-L
a- u;tl:)
ui-l
oi-
.f-f JLr:
fR .,s.it(,(J;tq..i- (-i,jl)\Y-f Jfu'
cli
e,
01
g0'
d2
L2
tl3
RPR
a\st clt Lt, rsU*lt\, \ \-fjfu
I
Lz
.Lb
L 6ll'^i.-
-* /L,r5;t5. g;;! \Y-f Jfu
www.mohandesyar.com
1\ ,rt sfiiKr dbtti.*t-t""
.St'-lJ r-.p.sl6il,,IS"- t lr Y c6t.tn5,r5,r,C"r tF_S Y5 \ 6tr.pz...
,.SJL"i t,ta,_r-ltt.5+J +j.t-,-..'.*: (v)\f-f ,[..iyr E::1. gr-l ,S--1,'. ,
.r}*l $, ,S\ ,-&-t ,flr j:t ,Sjly: ,Jrl tttu .l; dr;, :J,rr 6! .;l.rilJ.i
t5- ,,;tS" u-l clt. ^t'i6.:-'-5[r u;Ll;bL.: hb,.rhr,rh d.gr: ;L;
.r-tT d-ra, !, {Y}: {\} 6ta,rtft-:;l .j''l:;- c,JL !* tb u,--\, .Jr,:- J
t(-,
c^{.1 -1r
cD ,4T -bLi .stor!1,:
*r;kt Lf4; ,ta ss \ f-f
JSJ
-2r
.t{,g r;,,).21
2,6 u,t(^,,rl5 cJL-;r
cls,6,,.C", IF-$"- 2r*r,
.:b;;l rr f,r c.^a- 6lt aa:-..,r :.llgtE:, Y : \ ;t-L ,slot1.".,,JE u-l -1: .:-21:
.r{i;;l 1.5,.ur,r, itg hrtrh vEsl 6DlJrf.-, -Jl3r \f-\';f5"-.c-l i/5-.
:1>.3,-,kJle,.)t;
..J,irbL:. -)t1 c-6-1
,'e,
,y-L.6-ru 2, ,.:"a2 d
I
.jJt ;r Ll ,..!t .t:.;L *
;rl-i,t
1.,
-&-t
-JL -rh
*tJ k.2) ,c*l
.SJt^ir- 0-f
rAt'o ,jSJtS"
Lr,-&-&-+buL+ rs1L.L *
rt:n,,-h,c,r-lrr
"l-:.,-rhr,rh ^SL rr\ r-)-E d*rde ,:jLcl
jli r dr-r1GrlJ,_.r5"- \ b t-p,r5,st$_+
cl ,e.'rel p+lF
.n,-.t:Tn cdr 4 " tL dJ (#; lt \| 6t3:a- 5
"
6tAi!
az: Lz
qz:0
02
= -90o
dz= Lt
,Llt rsb.littF ua*x
ol=0
crl=90o
dt=O
Gst
ss \f-f
az=Lz
o2=0
02=90"
dz: -Lr
JS,J
www.mohandesyar.com
/tr
az= Lz
c2= 0
0z= 90'
dz= Lt
.L.lr
,r{jt5.r ubr.i!
ol=0
0r : -90'
dt=o
{Jl-ir-
1Y
a2=Lz
a2 = 0
0z: -90"
dz: -Lr
6[nrp e: x rslt.&-t Gyst \f-fJSJ
1U t .rt*-rr "t*'ltt
lSu..-a,-f; {i - \} -. -rfrltr; a, c^.---i!, {i} fJt{t f l J+ ,'.r,lr,S l+:_lr,
.-,.
6U #
hlrr-bU,rV:1.*b
cr-l .r: $li
r-l ,,/cJL 1'.FS ir,*-,
"1,_+
"1,-+
,c,!-u ,fl) ftfu tt,-&-t -;.lrl.u D:c*l ,=it:-.S,- t{.; :l ,*E ,,}r-p G\t,
q ! ;tr:r .SJL+ 'al: , Clrtr ,L.b * clt vntV 4.j"-rd L L ..slo-r: .;r=,;
," .q-\T 3tr5I.*:r),rcj 6tra.L--, cil b }t { .el'r/FJ- usa 1l:'-- n
.# J-r; ,\r u-\ ;\ .i- f .tf ,'^l|3- ,-e;-t'^It-rkt q nrlilr I t+T jl .5..A- t{F
c-\ o:L g1Jia.. e sy. J.r\5.- L.!
i\id J
,-ir.,...
shr,rt+t) L!,
| "D(L',t GV =n'U "
"FJ
r"l\
^5
:\
.*!
J:j;l?;fll;ilFi
{l "* W ss clt {n}:,{8},{P} u1V,s4.nttf ,\0-l ,fSr;:
t+, r,rkt t ,slt,J'SJ !r-i oJ.a-, :t 6.JF tF { a5 +5u5; .r:-l orl, orlr
tr
.5.,-,: t+- {i - \}
=*rV {r?} -*r$;eti;.llor: fJ 2 5 X ..sl^1t^,
.c*l a;-1rlri- + JEc;l .5.-yr {A} ! {8} 'tg: ,-,eh-e.:-l a;-1 i;lll I ,.r[r
r, {P} ! {i} c,:6- f trl" ,,0,41;i11 .rl9' .S,_.1r , {Q} ! {P} *.e'r$ i,:E
6t^./l:J,t ^S ytsl c#rre lt r-# J-+ F+b+ 6Gt-r-.7r.c-l dt i;lll l Jti:;l .5'r*-*.-\,-! ,ri J:aj {i - \} rr,rktr, !, {i} -. r,-rkay: oJ.i t"-ti
iL:;
,-,.
'-'P = h-'?
ftr ?r ir
\-r)
www.mohandesyar.com
1l at
d
sdJt$,-rtrr,i! .fJLir,
- \ JJr'..
.{R}: ,{8} ,{p} .,tV csert[ 6$t;
f,*. \O-rJS,r
t:
t*,p-l-'? ip
(y-r)
ai-;t
:-'r - h-'? $r flr
:c-Jj
t (f-f1
ir
.f
(r-r)
4,'l I d-.,
:-'r-Rx(ai-,) D*(oi_,) Rr(0,) Dz(d,) (f-r)
*
l-tf = Screwx(o;-,,
.S,-
,r
3;l.r;l a, Q
,r^'61;f r:
aLi,s,t$_rn cr-l;l
oi_\ )ScrewT (ct,,0;)
(0-r)
rscrewe(r,
JLi:;l .5-_ tsLr. di
d) (Jirlj6[^; .J1./:
.c
t?
a5
lue*, urt; * ,r.*tiitr, Screw .\
www.mohandesyar.com
/U sfrtt5w qctr.r;!.fJL:.- lf
pt+l t
,,,6.1+,(f-f)',\bt v-*j-
f
l-'?
,0,
-s|i
c|;ca;-r
c|;sa;-r
,r,.o,-,,
I ,d,r*,I
.c*l dL-:l: i;lll aJrru ib Jr.rLr,
n-Trl c-). gra |-tf
'
tl;-r I
-ror-rd,
-SOd- r
C0;- r
\l
C..;-1d,;
(?-Y)
t-t
,-rt+t"+
.t-f
J'fu,
a\y
,slt \ \-f ,,p*:.1r ot,i orl:
Jbr
!!, .-rt^rlt,;l ':1-a,- .l
.o_tsi c*),, t L.l, t
Ltt
".
(P-l)
tlat
ta;!L
;# cr6-t- '#
g_rl,
rr
iL:;
l*^'
i7=
-s^er
l'1' ""
'
: :l"l
L""l;l
I
.
_\ _
l:
-d'
lT=
r "\o r
l"
L'o
lryt
lr
l::;,
":'
|
L"
;k l r.!
-:::
":' ",
t'-r)
l
,,1
o o tl
! .|, t+i c-ev ,z*l ;:a.,te!t .,5,sLd-+ 4l;zs',T c-)aJ:1 ,r,
6-rk tr) ts.r'i *r,rh1rr, a, l-5. +! ,"1,-+ ," ;tQa l:=- g96r.z:-c ,)L, .1qJ
I
.JArc*)*L(.rSri
"tr'
.'(.,t-rr- -,*: t5 ,-f gl*-rr ,,Grl
GLI q il-?,r,t+T t lt , hl., ,sb-nf [, .rrr:T d-:au I t"6.t'.!, ,rhr,rL33 *_* jl ,r,
,s4-'-;l ;.,\-irl ,l rlys6r.|2t,r-rb;l o:te- l t, .r/ rst-tr& t ,fiti.- g;h.Jrh,
www.mohandesyar.com
t0 ;6r t;l' l l,;t-'i'Ul'
.rgl.rrl.r6,.rL"a;
.6ri-.,, f+hI .1,-+ 1gt{-ilt v-*1L:+ ,e.rfa-L. L! t 1;DlJ,-,5 .1,-+
diL-d Ltn {'} 9-;L1; + t t/f } -. r,rtlt 6lys,tl ,.J.1,-+ ,r-tL i-r,t
,-,.
:r.13T
'*r
tst+L-;
l.l,
tt
jti
\r )" 1r... il-'r
C-:a,
(^-r)
.c*l (-;:, nl ul*;. g;tr-;i 'o-;l c;1b ,.jt t, NT ,,,5.1,_+
U-rT 6;+ r ulS, il-;.d,-!:* ,* .sK g;ba*L-- L*;;!:,,
.:_1.91 c*:r,
G$t ,>l-o:.;,- I kT 'r*l-*,
aa;t+
.,iJK) tJiL' i s, spilsLS, Lill-vlrt56L i ?-y
.ia. n ;l 6l^-ca,n, \ ;rltC l, ,stl:T Lr: n t ,ot ,FtS. c,r)\ t,st+hl, Lls its,
;1V; J.a;t-;lrr1 ,,b 4. n x \ ,lr2 .S-- q UU !, t",.i.. 'a-sr,.,.,,. U_l .rj \Laj ;LL
JLfb ,P u_lr:.ot;._f J-ait g;L' I ,tb ,l^+,6ta-2lrr1 U-l'q5,sG.Jb:,rr
r, b grK:6L:i Cy!.-l .Jr-lo:-e1 ;Ll6Lzi *J G:St gLai 'A*l^.. rJ,rJ
.5.-rr t--> J6;-+ :,ft :S-s LSI^Jt^,,5V-b-2:,JtS. d r,
f-olF.rQ,rJL
;l ,;]$ ,sL' I CyL-l ut+ q c16 .t-i ,.5rJ,ilsl Y Ji _2: or-i Ji 6b:l:_1f -;l
.'J ,.+lr o:li-"",I , GW g;La.i t-.+l!-rf,;U; Ls-;:;.tJV
f-i1b:\i=1- , .,So-t^i,. J-L j "S f.-tS ft ,-# r*r.,6,_l;l ,,+.
,-/tt >{t .c-J ,!rL 3 u_l
,*f
("AJl*-r)
S--,.-t-t-{ ,-(_Ji- -r5.r);l.t!5;r
",Uli;'att-,,'
* ,J:J J-L.(,_ a:lr iby,slt & JrL5.S"- :l CK L_,-,J.u./.r6+ L6., J-L
4r. to3\llK ;K. , +-t ussj2. dJ:+ J.: .:-icf o:ll' .l ,sl4.,rh r-e.L.:prl il: :
.-Gl 1pL u!tS, g;t! ;tS. uj'J"l cA. dt151 6Lea-L- .Jl+l;l .rr $lF
'Aqt,,^..;l
-r-sti,
.*b ,-ty,-oat vLoL rl>2;sy9T cdidu 6\,Xrlsrf tryl.lltf ,f-..-1:
.rl: ,'L,rl b ;\-V*. rt ;l.r;f K ,ltt \ 9l-uf K
+ lt tL us.itl. q)\ f c;+ r ..,,t5, ,t*d o-tr \ ?-Y J*,-r, 6 cst*+
.skiu LsL.-bi.,,r:.rt: i: j.61ll*\6 6l ' i-,r g\r-'=-;::l:,F-[-; al-]g y.) a, L_F L \t-f ,$Jyr dlr.r_t*it(;,,Li ,t_ltr..,irg) sL-l.,,rr.r! ryt s
o:l:;t-li .Jrb 15t{:.it^1 ,F J-oi g r:.rl:
tlt +j r-2.1,.,J10J-i orl: ri-LJ
.5'- arlr
,g!,
F"li
.r/ r*"t* tsrr. b o*E ! .li
\ Jl s tj,g ,-tf ;tJEJ ,s!:y 4 ,Ju;.5.- .1:l: ,*r, 6!, le;l.ruf KJtil
l- ,Cb 6 ,c\, / 6b .tj
L*_lrr Ul ,r/ ++ t+l;l ,r** iljL/
el-t^,lr rS
"r-l
www.mohandesyar.com
/U sf..iK. dbi! .(.jt t - \7
gl
./ --\
/'-i
uL;i
,P
s.;l.u!5
,Ft+iL-.,.
il &.rt.{
b- !
\/
15tii
,,,5,
.st^L:i,i=.. 6L{pt.fr \ t-rJS,J
tal-; r&:
'#
ta;l-uf5r[S- cr* ]t.;rl
''+li
)- ;-*;!-u
{!,,-5.r JrL;
.5.,-
r.s! b ,sl,d'r
g!-u J) rfut"t=- ,kJti, V-Y
u-lr: .[r] ,[Y] rlr"; r r' 4r]UJ,Ft+= ,,rl+-+Jo. t' it-f I e p.slel*r,
ltAt" L-r. tUt-;!:,, l+l .rjr+lF JJr ty;-*;!:r;: &iL,'= . ,,_h,
JL .c*l ,-i ;tT,5:!i ,-,,L.r: :l-u,- J ,c/-LJ ;!l U-l d4-L '^-^ .p-Jr-; -b tt
,P
r+li c*)4 ;L-L st-l:,i;l ,y-k+b tt12-o* t "$t^+ r5t^AJrt*.
b6r;t- ;!l ,1r: JL r, .ffcf a*1^- lr ;l-L 6L^i e 6;lxl6 6L:-l ,y L.t
tl-f futy
.t1, ;i 6taL; e r-2lr ,stl;i Lr: C,,i!:., u-l .tJ r+li (fJr !
,;J*L r, 6;l-lf5 ;'t*;,i-r': 'rg ,F &S th JU., g,-l .-r::*-ir
"5,std,+
dS o-u-J ! JE y-l ;:|j,,-r,=5irr-l iltL Jrlr!-r).$lep a*lo.
,JE
,t-l 1s .s12T
6-.r,)
d7" U3r gtl.u
(\V-f Jfu) c,!:r,y-l
Lrt J*:,,,-lrJ ut+t-;
J-L st_lr; ::l5.JCtrr,ai Lb 64nr$ ! ,-!l ,r^^,\A-f rg,-i_1:.(c*l
u4"-, cr!:.r.rrL;11-,-l ;b-i \1-f r[5.:-2:.r*l o.l.l orlr.rL:J tt:t,D:
?R p:;19
:-2lr
u;rli
.C#l
0Jr
,c-l j- 0\ d.ffu (c*l oJ-Lj o:l:;L:, ,"tS--,,r) {'} ,-. r,rQt of +Jory
P cst+!:,' tstQ $U i ;!:,' cr-l t) ,u,:^^^ .t-J.,g ,*, { \ } =r,-rkt ,
l.
Unimation PUMA 560 2. Yasukawa Motoman L-3
L0i : dr - \A"o ila!;,11: kt . -p qy 6lr.V J:rl; tr;rti:.,JU:|:_/F,ir:-ir.c-*l I .,L-.L ;t5, 0i ;rl rt S :tu. tS\
.f
www.mohandesyar.com
1Y
._p
srq,
.;^r
.[iL*:,
:ty'Er
.Ot'
LJ-,
ir::'+)tJl, \V-f
JSJ
5,tSu' F t!-S,- &ij.S, ts ? s,o ,F uLol 6tn-23.-.,r'(-,
{?}:,{O},{f\ ,s{,nr[43 Tr."
s,O,F uJ.oL 6.a-1.2'..,0-elc a,.c*l #
.J:3 c t' t stn
,f5-: -2: ,J.a.:,r,. J-g b ;,\a c-*r 6r fitS. aS utn-, "r-l
.Jlori o:l: 4LI Y"-f
-!-rrr:.c*l orl orl: jLJ Y\-f J.furr,t+r,-,(*? b,-lL.)lL L)t 6l,upli.
,f 6L!.-L ;Sf ,:ylrylri.-!:, (#r 6, rf.'l:-1: af oJ-ri-r.- e.5.-,0P' L33,
J tJfJ'^Lz
u-l
s5 ?
b ^Lt r) Jr I
J"5 clt^.JrL.r f-r Jl,i -rb 6;llt5 6L;"i t ,sLL
'Sit-+
t+!-,JU, tr-ltr tl .,-5
.SJ F^l,- -btt I uil5, 61'-j + J*L 62.ijl
"li{
www.mohandesyar.com
a\
X1 \
.6?" U)i, i,L!
.,5.^;l
'= 19t";fq (fr. ) L.lt rs4.9't[ \A-f JKJ
l_
a3
Tb7" Vto, c,L1 .,rcL
I ci! s."l,.:Ll ak_r.rkt J u$L;- ,s!.r-\\ \ l-f
JiSJ
www.mohandesyar.com
9 $YRfui :l c*: n. 51t- t*
C't !r-&q 6l.L:: f
up u f
>-&.t,F,st+|r.,
:l ,s:f,-.1s.6?"
;)i
LEt,.l)r
ft(..i,l
..r;r,^c
Y.-f
JS.i
t'-rr:*1: ))Sg.
J ci.r.s6*.
qi-
.Ot.
oi,
d;
tli
0t
-90"
ll2
dt
e3
-90'
oJ
d.
ea
90"
03
- 90'
1.,"r
{le
a\a slt Lb ,sUrU\ Y\-f
JS*i
www.mohandesyar.com
.pt, .,Sii((r ub11t{
x-*cr .Ltj
o+
t-r!.1t ,,l5
..i-
t-rk!{ il
-,.r
.$t +-
(P-il Jelrq ."i
\""
t:
lr0, -sOr " "l
.n lrd'' cgt ' 'l
\T= l.
o \.1
L" o o \J
-'"t' :l
,
l':'
)?=l_rr,_co, .l
L,0, s0,' ' ' orl
rJ
trn-lrr,
r'l'=
l.
c0, o
o \
L. -'"t'.
- - l':'
l-rr,
'r'l'
o
I
drl
T]
, ;:l
' ' tj
-co, o o'l
tr-rl
' 'l
l"
-t 'l
'oT_
lrB. c,,o , "l
lr0o -s?o
o
6ry-_
''t
L' '
\ 'l
c|r -s0, "
o
-.s0,
L"
.tr .'-S ^-trur;f ,-#,.1,-+,khl
.,, .rrb .sr+r_+
r"t
rl
"l
-c0,
o o
"
I
\J
,s$-tU;l .i- t ,r-tV v-* tr ;F.r JL
^;,tr)t J,,|fr;,?r rl
I
coc, -cosr
lr -tor 2r - I totr
.::.
I
L"
-::..
o
-sosr
-:.
c6
;*l' fr
:l
"l
o tj
(\"-r)
www.mohandesyar.com
\
" \ d;tb crll rr .5-i1;:.
. ,kJb.l
,? \....rs6 = sin06 rc6 = cos06 aT.,r af
c-rt bif )lTvJ,I-;
r''tsTg
lr - lr lr lT :lf
rr d 4
I
|
crc5cr
- $rsr
_,, ,:::'_
- srcr -crso
,,,, ,,.;,"i',,.,
'
*]
or1
.
.-::^ 1'l
sr.eo
' \i
I
(rr-r)
l: Y ,s9;,'*.,L 3It
7;.a, cQyt s ,{,g =t' f r: !
:l: ,,tu.l ,J_2lr :-7-.1 ,ql-r ,sVr,rt, ,_r-)-rJ J-L
I tr1, -Srr " arCr f
,p:-r 6$ + ,.;Jai
;tlir-t lt tS u-l .f-r. tS+
l-r:l
-c7c6s2
,slt,tls9,ly,7ly.r
L-12;
o \
)"_)"lr_ II "
o
l-rrr -ctr
o o
L"
1-lr:j
or{,q,'.
1(.-iJl
c*-,)
d,r
-o.rr,
\ j
[tr., p,-r1.
all:,J:l
,iT
tt S
ctr=c1cs-s15;
Srr=C1SyfS1C;
:Fct 4 *,
[t t1,,
)r -
t1,
t1,'
tr tr = l,;:l ,;:: ,;:: il,l
L"
;1
1'6
\11
cos d6
l_
= csfclc5c1-srsr] -s1s.s6sp
\rr\=
-s1c6c9-crsr
\rrr
= -s1y[cpc6 ca - fislf - c17s6ce
j ,c06,c6 g[r:LJ -;l .! ,.r ,g_-,,1, .,,l=;lr: L ,l.rl
t+Jt- ,Ft
^?
glt.S;T
-*,
'ft-s''g tS+
www.mohandesyar.com
2t ;fttfu ubr;! lJt-ir\r\r
= -cslclc6sp { slcp] } s1vs6s2
\rrr=syc6sp-crcr
t"r, s1s[csc6s7 + srcr] f c1;s6sp
=
\
r\r =
\rrr
=
-c1scps6
\"
(\
r-r)
r-,r),p;,l+
',* t
;-.
.9rrco
sf 60
\rrr=s1;cys6
-ctrca
'pr=orcr*arcrr-drsrr
'Pv = cl'
'p, = -il7s1; - 01s1 - dtcrr
*-i.r c*rdr ht
,r -
"i,_+
\r ,1 -lili
e_JU
ili li
li]
,-1i.1, o5
= cr[crr( c7c6ce - -s1.5p)-.srrsoct] +
trr = s,'[crr( c1c6c2 -.er.sr)-.s17.s6ce] ?nr\ = -"srr( c1c6c7 - sr"9r) - c17s6cp
7'\\
(s1c6ca
+ cr.sr)
cr(s1 c6ca
+ qsr)
s1
rrr = c,,[crr( -c1c6s2 - srcr) + rYis6sp] * sr(crce - spc65p)
rrr = sr[crr( -c1c6se - srcr) + srrsost] - q(cvcl - slc6se )
r(t = -srr( -QC6se - stct) * crrs6sr
(\
?"\r
=
?"rr =
*
-.sr (cy;cys6 f
-c1(c1vcrs6
srrco)
.syyc6)
s1.s1-so
c,'sr,*a
Tw=S1yC156-CtrCo
= ctlarcr * arcrr - d1'srr] Pv : sr[orcr * arcw - drsvr] *
P' = -0r.9rr - arst - dtcw
Pr
dr-sr
drcr
r-r)
www.mohandesyar.com
\'f
s:r:.- g,ltl
1.:
.5*;t;:
,kJb,
iti 4-t'., ,SrLerl*.r Ot" Lr-c,!:.r,rfutr"-" 6tral-rt.., (\F-f) 6LaaJrL,
t 6lJ. trajrlo. gr_l ..u.r:,r, jtJ {'},-,.r,rh *J. 1, {?} ?frJV c;+,
.tatl-,5q ,;!:, y-l .,5.;L;=* j=t; aJ
c*l
L-f ;L'e;r, lr6.li! g,!-u
jl .5_ ,,-1,:r, u,-l
.(Y Y-f JS.i)
.iy;J
,-J*t+-r.+;.5.,_;!r.r
I: Y ,Jt6!f ".s|.I=.rlp tsh.r*1,.ll L a5:.21r & J"lr5rr d{ rd**.-i;[_1 o:L
,rA;lrq, t*+.6r.-z!j.-,iJf .5._.e;l.tf63: e!-rq Z 6 s f srqJ--L .Jlori P
:-,,1:
6:!T
L._2r A e
c.t:-a
r, ef rL* ro[ ,FtS"
y_|,,+1,r,-:
cstrltr
,.-t5y-l;: jj5b d..r_t+|.,,
.!_laf 1: ,5r..l
o:litr
l+l
g;t-aalrL
,JtL 6,,,1-2:
,rf5-;l
dr, ,F ^L-" J)-r) | ,sJt-i..
6Ln .,t 1, L! U-fi ,s;+r ,tS, L,? .f-.'ai,rr r*:a., L ;)*L 15t_lt ,te;l-uf
.L-Y
;L;r
lr5-rr! ,-,1,r, YY-f Jifu
a,.
www.mohandesyar.com
J^t,
J12,at'
tt
U-l
s$t(, ulrt! 4jLr.-
\"
;tl-r,f ,;rr iL./ tt .{ e*t--. ul-L,St-l:, *J.;r5t
$-S -hrr o.R j! .r!-t-j..-s;;
P;!-r,';l l:
.5',-
t ! Y 6-rk;llf5 6,g-oK-,Yf-f r[5-:.2:
.riu. J.5, DC'+ l} [=''-,1.:*l ,F a;l;l-uf5y-l .c*l ori orlr at-Li
d.rfu 5 ,r5 abst B ;Lt Jr :il-i,-l I J-L..;*l c"ti B D J* ) ABC ,.r,
(Llo-e! I t+F) c^,[i y-:ti, ,sD .ttJe C '^L;; Jr ,F :l-u15,r,5,r, 6r
fitS,
,rSu.
,-rl,r.t1!,
-l
^lr
= AB,
0r:BD,
Qr
oJ..l,
o:tr- .ly-; 6trrL;
= AC,
;l
,Y
;llf
* Ll-n
ar= BC
f)r= /-JBD, l, -BJ
-ulciJ t6+
t) srlar[ ,to *ii
cs!. s
www.mohandesyar.com
\'0,suc,!l
js.A:l;:
0r =
:tdb,
-lJBQ,, tr: lCBD,
gr
= DC
,$c/ P;trr.r l: Y 6t+h, { t f ;l.l;f6dcs+4=, filS, Yf-f ,,$,,iyr
dl,.r,Su, JFL,I- , l, HG A #j c*l .F J"b6.c*l .ri.rlr,JL:;
,.Sr f tfu.1r;l.r!55 c*l r.r.ilrJ / iti Jr f J-o; .o*lc"tj FH J* ) EFG
ilorl LF^-y--; 6b:l; t \";l-i;l6c^tiy_:ti. rsv. ibst G 't.}.J;; Jr,rJ.,,;ti
T = EF, d, - EG, ar= GF
Ar=
HF', lr=
JK
c*l
0r
lPJK,
rh,
o-r..i orlr y_y
: IGFH, gr :
.t:S::l6+.l.. rr l;l-ul5 f;;lS-
oVn
Yf
./;l
GII
-f
JS,J
br.r.-
"1 5
www.mohandesyar.com
rrt, uSJ[(r (Jltrtt{
.$t +-
\"
.rli; .l Y J--L ,l.Ll ,sh ,l ;11116 (.,++ 1 tryl.slr6 jl ,jt 6t tt
f ;l-tl5 r.ts, J;i,-, ol,:-u irt* 1a-; >f 6rK:a- r;Lt!K,J*r iJ,-l rF.tr )
,s-'-J
.S
cs.
6t*n,r;-;l #
&1,
I c*;
d e)
;!y
t-t, 1
c*; f !t 6;+ #
"lr.
,-*-ltI ir.+ ./ltu;l .J,J, J ,f- .ru1r..151 (c*,1 J:*
-d: cEl+ll .,,r
"5"-t+*
UU ."X-,-J.1,-ll,lyl .c*l ;lrl ;L-l,st+-+4., .slrrL .:"),Lo r;--ltl,h+4,. ;l
.s-*C;!r,' c";, F-Fl C-!
| ;l-Lrt^'l t+i ,st^-r:- sx.f,l ,P \ !,r* 0r f tshl-L 6tryllf5
c*) 6. tst+L-L,b;l-ul6y-l ..t:-L-lrr (Yf-f r Yf-f .sLdfu t5 F 5 B 6traLi;)
,bl, c*; f c.&-s: r &b ,bl, c*i.rr .-r!- ,-,9..j +:..i.13r ,t--b -il ! c,t,:,
;rs Jti.;l ,:--- u-l -;:E .l.o:,r*Sr ,r !!
c-*; i e)
f J-L,l.Ll rsl, t;l-uf6:,:-l 6,=a .\'r Y ,stC+!
c;+,f ;l.t!5a;;b& cnb ! aJc*1,- jl+i/-l .rytgr6* (uljl Jr f !b r
,lF!- .JL.f c4U (f r Y Ltt+L-L itS, ;l -b;t-);!l tL, a, c*; , Y t|
.c-l J;, O J--t t L,;' ,, d_-S 6 )Sv. J^r ;t+ 0;ll!6
-r-rb JrL 'lct-,- til) J ! (,at1;l.r;f tS.r,_:ti, ;l 6las2.^- rJ, s,_bJrb, JL
y) 3 rrer.L-.. i-.r:.r ;l tral:L i/-l t+i-l I .{,g \A-f;,15.r,. *& lit\ ,}.-;,.
,"&.steb brJrL rr-l -rt .+l.f c-) /e,\<r[-6*;.J.lyliu .l:r.r5t l2 :r12. ;1
e.;*l P \ uJ.-L tp a.l+' , \;lllr5iL, ..u:lc/r^t! ()r) .i!r"Jl: (&,)
t+il .ilr"il t, J.-L ;#f
s eF ?--p -r' ,,ri --e \. .;t-L cJ { iT
f
"},-{
4J C.rJ,.tf,t
ur;IJLK t, ;l
ft
s (t^r.zy;)
;!y"*S:,-1, ar c*;
* )\
0r
= ftrAr
A,
-.or-t (
P,,
-.or-t (
(krA,
* ),)t _l
*)
0,
(krAr1lt)'-al
-l ar0,
= -krAr - 0, - 0r*
0o=-ko-40*lo
0r
ar
of
Ar
* tan-' (*) *
:4) - or *tan-'
(*)
Qr
YV'o
1.o
\A'o
(\
0-r)
t-sr,i!,#; ts-lts..:*l cr3.:lr;tJ t{ht q hr,-rt.3a JtiliJr.i Y0-f r$J;:
-1:.c*l O = (or-too, too,t"o r") tr-;rlr2 t )l;:,.J:,J)-lryAL uSJti
t\.,t t-j ih! ,(:rl:rp A .J-b.}U. o) f+r .,--ti c 5,b ,a t, I c-f- .5,- ,"rL-l:, Jt,4l
nib .\
.Ar = B' + C' - IBC cosa:ry .u!!
www.mohandesyar.com
\"Y
tp
c.l!_u 1r
;(;l
.o . :tjlbr
.L-Y leS;L_ oLe, 6l-e.[..f { diL
.1,-+.-sk--;L.c*l
oJ-i
o:l.r;t.
-:-l
,t'l
pts,
!b ,shr.rtlr
YA-f u|(.i
"!r"lrr?rti!r ;j;f
' 'l
frt, -.s0'
.T _ lrr' c0, "
\r
l" " I
I c0, -s0, o
tr =
1"" o \
l-:"
l
-'."
rl
ol
"l
: ,l
r0, -s0, . l,l
tr-l':. ':, ,
"l
L".l;l
,\'-r)
www.mohandesyar.com
* ;*lf".,,rbr;! .tJLi.-
.L-r
ci-t
oi-
di
01
01
-90"
llz
L2
0s
Ls
0a
90"
05
!K;!
-\:t hlt,sor\L. Yt-f Jfu
frt, -s|t "
tr
\"A
,r1
':' .
t" I 'l
- l':'
'
-'"'o o. "l
o -\ 'l
t7- ft:'
l"
6r
rdo c0,
':o
L":'
t-*:.g
Jel- ;f 6
or =
l:::
l;:l
,l
,j_+ ,r_;V
','.'.
;):
',,,,,
f,l
rrr o,l
L" o '
rJ
*-ri",.f
1l+l
:l ,r,
www.mohandesyar.com
\"
1 .rrl.rllil
,Jl.1..U t/
e\fjg
,JI
-r:
.t
fnt\ =c1c1y1C6-stSo
rr =
|"
lnr\
.91C17yC6
= -srrfco
1"
\r =
-c1Cy11s6
?n
rr =
-s1c1s1.96
Ttt
CrSo
sr co
crco
SrrfSO
( \ v-r)
, \r
- L\ Dlrt
t lY
- D\.)Yrf
Trr
: crrt
Px=c1(11c1
*/rcrr)
= s1(/1c1 * lrcrr)
Pz=-lrsr-lr$tr
Py
;tr:r u! (+t-:.- (Jt^aJ:L ,!:-./ (-/-+
c-, ^' ;lxlS 2r[L.2lr7 J t J-L ,ltr1 l5l'^Lr. i .f-tf
1s:
-,.
Jl .7:f r-t l, a\:, c-:6r ?*rV rsJ+J.rt(, ,}^oL 1l:r;;l orl;-" l!
prrlc*t * !,-r-bd)U, +,q,p51+. 1., Gr6t;tS, t# ,;taL tst-lr t;L" { r+li
.t-t-t^. !l^J;l .lralrL u-l .tr5,g Lrrg.rt5r 6L;i +b ts:ltb6.sbi L.t , .5
.(++.r t \'-f U-rl .,xl6ltL.r. r) cihJ )l ,)-; 6h.J:L, .;l;o:L
tSJ-Jt& aLJ. J) -r) l,
;tViy
lr5rrL-
zLr Jt ) ,f-tr)l
.st+b tl .st+f,rtt; A-f
6lt ,S;"* tst{,[; $ ts..up .-L, ,t+trr, fitS, J: t r:r5 6rl1ly sE-. *
.,Jt f V-f ,$.-i.;r .ttt bJ -b-r, ,.ri 6115 ,,sLzi s ul.yrl a:-2l.sL-|, .-sl*r,.rt{t
.ulf cf r .;'.1 ,ciJ '.*t ,t L ,ltl ,t't J\y;i-1: "5 c*l o.t-i orl: at-Li jsdr
6 gn.rV i, .Jot tll Qst-2, L-; orl sjr,-.,r,) u;lo.r..i i-f; ,F .tt lt ;tT S-;
)JlJ,,t:-rl
www.mohandesyar.com
/L
sS:Jt(r ,sbr,i! .SJt
ir-
\\"
.:rl.rLl ,shr..rte YV-f J5,r
,slr c*t4 s iy,l .16*. tlly -51 l,c*l er3 o.lb ati.i YV-f ,$--i.1:
J.5: csyuLl. ,-*.r, vr,-rt.63 6., i/-l;l ,:[r-"'l 5 6.JsLb.C*kl ,4;"*
q:*; ,,-\), tsll'(r'+S.ttLr-r ;t;T It r# tt Gtr+,/.gt+Jti :l-.,-l ,-t':!
"l
.-u leF .i: t -. rrh 6., i/-l t
,JtFt;
t+T
.Jlorl i_a;
tj t) YY-f Jfu ,shr,-rt+t
{B}
y-l
,t! ?rtrte
..*l {'} *r,rt4a it^ Clr r' s t},-r rlt tU,rS-ti t-st! iti -r, {B}
;,f,g rbt,&[,-/ " L.lrl, aT ,CG ,5,;trr, Si^2,] c.'*i * v:trh
{.9} ,ot*-.11
-.Akt
,.r.l, Jd. ,,-!l ,6 -*
":J " YA-f ,$..: -2r s t-J,g .,ll ,S ft+.;l J.".. ,, {S}
c*l gt.-,. r,-rh .S.,- tS) ,s-j c/ Ltt c,!:r y-l;l 'r5'rtc-l q a5C-t+ b.c*l
l- rS
-* **rV ,-*g lt -. r,rkt U-l .:i--J.L/ 1te.l ;l a, q:--"; ;tr:., Jttl +1f1
)Su.;t* "-t, ra[.4.; { # ]2 'tft,--l *nt+t ,112.a.![.r - Ft -. r,rka
.Gr,.,t-+)
www.mohandesyar.com
\\
r-;l.rjh.,l.rgU tl ,sLAf.tV
tltl wntb
g.
=r,rtlt
vr.rka
.tf:-l
"-!
.:r,-rh
.:.rl.r;L-l
cshr.r\t LP4;jl JL-
YA-f JSJ
{V'} rCnr.,) ff u. .lt;kA
{N} r,-rh cll ,,(-r ,Lj .s-f g ,P rot .,!tS, .st! !, ,J-r-T ,. {W}
sritr e. ,S y'laL;..rtb {W} i+, q^tr| .c*l (!! u-ri { ori J-, !/fJL6;)
c*J ;rT cSn S,g cJ.-ttl !f u-rT \ {W}..*e:,r., ,lt ,r-J.,t o.r-,[ /L
.{W} - ?rT -;T ,-&-t orV a.l--J.ct or^:rjq
"_L..rr,_rkt
,,-,.
{T} vltl -.9l;Q.
ef
c*r
.-\:1u.
c-:tr
6
Jtr -!1,
,r-tfu
P,rrb
-!l qlil..rt+-l +L {f)
o1l2-r.,ltl
.rr.r orl: -2f ;!l ,rt*-.:K;t S-i u {f} ir.,. Iyr,. ,r-iL
Jr,,,ltl =_*rkt
v*}13 ir", YA-f ,[.: .2: .trg,-a,_f;d-) 6. -. rr[13 a, c^.---J
.c*l o-ti o:lr.2f
,r_21:
d*r.l: -!:.1 3 ,2
{G},j-u ?nt$
..:*L^. rl+'i:+,:r-l ..ricf .i: j,+t_ Jb:;l ;tT +,-\u L ,-;rhlr-q dt,jtS, {G}
c^*J y\* ! {G} .>; OrL-.j.u .,.9;L33, ,ltl vnrV.r,-[., ,cSr- ul+rl ts 6
www.mohandesyar.com
/t/
sSJtf.r (.'btq
.$Lir-
\\Y
,fbyJ) {G} ?-fir[,YA-f ,$,-i;: )Su. Ltai^L.t(:--l *atre +
.c*l o.ti o:1.:.1f ,r;3 rJ! jl ir.,, t -t-t1
rshAs p j.r-e-i c-5[*. ,>,-5.s;16;iir+ ,iltdl.t;'\:tult-t- b
u!r1 ar-1|-sL-l l!;r ,l? n Cb -r, ,hr,rkt u-l :l ,rtr' "l .rJ it" .'ri rrl,sL-l
b".
^S
.Lt+!:, JLrl s-r[:-rr ;1srS c'-,-
:c*,ta' JlJ.l 1-r
;!y .rt u,_t+Jtt g=:*Ajl .F_
.t-**, .5-- .1 c^J
Gtt' Jr c*r Ls;+ r ,[S- !) :-;lr c-: rr a5
;*; l {"} ,ltl v:?r[3 ;L-j.; ;l1lr,y ,-S_t ,-,rV a, ..*l .-t:. .>l-oi^,
,"1-))i c*rru ,r(;tt..- s;t^alrL jl I, u*f .Sl .d a*l^, {.9}
't(:--l *r,rt+t *
jtn {.9} ,.*" b {f},(g--r,_r Y J--i r, .5;Q) cr-r5: ,stS-+yl o:l;- .l \
rolie
.ut-+,lcr n 4b 1 ,.1,_{ 6rL iJ:t,. }
F5
,srlil
,s;+r
,.,tS, 'a*|,r,- g-Elr,.l,.iL + '.lr
+!
(.r:t, !U $
^S
lr - ?T-' B*r {r
( \ A-r)
c-l ,rr!l gtt+"+ ,ftts (tJ"",. .,) WHERE eb;t^ ebr: (\A-l) ilrL
: utS. WHERE eE ,*:r YA-f ,$; r: xlu, ,w lr t! J^. -&-t ''rV + ,
.r: slri ,6 -* p + c-*; ,y,,sf-+'=*
6tealr[, n-; Cbrr (\A-f) ij:t*.
u-r:a.S"-t^;-if "1,-+.c*l pt
,st+-l .,t le-'J h r) itj &.L l, aT ;,lj,-t d) ,-r5 ,L+ .s- ,l-r I l, t+-+4.,
,std+ el .:Se a.-l-. lYf ,),_+:) g_t+ (srry t'c-&_' +r,(f";_.g;)
"l
i:,,':1.r, aJ:L g2l .lt-, e I u:"=i, s ulFl ! ,r,-t".rqt rrc/ ;tS..l L +,j\l
.CtS oFt,t(:-,-l
=-n-,V/ { +
*_U,
./t -tr" .:,Ui-)"
\.
-t
c,t-t^. 1t+l uL 1;"! ;L; *)i--a;:,rli.'",1 \y fl uItS. .st"r,i! jl ctQ,tt
c,t"-L^, t, 6 iJUJ JtL 6-rtr-r, JLd;l a, ,,-in u_l -r, .r;l: c=^al A-t-,=.{r-, c-,.1 ,Ji ,-/ ,$J -br: (\ f -l) ilrL q ot. tji, ssJt-::,:tr--"| ,rtrS+ Jj,g 6,g_ti-'rjl .,5.
lL:; cU.DU iL;; t c^,U it;;
":"_[1]
:l ct*6 Ll2- 3$r;o:L JAt q,s_/t5. ,stQ-1r .c^,-l orl,n' .l :-75r q't#J.r:l:
At b rr- :.rl.s c:V e--ia.L-r;*-1yo r, ltr,r--J.,l o:t!-l DE i!.i; ,i[
"r_l
6 gl: tl .-uJ t^}i:,
-rL*3 { Lr+ ,trG uur* plL J ;,l.rt+, d,t -L^.
www.mohandesyar.com
\
\r
grh
; lrl.l Jti &E"-s ryS Br rS+ utl.lri:. 12;,c'*l j:*;lr c4U iLi; F-L; ,+l
'lLju ;,r,ot .i-[; ,slt :V.yy. r.LiL .sl*= rl.u; ..ulo.r-i d;t:.3
6r * 6. ; l
;r,_l
.[f] c-l
,drl ,st^rrr!
,rLlr
(\f-f)
rlu;l;r,
,.r31 ,,-hrJrL,.2r ,tA-{l;L
4J ! I f t ?)e 6t+Lr
i*l-- j$:l !-; ,:-11: dJr uzf 'a4:3!--. ,k U-|.:lr
,,Fy 6te-i:,
"j.115
;l ,-(;L;l ,s-Jrf\]- pt+l ,sD .t5,1 u.J* ,;t-l;t-L, fK:"-r, t+-rt t
.[o] c*l ,-* ciJ.SJ; i-*S
q# s e* ,P- 'l,s-*-*) JL"-' el, { Ltt,d,[.-t-, !c.-y ;t-;-:a
L-[^,. ,t-],il,J:-:[ ori, sjr,_.;, Jrr;l l-*6 i.EiL t, d ,ltf r, ,CF g,_l .c*l
a;-r,CrlF oLis * e.,it J*e,L : cl-l .rrr .lii.f dar)4 ;l;6la-- L
"
s urfu,_st+lr+,tJ!l ul0 ; = ._il ctQ.tr vL::.1.e" iljL ,:r6crt,rlJr ir:-.r
Jr.h -rr Cly y_ly-rh, ;rJ l+, ,s2.15 rU ?J .;ir,g eFi ,,LiL ,t e-#
.src/ ui^5 ,\ uf" JLj - L :: t b n#
gi* 'r,*l^' jlj ,-t-*5 L ,J.
c*J t ,6f;a- ul-t-; .-r!, ,(\ f-f) iirL r.;L ,,rS--l '=. qstral:L, i*L, -2:
:, t+-- a:-2;l c*rq ,c,t-L, ufu5.str:., jl ,;_.c*l .r:! ,stS u-lr ,-T,r c*:a,
v-* J* *l t t+ d ) c*l rf.JE v-e.s-- i-L. LF: .,.rLl) ,-,-_tl )l i-;f ,h;l) t+:* ,i,-riorL .r,-tl |, .ti i* st aJ c*l #l .(r.rl: ;! f J,-s ,- 3
.rJ vEcll lu-l-r;!*.c
YF
,c+li
L_
l1l
8v
J. Denavit and R. S. Hartenberg, "A Kinematic Notation for LowerPair Mechanisms Based on Matrices," Journal of Applied Mechanfcs , pp.215-221, June 1955.
12)
J. Lenarcic, "Kinematics,"
in The International Encyclopedia of
Robotics, R. Dorf and S. Nof, Editors, John C. Wiley and Sons,
1988.
t3] J. Colson and N.D. Perreira, "Kinematic Arrangements Used in
Industrial Robots," 13 th Industrial Robots Conference Proceedings,
April 1983.
..trr1tdl
bw*
J*r.J"_
-jx\
[-
r:Su,
J* Sc.*l;Vi..,.;;L.;
.\
www.mohandesyar.com
/L
t4l
sSJtS,,
ubr;lr.$L+- \ \f
T. Turner, J. Craig, and W. Gruver, "A Microprocessor Architecture for Advanced Robots Control," 14th ISIR, Stockholm, Sweden,
October 1984.
l5l
W. Schiehlen, "Computer Generation of Equations of Motion" in
Computer Aided Analysis and Optimization of Mechanical System
Dynamics, E.J. Haug, Editor, Springer-Verlag, 1984.
t6l
C. Ruoff, "Fast Trigonometric Functions for Robot Control,"
Robotics Age,, November 1981.
t{!t
t f-f Jlt 6l^^;- citlt uSJl ', 6l.oalst [\0] \-f
t f J^-L iT.ts ^S x-r=31 -b t, O?. L* r.;[ 6J^U uSJtS, (J;tq[ fV] Y-f
f,, uL! 9 45,:S F i/-l +J et .c*l ,* ;.,,_f"-tt s-rsJ--j" .S,
6bdrL .ti-S-b t'b dr * jl*l -t-!;.r" tl .rl.r \A-r r[5.,-?rr
.+.--i ,p^t cpt FJ krt ! ,L e i/,-l .,S.^;U':
,r:;L,c-l c$ c:lr jti Y1-f Jifu,r, d6rlTL.rr a- t ptS,15tq [Y0] f-f
c:l-y,K-t r3^-:t ! \ J-L rr^, ;i t, 6 -r['ii y-l [ ,c*l f-f Jb, 6a;L
.t.r:T
c-r
4,
,s6-ntL, .:-11: ,fr 1 'o tlt ,h, Y .1 \ 6te-1-7..
\A-J; t t"j"-l.r) 6 +5*.-r .*_rsi c-)A u*T ,sb t
h|
th e_f_7: _1 &---i
I
jVIr
Y J \ ..st+L-L f"-f ,$,.:.,p: rJ-.i c:l: ..r[]; 6:li L1s
^- ! .s-uitrr, [Vf] f-f
c-:ttt -1r t4Lo.L'a-^,tt:v. c.t_: ai;L ..sl61ly 1.1 Y 6taL-ir: t'r lrr
or.i c:l: ;t.l; J--i LJb ,* c^a1 JS- l, d +J o. j .r:-..A tf -k
y\,-9_' r.rk { .+5i/::-ttl u-l cslt ! {r} U {" } klys[nrkt .*l
.t^S
l,
,l-+ ,.st+.-- tV
k-r1r.tla Jl--il J;& t ,7, L
",-;,* ;tT + .rtsI
'rr
c*)4 l, lT :,)? ,i? ,r,,5
11c-c-.J:--i 62" Lrr,;!r,, .-J=;l-t=- 6tralrL b ,sl: a;lr-l2.-,llt] @
-Vl-r)..1=e: ,ia5;til-r- L b --r- 15t+Lr :l-r^,-.i,5 ,p ) J:S elSS
:45;Gi ,E lr
6tral:[..
"$=;t-i-.4
Procedure
I(lN (VAR theta,: vec6; VAR Wrelb:
fra,rne);
www.mohandesyar.com
,(f-fozi)
YR 6ll''-)..
61;l Y1-fJSJ
t-+
.(f
-f u-l
fR u5Jti ,sr;!
;l
,--,;5s
f"-f jfu
www.mohandesyar.com
/L sfiiK. r.rtrr;!.$La"" \ \t
rUL e^" ,,L^c pFl v* iL; A l. rlt b qiJl- q* +-L* ;fu:
r) ?;-4 ivj "tl \-tlj.lJ|l.p + j& drl:,;.--.j ),?-r4 iLj ./rrr L
t' cSl .+JrrL* w-r- iL; f \*l.r,,:r b-.r i.-t^, rg.:rrrr .:.--J;-b
!r!lr +^li )V
uLt u2l1t c)1
=-i ;t-i * 2
f
-r
I,
,.af
Jt:. 61,.;l;-l15tq Jtl
6treJrL 44i^,r:_t y-; [y. J
b
,-f
Procedure KIN (VAR jointvar: vec3; VAR
r.blr
,,L'
741 9*
iL.r 0 \ tD.b
qiJ
t-
-#-;ffi,i
,rj* +-t^, ;L;
';rit jLj . tl \ tA, bF q.rl& a:l: c:,-..J ,v1it jLj "/fff I
:V =-e iL-r.lt t e*.v1>.t-rr( -btt w*;L-r f b pt'r&-t i*[^,
9
It al r +-,-i
l-l
y--* g;tq
'SJL;=
.5bdrL J-
lc-3lr ++lf
sslrl 6lulr2y-; [YY] V-f
:.$;Gl
iJ,:+
Procedure KIN (VAR theta: vec3; VAR wrelb: frame);
tbb 5 .,Ll 1.1 ,*.* iL; 0 l. tlt b g-# s v* +*l^.. ;L;
) ,?-* jLj . tY \ tU.l, 6;-*t + )tu rr:l: o..,-"J yF iUj " /fff I
iL; -r:3 { d-r t' u:r .t-rK,_bt e-e ;rl:t l.)tb pr'n:.t e-t-.,
,et tt+ ,\*,,-/ Lp,.t YT ,r-tl.
!r-.-i,lr +rli jV v*
l. ,S rl.,.l;K, ,f \-f Jfu.r, [\f]
@
il.lr$rl ,:i J-J:l o:l;- .l t -trr, .;,; 1b
lbrtt ZT at(..2: 5'uI 1$|r L-,.r.r:,r, ,Sf
,lt.t-fe J.trF-.r! t {f}: {G} .JI.rr.5.ojr..!J5, rti) ts-lt,
,ha-[-- L-;,sJ 613,;l;l ,rL-; t-rl; ;rli \ e*f) c.,tr:r jl(, ,c^ij
,87 t ET ;rtt lh ,ft tr .rF.f O.=+- ,.-Ly ,.J=-tr.- 6tealr[,, ,[.+-,-i I, W f) ,ltl v-nrQ a:;eT c*r + .sD pl .J:.F ilr[, ,^.
,(Jl) fY-f u[5..:.1: or-i o:l: jtJ !L:, i:lL uqtS, ,s:t\ ch t\\]
:c-l u+ tj,T v-* Je;, .tlo.r,id*ra, )T : \T C L.lr,,l,-+ st+*,_;t 012
(;.r^) cb- il)l1t I
c,!r,' .S;i;l .F..rJ:t
.1
ir=
l r/.,"o,
|
d.ffu .llol:
c0p01
':'
-c?ts9r sOr I$0t
-s0r s0r -c0t 11s01
c|t
o:l: r.a-ai,- (v)f Y-f Jfu, !;t!,r;tr,7_1.r, hr,.,t.63
www.mohandesyar.com
.(A-r
,(1-f
u-;l
)Ut
4-l !Lrr
t*
v*rtl. 6g f \-fJSr
s-r;tr.r,
hr,.rl+t f Y-f J5,J
www.mohandesyar.com
JrU
,rfiitf.,
grlrr;tr
.SJLr.-
\ \A
\} -. r.rtle, {'} *:tr!2 ,01 = '
'Plb tltt ,slt.c,*l 11
,h_"r {. } *r,rka 4, c*; !, :rt stpl iti 4i
..r,-.rrJ c-)& GtV,xSr,
: ull, dt,r$tr.- 6bdrL",(v-r ua) ,$i-r l:5rrt- c,!l .r!r [rt] \o-i
I i-', .(.r5.*t-, lr ;l-;..st-ly l.r:,1 .5;l ,st* t) b t **rh ,srJ*r
)t:.,L.;r,
!t $
.'-J.e ,P
ts ,f*..st+L'b jl ,-5- .t-rsi c*)d, ;54 cr*; tgl.uf Ky-rti,;I
.5-*C.J'lJ I eiJl- v*'7 2 'pt'a'L-1 2t '+.* J^t ff L{i
,AJ"...,- ,t-l
Srt--.- !;tr:,,c*) e. .SitJ *ta,ff-f Jfu-2r[ \V] f,\-D
al L)tgst"rlt, , hakt .c-l o-r.; rrlr sLi.i ,lli .r,k Ll ,-u.Su,
.(+5 &l ,stlrT L.-;: \"t .;r;t !,*: 6.) l--pT cd54 !, ptS,
o.l3,s ;:lj6 t 4- g :|..plF, ,-'tf .t-+ t-l ['A]
-,aLl,rV *r
:rJ ,l* (t-f) iJ:L,;l o:l'' 'l ! ,(0 r ,d ,0 ,o)
i-.-2: 0 t ft u5-itS. c:t\ cslt, t&1, ,st+r,rka Jt-,'l ,t"& t\O] @
.+5 cr*=*- .c-l o$ rrlr ;l-ii f F-f ,[5': -2r .5 g;rtl
a) asa;-l)L,rr !,rlrcr ItlS-1, !; ::t cF itS,,ri c.f .S;U 1t'1 \f-f
C"t IF-JS"-
r5
r5
6la'o---;)
.(\
r-L.i
lla
!-f t5 ,X
L-sl: a 5
L;9r ' l:.l . t-t' J*
\-f u-l -u!t ,- rf. \ lR c.,12 ff-f
JK,J
www.mohandesyar.com
\\1 wP
---a'
trl
a
lr
.(\f-f ,rr-l lRPlRu$tS.
cjtq .5=,L-
'.L^,;l ,-sJK uE ;t, rr- t .#g...,- (c*l
dt+JLf .h 'a5.- j>t cLb l* q .tiu ;l o4K ;g
rlrp ff-fJifu
Jr^.,5.(;'^ t.f bi t
, ,rh 'r5-- j;2 6l:-b \ p
.4:-,-f.r aSacSA,
.SitJ J-r,a;.56:!T L1t a- t
.+S
.(\0-r
u;l
,st:\,sltb L.lr6hat1; [\0] \O-f
"StS,
,c*l
oli o:l: !t-i-i f A-f ,F; -1r ,JI
C,=.-
rn utuK. 6r!
.5=;ti
tta
f6-f Jfu
www.mohandesyar.com
rtL sf:i6,
r.strr;L
.$L:.-
\ Y"
.sb;!t,r +J 0*,;Y?-Y JSi .,l.'..i.r;trr., ,sltl, LL,4*rbt tf 6l(@
.n-tsT c-)4 l, ;rT L.l,
cr.,.i, o:l: ;L:; lV-l ,fs;yr S Llr- ! otrr,, ,sltb LU rsln.
3 l.i@
o$ crl: ;..' lA-l r$.1:
Llr.- ! c,!:,,,s0 L
",ilffi'tl
"r^;^*,c:.l
.+S
.(\t-f u-rl
.(\Y-r
u-l
RPR 6l,-,i.a
RRP
alll ft-f
JSJ
2L 15;15,6;! fV-fJiSJ
www.mohandesyar.com
\Y\ 4;
---ll'-
(\_
-Ki
03
--ll"-
(>-
-KJ
02
.(\A-r
ori o:lr ;r.:;
or..i o.:l:
lt-l
u,-l
RRRTTL
r[5.i-2: ^S !!.r-
jL-l F"-f Jfu rr
hb
ptS. 6;L fA-f Jfu
! ;!r
Lslr
Lb rs4ntq" t\O] @
.45 uo;^-:.. ,C*l
- !,-,tr, 6lrL hlys!.nj41 [\0]
Yo-t
.l5 rai..:-. ,C-l
or.,.i
o:l: iL,, f
\-f
Jifu,Jr
LF,,a f Y-f r$;;:
or3 o:lr
bL
-!
-t,r, 6lr.lr hl., rs4.nrka
jt-r PfR;!r,, 6UlJ hb64.nrlq [\A]
,tl
.(\l-f u'..l
tf Of
.LS Uo;-L 'C*l
RPP r.rL
Ft(.
urjjL
fl-f
JKJ
YY-f
www.mohandesyar.com
/t/ u*it$
.(Y"-f u;l
.(Y
.+5
PRRTTL
,rS;l$
arl,t
l.1
lJt-.t-
YY
6gt f "-f JS.l
\-f u-;l PPP TTL ,!tS- 6;t f \-f JSJ
,F t a1 2 ,d.s,dt stf* ,kr,rkt g,-l t oj
t',
.+5
c^.;l o*'-;+.El Uf
.+-:i f-f J[l,;r t'R 6lui.-;!:r ,F-t+ 6;tralrt,. b ,sU 61a.[yy-; \
(Y
www.mohandesyar.com
\Yr
Wf
\l
\l
r
I
\l
I
I
.(YY-r
,-.
f,Jl.1;
a.,
uA
PYR
u5jt(- 6rtt .5=;L: rtp f Y-f JSJ
r*i cdr 6. *frh)
:4J;tcT
?frr$.5'-3 6:115 t;LL.s[-1r,,-r-rb
b ult t-j .-t-rK1-h t ,a)r L (.,-t.
Procedure KIN (VAR theta: vec3; VAR wrelb: frame);
.c*l
q c-*; c*r e. -. akt) "*f J'-+; awrelblr .1i.1: o5
Y)aK..1ls,1
&-, (Y x Y) ,r-JU -!;1J5.'-,i aframerr
x
uts,a-;r.c-l(Y
("-[,
vatfi
(r x r) ,f-" .1,-+ .S.,- \ b Q3.'Ja;) frame -vlycr
lr )'o70m:c-li,r+,-J=t(.
:
ai
./r = /r
6r:.rl
^S
,Jr,-t^r
g;a;[;t--;.:-..+, ,'!-Li.c*l [" " \]
.rJq.Lr rK:-,-l rr,-rtlt 1.:*; btlil1ts, dr-:;; 61r,.L12-;
c.*l ]-t .sL-h, ,l'V gglt2,a,,1r211
.Y
Procedure WHERE (VAR theta: vec3l VAR trels: frame);
LEt-rJ $ c--l ;;,
=-nr$;rt^a;;.;l +! WHERE
:YT ,-st+.-.,--"L y-:b .J:5 r:ll-. "l ,t.f:*t a, l-i tlil ,F t-t-.. ,.sD a\lt
ys ,r,-Lra-l::) ,>,s,o+ iltLr. r L *V gr-l) :.9.: .F5 t,rlS itjL.1s .r,-! !?
t-! -. r,rfl,t s rltl
.(rrrT
LP,&
,{-:* t r'. qS
1. Global Memory
1.q.|.1
cslt rtfr-,-l
-. AL6a
.5,- J ,l.1,l
WHERE
w-t?.}4; .5.-
.f
www.mohandesyar.com
JAt ,5Jt5., db1.i!
:.tilol3
5Jt..-
&-y; ir+" cr[i!;l ,l515li:
"l
{f -fx y d] = [.7\' /yr "r"f
lf -lx y 0] = [-.7\ .ty "r.f
.....-J) il
c\-fu, ar -/) ,t-(-,_l *rrh t +
[0,' 0t
[d,l
0r]=1"t. 1o/o -1"r.]
0t 0r)=[-rr,r -i'rt"
fAr"]
ldr 0t 0r]= [\f"ro lo,o \Yl"]
,lil c;+ r ,lS:45 a-t-, (-.r,
\ Yf
www.mohandesyar.com
J^t ,,(.-]tfu sb:;Lr byb.$t +*n-ri,o
\-
o$ i-,r, ,t*-,-l r r*i b ,lll ,s;J4a r utS, .Jr.r2i c-rr, ik-.., ,rj+.. J.ai 1t
tt-f *U u$tS, c:t\ d'-t,st-lr; CFb cd)J) t, ,c',trrr;l ..r::5.rl,c''l L-;
cu r -,,, L ,;ljcf
,dg dtL b ,sttl-rt 'aI' , ,J'oi ,s-l ,t.,r-rlr jl +-i
"t31
;!*L at-lr.i ,.K:--l r,rka d, c^,-..; ,ltl wfrj+t .JL c;a4-: ,[S. l*lr
.$k -, + b tf ..-.j f uL-i rr :t/..-L, rJl,r:,rr tl; u=.;trl-l.l: t c,t rr ef
dc rrJJl, Js:l:"SJt-ir- J; u-lrt Js,,"-),., . irl .., f:i;-r,
r, c^-j {T} j7l,-,. f,.rt;tJl-t-l clt:V 49. uf&..eU:, ;r/l+ t}--, &
,-,.
,slt
,r
) ,{g
a*t-..
!1
.rr,.rh t + ,{W} ,cs) 6. val{t
.# rt+li orli- 'l ;1;le J=;l-; ;l ,'l'-L,rL-l:; crrt,{B}
,"-1,
! ,ri.r, s rj,g rt.se ,-F*,sWy*-,.rt ptS. r"::*"*rJj
,ri o:lr gtral:L .n5l+, b 0" I ,. - . ,01 ,01 yrti.. ff g,rT g;r.lc r-tb CFlr
:c-l ;4 d?" Lr, -lrr, tt.f tt Jt'al:- a;, it=r .x_rK, -b I t ( \ f -f) L.L I
( \ f -f) q,[.aaJr[', ,(.u:...r
cre-+ ;Trl.)L rl*? d') (JiJr JlJi, \ ? .t12-cu iT ;;;b I
.xtsT
c-)d,
b 0,
e\ 6bL.-st-b, r +5
b ,
www.mohandesyar.com
/U .,fiK,
,Jbrrt?
iuJlJ.S:il.i-
\ YP
o:;le:,(\F-f) 6Lrd:L t ltr 15t! $U) u;r!iL.-rr # tt ,gt:\ 15l-,
,r-JU c*i;l ..r.1 c,:-). iJrL. d;l drh, u $; Ll .,;;l: ,q+l* J:*uF:
.2lry c*i;l ..ui d-)rJJ,-: iJrh, r.- rl,.r r,, ,.Jrl.. u L1,l.J;lJtf:--. )T I abst
,b* tll:L g,_l ..u-r:r, Jsi b J:* r,r q rJrlt. ui-: .1*-r.S,-,1?r) ;lS,
! ,tl*r, + L-ty (\ f-r) .st^alrL ..r.:[: .rlr, c*l gS-. tdT J- s .xlc-,** s
cart *1" o L- ja l.)t ot r-)ti, tl tst|..1', Srs.,*r,Jlo:L ,Q. L.b ,s6;-bL,
a5 c*l
tia .c-l -b \ rh 2 Ltt c4* : kb g]?]*l:l rs-rL* .iF;.,,,..^ .r-T.r
t
r5bal:L'. ,l-t;}- * t,lr.-st"r-lrt. Llf ,.,Trr.f) ,qjrti L1:
+l;;5- clt
"iJ
"5
u;lAaJrL.6!-, f tt dSiU-.rr: sl:i (\f-f) 6Lr*l:l*. ;l;rta,rt*,,S=;tr...
tgrJ,tral:L, ,F G:re ,ct^f.u ,sh|.5ry r5;3,t+l:+ ):1 {! ,.1*l J*
aJ:L,
'b*.:j-:
l,#b"
,r!tS, q)L. Lrg tJL ' :
I?r
,o:L ;L 1 .:.11:
t ,.rl:+ ,:tr ;.rr L- ,:tr
'Qr"t
.Jr: rl,rr
c^; | ;T c*l -rrti r,,tr ,g_W c-*.J c*L:i il u-^- 616 lglzi
.$tr g-16"Lt
t-ft, L-;
6l*;i 6:9Jer-e_,p:,jJ.r aljt+ ori.1.-r,-'^L:t; ^S c-l ;T
=lf
,6215 6L-ai : fU t s16 LsL.b3 :sf tll 616 6'5;l itf l.i- 4r ,> c--l ;4. gl3
a^r U Xltg;!r,, ,-14 ,s-* af c*L-oi ;l u-,,- ,fL CtS,sL ' i yirfp)
6ry *L ctS sL'I )l &-p.r) *-;; i/-+ .-l5 l+. ,r/.r ji t 5i 64-;&+cs-\'c-rry aJ c*Li.i ;l u.t- ,J-tr,f,ts, ,;K g;[i ..:-11: op: ,5]a- o-t4
,/l ,eS 6lzi.Sc-l .r.u.+t_ f,Fs jl +,r1s;+.5.-yr,,lrlo rltA
.c.-l ,-1,.u-;;: c5.16 13L ' I b-l+t-j
-b tt ,t-;.c/ or,-.r \-f J,fu, rr ^S ,t 11.l,. r, ! roL u!tS, q)\ 6rS 6La;
.r) ,:,1 .rep Y/1 LL: t uS-_) t-r.sF, ,sr5 6A) o6;l ,/, - It Jl .t-ri.
:r+r.pL 6',6 6t;i oK;i ,/, # t,, Jl.c*l i.r-. iL;; l+.; -,rL s.,5 g;L;i aSJL
,,l-l, Lf t /r * /r ,Ar; LA + qJlaiL E ttsF: rgr515L:l j c-*?lr .up;
.1t 915rr3:4- st t-i.,gF.r t-srL(g;Lai ,f-l:.1:,dt+ 6-,ry tsD,.sl.up l/'r - /rl
.c.-il: .up ;t5,1 g;rfta. ..! t# ,iT cVj.r
-r
(#r 0.r; cfJ , ^:b;: L f;tS, 6t)\ 6rls 6Lai ttf tr o.* $9JL .r,
o
;r;l ,/lt.st+;tS._1r r5fLy:,.u:5,r, ;rlrstY?" roL,rs.ili 61i! 6lCl, i..5
o
-,:,s$ 6La;,-u,[ # Y? o ;l taL-.i ;1.,5t L-51; d .ffu .$l.f 6li;l ;-r.l;a, r,.l
I
,cSf iil: y: Ui.6 a.t-t-1c-l gS-, c^,-)Jr!. ,1l_l .$ .up fJztr
,\- F
Jl(..'i, ,, ,iU. .tF tU ,.!u t j{-r ,sU ,g_Q6-* ,,sl+_;J4-:l$ _rr ,JfuK
Jt-l-\\
www.mohandesyar.com
\
YY Jtt
;,r!
.lr r lr
iil:
sW* + kbJr r^L
I,r
"S;ti
g;5! \-f JSJ
S ,rttJ \A'o t+- y !.,t , y?". .r;li \ hl.. Jl
6ly 6;r+-.i- t{'s ;l;l ^ti } i Ll,:31 .up # ! )t s-t,sFr csy6 ls3i
.c-l #*, ,gV cro
r ,ti i_itr,.r-tL c-tl: 6:tT L.r, ,F :l -J lU uS:rt(, ,sil\ S,r,t("
.J.i c:lr al-:;6l-.).o cstt:,*,.ri
.iJa tsh (r.s.r+L Lsl6.rr) sf G-;Je
"lrti
6tL5 jl ,*E; rriJr::,{L- ,g-i-> ti izJv;l 6.21- a, c^"-;.2rli \-f ,fS*i;r
q'[ !tS, 1l qlr*;t5 .5J vEi;l .ir^ jlJ3 \ jl-..:,e.$1. jl-a ! .iJE t4T Z ,jJ3.
,r5u, ,k > azJp;l 6.11- _rr d xy,l-26"1 6:!1 4.r, A L- f ! u*t":r! ,uril5
rr I-! l.r_t+.;tS. ir+.+t- ,r.?> (slr& u;L5-,r) .,15.-rt+- a, sl;; Ll
,G\a ;1 c$ 6l;i,.rtt.JL f .tj ur*'; lJ t+i.sr6 6l;i r ,-Jtt rt-f I
Ci:lr L .:l: + 1soV;!:r / +t ai ;rl-i,-l a5c*l l-at1;.i-;l 6l^.c2^",.1-;
,st"r;t t, lttrl.r, vJt+ (J;ld:..- ,ilr fJ[-t? rt,.,.r,t
,t:; ;l FS l.r^t
",.!;tS,
!c-l lS .'t,s-;-: *i.re
=r;h u--$_:i :'-J.,l Ob, 6>liI Lr:
'i
1l c,--- f t3i + l:-:,rrlr Jc- -o rltl
=*.rV Li-a; J-;,- 1 ,.9t5 15l
,J.JL ,s.c- ji.l,st+-l csltttgFs !ti; ,b!r-,,.1 'i-rry_* u-;-s LV,
s;-fs. pL+l ,1t uItS. 6t\ irb.SJti.-l .l"-t^..-;l Jf:*. ,*+rlil .,1+
,rr*gr-* .r"--& -b I L ,{W) ,g. rr,rttr; q6 6l;i +! ,.rl-r, ;.ir y: r4=:J -2:
*r,rka ,sl:l+ s ,5;J.,1 \A-J; ,{T} ,r!l -. r,rh &- ,r-Pt;u ,tV c.* ,sl:l*
t-l
'C.r Cb t cFt,,t-l w -s,i,g a-t^-. {W} -r,rkt ,{G} ,ubyfu ot,.
qS g;L;i ,dr y_{ !:.11: .,lt,srS g;Lai I {W} cUk 42" rs.,r(:4-r rlS,
^S
o6;T,(. S 0r S \A.o)
-,.
.l
www.mohandesyar.com
/t, sSit$ gbriLl
d,c,tr:.,;l
,l5.rk-l
..:*l
.S,-
&1.1lJ
"{it-:...
\ YA
lL--l*. dura; 616 6Lzi \,\--J,c -b tt r-l--. ,sb,u
&:[i:, ,sjs rlSp- ({"} *rrt1;) ,l\c-rry ur5csEi t:
;fil.r- ,13;rLtr.3.tlt ,srS
g;[i Jr g. -. -rtrtlt
,-,]L,.
6;+ : ;r$ -Sl
.c..il.rlrp rf.::rh
crf*+ 6hb?
t-Li-- 6haJ:L J- t, c*l ;;S- ^S ,s-3-, il, ,
Lsl--ai 6!lr,,r,-131 J-L uL.slA^;-o g;tq.t-.c,-l
t rl;.r !r_;,(.r.:! ,L-; iT ut+l*-i Er csrblr.*Lu ui.-rk.L1l # S
Gtt- t)
4 Y-f JSi .r.t l+, ,-;*r r5i 616 6l;i r[-lr _2r .,jt5, ] + @
,K..r, t-cl+ 6*;Tr:.f $r../ ;tJ I Lb -l 6la.J.- L$)L
;*,s;+r
6;+ r ,tS. ;Le t ,gQ c-* i*t ,sb b L/rr (J;l:1JS:i, ,h::i' L; .y1, ,g,
ctiu-, ,s4lr:-2-.e ,-\,-l ,,i,i
c>-l +ai- rt JrttL c$
..Llr,r,
,-i,ti,
,.tLl.,i
*lf {
.rl,;cl t -lrb l-! th[t p
b-:
y: .J;15, ,sr:L. -5l i{:. .c-l J;".,.rt.- ,r.U*l ,.:l:+ u-jt-:i Ll ,c*l c,rLi:,.
aly ;tT ,sl:l+ S ,gln,-r: .:S,- B ',Li +L ;rI el*r .r:! A',.L,l.r, l-f J*,
it f-f Jfu tt Jl ,u;t u-{ .:: .r.rp ,*U. ,JB.;l ,4) ,,-:.. J-L t cSr
il uS oic*L-.,11+ c?-l ..l.3 J^li vE;;l .;1t o*!; ts.\J=l ,.r.iL r:Jl;u:5,-3
s115,,
-tt ,srsqr^,-, rt=r, ..r":tr
.tkl Jl ,-...r-! -r,,tr # ;tS, rl-ir,- .iyls.St'-t+- t o$ ,:l: 6r17e 6lra*t:-:
DleI'1.*5*|.t;lL J*L g;Lai tt
a,--S'._r] xl..,yU r:,_r:(Jl , ,] ldl
=l:t
Sti L.b a- c-l 6* J* ut+!-r, ,)u, .r/+ -* -t3n* t bl-;L/ | n*s,-r;n
Jt.:--l ,sts,, ,s,2lrr .-u-lL r*l: (rr,' ,lV ,s-* ,s;+ & ,sl) *;
hb - :
)Ss.
LPlt ! 1-r: cs-r.rA3,t{;.-t; .kl, -
t ,et.-5=,t5.,sl,it, Y-f
Jfu
www.mohandesyar.com
\Y1 Jt1.Jr!,,
.srtf tL + t\ s,Ft crL ,B iLl ." ,ll-.r 6lr; ir!.-. J-.br, jl ,-,d f-f Jt*i
,-b', ,.,L;il et J, : tj tV *-t 't-t lt: ,!G ,afl-r;u v|r i*t^,. .,r 1l:
,5f ob r tt ^Su;t_t--rr .J-ts o:lr cJr> *f tst+L-i .ri-r, o5:5,J rrlr
e*J
C^r! n$ril vl:t ltj,t-* vb;;l {!i.29rr.:l:t +t rttU*,1:1 .-.,1, r1,-.j
lIgL
.r.=5 .'.b , ,f--, tshl9t +tS
;l* {! ,,f .:JL t> .t-;.,t CL * tL tt-it
6+'(..1 jl ,B ili; ., i{-r t-s!r l_! dc*L,- il+ et r5,-3,1'-f Jifu, 1s,c-11u,_J;
.:.ri c:ti:-t
6.-Lt
e,o; ,o;) \!,sL^*tt,;l .*U Ll ,:yl: ,rfur;tr rsld"-i:l-ri r,,ttrLo! rl.u,d?. Vr:.c,!liL...^... ;o ,]-;- E? )U-L#, (c)rl J-L ..sr.i! cA,d;
,F'trrkt f-f ,fS.J;:.ril+, tr-i-s t+- .,;; ru r-jrkir +-rt.-r a ll,lr,r
ori orl: ;t:; ,.u.rrg, tV s,tl- d-q 6;J4-: itS. -rr ! ;trl c*, ,r(^" ,^f
J.,-T .p {. iT t, $s1l::3-e u.S-t J-'b,oJ.i c:lr;l..5 J,,t ;lL.-br;--..;-l
,r-Je :3- t csr_\ .-s.r^.:!. .a-i.Ll2, urL
"1=1_U,
1,,
0'r=0' + \A'o
o'a=
-oo
0'r=0r +
#rt c-l iJS-.
(\-r)
\A"o
btl, d-5 ,.iu * i*t.5U,,*ju-r.
.-li::ti ;le J-',lJ c-:.r ,tl:l ,ft,L+-i. Ef 3#
j{--,,,-st+lf
rl.r,;,-uL A.b-* L.lr rs6--fL:lu +},,f cJL;:
t
.t-t5,.-bt ! c)rl J-L rP I LstU,FK.g;tLt>{L.r; sl:i ;ini .i$
a5.u:,r, j[.l.; O-f Jfu
;-LL.\ a; j-ar=;..st"r,!t, rl,r'; L hb":l.u;,.^,--f V
"&
L1:9 rlJzr-e
.+i
.r.21: r1,-.1
hb" rlu,.-,--fL,r:!
h.i-rt
a;12sV rl.u; a-,1 .:-2lr
a!!
(tt #
www.mohandesyar.com
.6?
" Lx ,slt ,F'\
tV
JfJ
[lr- s['-
ai
<4
cl=o3=o5=0
(t3 = (r5 = 0
or=0
<8
o;l o 2rti. iJS
.a; a.o.i:.,1rE.
f-f
l.:
ta,lr-:lU
<16
< t6
i-:ti. 0-f JSJ
www.mohandesyar.com
\f \ arr/{ J'
st+l,a; 2
J- ,/t
6sliT aL1:
,:;
,rsJtt cu\ cD.,c-JL U--# I .rrr $lF
.[P] ,[t] +[cr ,,h-ljl \P t- oS-. q5t+h rl.r,,- ,415J
tr ,-rrnL
irjJl*r lr ily.r l, ,F-*
'*-r&l
6tral:l,,
,ut;
h,iu
6trrJrL
.i};r
.r;3 c:lr et,rSJtS" .st^rit,
,u;-rrAl u#Jtn, ! it* af (:.71s *lra) c*l J- ,,1,U .rfu uSJtS. 6r)\ f
.tY]rJ ,F t ,_brr- ,s;+r ulS.. + Ltt ;LL 6[=;,. u;brr.l-1.,'e-r
t-r+-f i6.l- .shl:+ jtt'r,
,t-oF v. ^S c*l ;i d-Ji ts
e*
"r-l
'l--l
,stl$
,r!:
,b ,sb
.s)lr ,sWs, it :l
i=^.o \ .ptsl c*ra, I t+T i^o ,Ilt?
i^a Oit 6lr r**a; tt',t ,ll rtls),r/,-"lrt o:ll-,.1rat
uttS,15r[ U;tr.drL
.r;lJ :.9-3 hb"
.r.-r. .p rS\4,i,r-r L,:3s +L ;;..,,S=1t(,,st^rr! 6l.ral:L
J- .st#r, Li-ly:
Lr
.s)rr tSt+j:,, _.tt S L+T;l d.r t--- g)Js ,F ,S\+-,f, r
ts,I.*c/ rlrf-;t
,--l -rrK,-.- U;lglJld, ,i:: -rS y_I3 ,-r;la:-, gt*l :l 1'tS tQ t+-r., ,-r_l ,rlt tJt
.f+ru; ;t.I 6:.lc g;le:r1l o:l;'.""1 a 6hi)tc
u;t^.JrL ,F ,sltitr-l ^S
"$L+jS o--b;l 15:rr J- ,stf:,
*[:5,r-l 6reLe.r il 5 ,>*l ;LL.jUtL 1=, ,;LLc
.(+-r b [\ Y ,\ \ ,t] (J't+'-./) c*l 6-rt,jan,vl5 tll t: .d,g rlJer-e &n J- ,spa + b tf ,* cK.+T t q, tl
-;Jt- f i--.-1: 6laL-.r-;.S,- J- t ,,rALJ,st+rk 1aS,t-l ,* n, p + (4:-r
6* osJ st a ili.-/1, + J* .st*r, .c-l ,;+,,.tlrsr!,S f c; J al;, .5
! ,rs ,ty ) lz; ,r..3tr .i.j, ."r tsr- b rS+f,:-i y-l .r,_l-: .# FJ- s-s r
c^iL^J -,, t+T d,rLL- ,u-D\.-rl*,
t' +. tiur, ,F u-l:l s s-rcr rt* ,s_r+ .sr+-rr.t
*
t i-r- nLlr. oS t>*l,rl ,orl Jt-t l=r-t^..- ,r't;l ^S fi.r-15
'r-r: ,-F \'^" J r,r\r ,.5r)-J J drs u\!-; 6 .4\p:-.-,-- 'u.r ,jr: & .,l,ti ;l
J,,.S,-,"5J- o,-l Ll .r\J- ,-!.\i.ri.r J.U, .f{S ur:*).S.,-r:b,sr$
'a-.;r,*L.: !.-sl.+!:,
llj,g a5c*l uov,tl-t t, t+-,.c*l 15)J.c
J-L utu U-\'^{*sq,-r;l::e--1 d*: t_,JJ^; ,F,lrVi,sltd.tt+!1, .rS,F
crrrr 6$t, d;-l * -b.t;-f,g Ld^t *t'o l . t, )tor.rl&**
t-,*tt,
6bal:[. 6 t]
'st* It a\y lL ,.ll,rJ*t^,- c44:.t )l t-Jc,isrt"$["-:1''-V
J:.rct
q
ri
&l: ,l^L; ,Frl, ;rT
r^tL cr-l
uJ+ rat u5tt5, .-st"r;t i;l!.liL
"lJ^i
t*+L,stbI
www.mohandesyar.com
|V Jttlt/ .Jlrrrt{ ;u/1, .i/t i:- \ f
t4l;)rh. ) :;-*,C
'fV
,i5;.rir pti
o:L
cstrrr!
i-^
!-j;
,r^bS
.J.2l.r
,J*L; .5hlr"
JL-rrr
c-l ;l ,riL r,:llr .,!J^; wlr,4fJ ,P
! d,t! .5;l cslr: jS ,-*;
"p
b L-; u-l ?-f u4.1: .15 etr .tt 4 .r' !, .J.,--rS-_ ;l i_t ^ ;l-L ,r^.r- tS
.L-frs. ,-r-l! oj,t,,l ,S ,stbT L.1s ,r:.) ,o t ujjlS, gbr,i! L. t*-F
dg tfJJ
.llgtli. ?s,6 ,f sgla,12^.6r" Lrj,r, ii .lr;-rlr gtli. ;t-L
'*u
t,
n < ? ,>Jb-l)JALr,j$tfu 6r\ Lsl,^ata;gillJgrl,, t-f
;.t^ .shf,.rh Ltr,*, :l otV,r"t ,Ftt, .sl! f tttrF, ut5 u;l.ii
J-trrfts, .-116 g;[i U-l ,(n < ?) g;)bl L1t nt .l-rr! 6la .,*,1 ;] .,,_t o-j;t
dr;tiL" .-;.5.b.1r 6r!l L.p n g/lb Lsb;1; .S,- ;l u.:i Jy,oL jl.i,f
6l;i,c*1! 6l;i ;l Lsl^.cyo,-1-j ,tl,bT L..1: ,,1--t ! rnt ,rSJtS, g jj\ 6rS 6L-.ai
e: 6!b c,!r,, csl 'i.;--j):, .c*1[ ;l 6L;ir,- ; 31 6l^1-r-r-; y y;L ,Cy\ c$
;r'-l il ,,glrs2r,--..r,-: ;tT C$ U;Ui Ll ,c-l Aede..i- ,\-f J*, tt L.ll
"r-'-,tz,i.a
lJ
.tfljf ;t :*r:t::;j:5.*;''''
Gtv,i=.{,6r!T L..,, ".,
,sl, u-l-1
iT;lS, i.u-rr;t.! .i:-t n;l c*b rt1:eb,ltl w-nr l- t
=*rV
,Jl5u.rt..;l lt 6--,:rE, '+5t+i d.rfu ,tfiT,-5 ,rt tbi lJ.e n o2l Jl.c,-l
.t-f ,t tta.-l,L; sst 6t 'tr-'
.+{c^-- (f ,,t-r)
t-f
\-f JE r
J'*,-2r o$ c:l: ,.1t1i.,^t
cy\ cltl.,
"!tS.
:5-;,1 LF"4
tj Jtf
| ",
Brn
g,tl
lr,
f
'r"
L.
-s6
c6
to
o
gL'\lj
ro
/o
o
':"
"*f 6[;J1;
BwT
Y-r)
ro
c;+ d , ,t iti y , x ,,
.J+!rrBL.5g. -.r,rh |.:-ig rh_l-! )tf c1t'ir-j,6 st!,x L crrt#l
,rSJtS, c:t\ u-l (.sr6 .l.15;l q-rLi-2r naurJ 1t 5\ 6li1::l AVrr,r-2lJ ! (r-f1
y_rU.. .1rl:
r:-".i t, ..r^r.r .lLi; 1l \b u_rT
;,T
^S
www.mohandesyar.com
\rr
,'11
<, eJL.lrrrL s*t(r
621b.
6lzi1; srljfrU
;l qS 6;1.-.ai ,rilr utd.ai, J) rf-f
t&! J* .t$,a ,lt ,|V a
.xrc/ u:rt5 Vi g il 6l*ca.^.y-;
g;t6:,-r1.r.-.
;s2l
Y-f JEr
?-f
,f;;r
rJ.i,rb;LL;6r!TL.r:
j: L,*ti,r5*;ti 6t! { LyiT
6t"'\t-;
.+S o..:,r-ll:
.pronc
=l;l
(r-r)
L.J
..r:JL rp r.2l.ri, t slte A s t aT.2r
J-r* U-j,r1lr r5,-9 d^1:3J.* 6;+,r
^f
jl'Xr J-r* ),c-l g--L qy c-119..t'Y1 g*. lAl U s r t d-1b (k rt r-\'2,
n-iC C-)dr L* y 5 t t-*rt ' 2, .-r,-ia cryral 'Y, x'2, ufrf v-r-
f"'l
l\ffi1
'2,=Lr*l
.!br, t ,rLr.tt,r5;tS.61! r-l
(r-r)
rF-;
www.mohandesyar.com
J^t..
s5;t5.r,Jttjq AJ/lr.f/La.- \f
;rr:.7
'rsli
f s
1t@
'ryt _
fr
o !/'r+u, -
t ' '
l5l1 l;-3 1t
(0-r)
'l
;l ,6tl;1Lt, n t .r"L ,f;ti ,s:r\ *,slr i- i-..,drr'1.r^*.
,njL
c;l: ! u;r!i L../r F J.ti rl-,.t-, Jl , -&-t 6-r il .t-*,g
,rl5.JL -2:
al-i,t,,Jt g1i.1: .i.u t .n I ? tt r"t uStt(, ,srit 4 ! c^Jlt 'll*
;bl i-r^ *;t(,l-r- be ll: ,V,'\ 6Vi1;.tr 6lt rs.&-tj-rr,'l--l .i.u uht
o:U- .l -,-lri.n
vk;l ,o-l a.d:;;u
,.-rrbl i-1: ,r2J jl ;J t gsf t uSJlS, ,sU\ ,.slt f+li 6.ffu ,rrry rr-*
:r9 .ul5t ir+ J^t ,-ir, .i- ,,qJ a,.r" # ,st+$
- j.u
1,-;t{",3",# *ntV 6r:.:l: [, \
fislnca)4t,sr* b 3'T AjL-rn
ijls cb..u! 3" I a{:;r ;tS,l .u E : t-J tlt :t\ srl:i tj tt to,T S
.sf atlrl ,*-; -!-tl ;n a.S.,_:;l
lt to,T t d,g J- ;LL,-rUl, ;#l+. ,sAb;r,'b .,So-L-:, .6balr[', .f
6l :i ,: j-u 'e A hi-lr, .t +5 *; .f-n-l ,S+ -b:-25,r j-Ia il-;^r,L.
.l-! ,;*r *. ,J.lf c-l OS^. ,J.3Li tt\ C$
2,,2-L:. -h try rti r 1., J12l -.,'-,[.6; ir., l.t,l af c*l i)bl.s ,,rlf cJL -1r
1, &L; .r-J=Hl ,c-l -h try ,s;+ r 4+ E lr J* J'lt c;q- ,tr
,/y .:ylr ,furnt .J*ti (J;t! Ll:A a Loi tJ'+6 rg--t-) Y-f : \-f U;qjti
.sf ;r=a;,:rtr ,e tKl.u trr; jl ,tr 1-! I +-t^. Orl lL+l
q'tq .5.,- oL'\tj .s)) J J.f;T.2t .5 s-;:,g ,fJJ. JU, ,V-f
,:
";-;1
t,
o-r-i
c-r
y-5^ai
6Ji1'^-rt C, ,l u!ti"
;T,rl; 4t U-4b,c-l
;!-L.st-lr; ;l
.#.-t+, ,r)L,l dS-, b -b c*tr. t r,rt43 u_-ri_ti q r;! ,rFt S I,
.rJ
.-.
tr
.-.
qsba,lrL,
.r-rluA ,Fob,lrti, Jt cS;,,> ,holt f-f
b ,slt Jl:i, cjhJ J) t+i-1.1: ,,rS-;L; 6Lr.Jr[.. J- t .-<gi uh,- "
CC tgrJ 1., t| a- I 6la.,J-o e orL rot ,-JitS, tst! .'i-
www.mohandesyar.com
\
A .rr.r"r [g ].b I o* b,tt
,s6-nb|.r:r! u-l .-r,-J -b
6trrJrb.. !r.pl
I ,*
utfr J'r!r(
,J_,u J,..i _r) d b \b.- ! lL ,rS;tS. 65!
..;-l cr,.i rrlr ;LS V-f .,[5; rr ;tI L.lJ
c-)d, cb kb ,s!,rzlrL.:l ,.u clf f i[--i .,r S i,
irJ Jl:t tr
uti',lr;!u-l ,,S;L+
Ce
to
fcrtr -srrr
o
,-T
B ry1
"w'l
= , _ lt',tt
lo/o
L.
ptu"l
pl .r5,sk{+ 6 d,g ,rt
.,:,i
ctYr lo
o
ro \/o
o
o o
,iyls.SJLr=-
lrcr *
lrsr' * ltrrtl
Irsrr I
":
di
0,
01
Lr
02
L2
03
ci-l
&!,stnrb!
(7-t)
t;F 4 fr; Jjlb, { JL
ai-t
,"'
: k| u L 6leJ.o1t ,r$tS. 65! V-f JS-i
www.mohandesyar.com
/L u$K,
dbrrq
;gl1.l.jt;. ' \ft
r d*i g. -.f,.rka ;l 6la-;":-, J12,ou.,.iJr iti rap .)5 ) J;lriJ
rz )Je
i.lr l& a=*- ,u.lsgla^).o:t\ an.l"*f .J,-+) c-l o.ul;r
^-L. u$tlt
+ ,U-bq.(c*l +X Jt^.1 .:*J .',ie.r, I !! c;Jl+ 6l tl,4,g 1lHJ Q :,A
BwT.5;i
ustt
il tfL- t ,y'-+ .,-^) cd)l .iJ^ 'Lz.,,"-t erte^,,rtt.Jt I b
r-[, -. gl|.1;
r.-je -b t
c6
Brn
wr
s6
o
'oo
65L.--
-sp
c6
olo
olo
olo
(v-r)
oro
\/"
oo\
\ .t;-J,V (V-r) il:L, iL
,01 ,01151+L{a,
;PP''"tt L ,h ;l u;13;-)
,(V-f
)r
(P-f-) 6trel:t,.
.ul .up
;:11|;
a-s*
(^-r)
(1-r)
= ctrr
sd = strr
co
z=/rcr*/rcrr
g=/rsr*/rsrr
(\.-F) iJrL
01 5
\. -r)
\ \-r)
:tJl.#,.+li ,F rs-* Js,.aa' L (t t-f) (A-f) 6LrdrL.. JL
t_*,t 4,-5FF-.ri- t .r-r- t1o!;.r:.rly t t (\\-f)J
U
cr+ u'=l', +tl + Y/1/1c1
(\ Y-r)
Flr#.rtf*.1r,-; u;Lrrtdl;l
;T
i 6
c\Y=c1c1 -S1sy
s\r=c1s1 fs1c1
+Tcr
ca)a L,t+ q
,(
\ Y-f
.'= xt*at-tl-tl
-i7J,J- e.rFlyr..rJ[ -\: \ i]* (\f-f) iJrl,, c*,lc*
ilrL, J(\
a5c*l ;i
\r-r)
t-
r-r)
w\t trsL-)
www.mohandesyar.com
\fY
",
s.JJ&r J>J1
lb 9 cst hilt
Jl,.F-i -b:l.tr.rlfuT *|r+ ir.r b \fcr s,-tls.+ ,:r-l tlr,t-l,',rtrL.
.s2ls j.ri c.,!-u ,frtt treur;l q-18 .i.u iti.6;l ,.uL;
-\ r \ .,.:
t-;.C r.-L, .;i
s1
,r.11:
-1[
qS 6-;i ,[lr ;r .i.rr r*"-l ,_h., \
(
n-l,g
c-)d, i,:+ \ AtanY 6lr-L-irr
dr = AtanY(s1,
CL-
c1)
LV2il
o:L"',..1
o',
\o-r)
l.l-.'
(\
2-r)
cJLrr.t!l f+b4.S;lr.*-r,(\O-f) iJrl^. c-)tc
6Lral:[- J- Cf ,str-r,' il u!'-:1 .01 3sr91c-:4, tt .rflts..-Ell ,l:[
r5la-L.. rr Cb Ll;,2 ;l e
t ,-b 2e. ].L L-el; u.;J s s-i* ,F
c.t.l r-L.. L-sl: s o-l.f c-)/, .Jr[r6hh '"-J5,,.itU-+.lr-h#rrtr- .l ,AtanY
'j,; tlt tr;Ul:, 6t t' -,:
(\
(\.-f)
j:rrT
0,
\-f)r
c-).., .sDlr
6tulrt', ;rl-i,g,0r irj l+, jl ,r,
,F
:cJs tj J.t-te+ bljd | .JrL :, u_l .#
c411,-;: erTt,
,,r5';l '-
t-
<IL1r f-rb
L-r,--
c-&rCr-rtr.9r
\Y-r)
A=ktsr*krcr
\A-r)
;T.1: .5
kr:/r*lrcr
kr = /rsr
Clr
,, ,S "r_l \ .C',
o:[r: .l tArnt
(\
r-r)
-# ,]a jl ,t! U-l :l6ldJrL J- )*, ,,
.1*-i,l !-, /* q !1 kr r kwst+.rb
Jt
( Y.
-r)
www.mohandesyar.com
/u
15$[(. strll1 ;rulr.S+u..- \fA
'13;rT
kr = rcosT
fty
= rsinT
\-r)
o:j o* alie ! (\A-r)r (\V-f) s;belrL r-,.
T
T
cos 7 cos 0r
cos T sin 0r
* sin 7 cos 01
sin 7 sin
(Yr-r)
01
Yr-r)
t-
+ 01) =
r
sin(7 * 0r) = v
cos(7
r-r)
Yo-r)
p--rlr AtanY g:U-;l
z\
I 0t - Or.r,t (fl, :)=AtanY(g,c)
r/
,rl.t-l
(Yt-r)
y*,:J
dr = AtanY(y, c)
Sg-#E
k,
c-)lt ,r.;i ol:.=.i ((\P-f
AtanY(k1,,t1)
rv-r)
1:L,.1r) 0r ,.:-ic ,-rt:6 S +j
j'b gr 6l ,uI ca.rdr j&
6brJrb.-1r r.rui,rlr;L!,JLC+--f.,-q !.r.11j3,r.
,t- loli=".1r 6,(\\-f) t-,(\'-f) rsb.Jrh,
01 e,.-tli J-r; (YV-f) iJrL ol3;.,T,, = A =.
t:
,h rslt,iu,(r\-f)r (r.-F)
-St.4e cdr r, ,rge )V
sl.i cs-rl=3|
(t-f) r (A-f) gbalrL ;l orli-l L. ;rl-ir,. L 0, s ,01 ,01.Jt-lt Lfr ,f.l.rr
trJ,.:-t.,
0r
0r
0r = AtanY(s6 ,co) = 6
YA-r)
sbritr c,l.rL, J- ffu.1r .(Jl..ul c-r., >ti Ot r 0r) \*,g J4L fu Vl ;l 5
Lfr t)13,o*. af(YA-f) $L Ct+.rL.c L ,d^i., g 'S.,rt', klt - t-r, ! r"t ,r(;tS'f'-/. rt st4strl.* 'c-l ;LL 15t-lt
www.mohandesyar.com
\f 1
s.r.l;.r Sn2
[b 9 srt h,lt
trrj:L irf .I,_Jj ;l ,z*l JtV,,r5*;l;, 6t-rJrb, ,F ,s-* s7,21 ,ut- ,*n
Js-c.ra ,l9l.s-. s-J:^ ,J[+JL ;l ,ql=-;(J;! .-L3t1 r-r..3 ,rbLl il J-rb 6 Atf +
tfrJ ! tulrL itl;r'-l;ldri:: ,jb'. ct-li.c-l :3-5n (rs.**\ Jld, 6tlJrL;l
.c-l ,ul 6riUrfst+L.f ;,,-l;lrK_t r-r:. r? (*5it-t,.r)) (6-) cas,,, .tt.rr-$
.'dJ:.r ,htl,
L*e s-iC ,'-, .,eL sS;t(, 19tq uSJl '= . q5balrL # .,-r:^ $b-r -r,
.;rq) t^rrt ;l cst|=.. tt tS U-l .t* +-y; ^',L...' L.u il:-.- rt q t! dt5
\;l-L,st-lr;,+L,. u-l:l ,r,.c*l ;LT-rl=-:,(4, = tl.o L a; - " 45',r,t3!"
,[5;11 q'rljl i--..1r r- ! .sr;t1slt .t;"-T,a .;r)dr [Y] a^t*. L.r:.r J:-l;l orl;-",1
.t:*l g;l^2,ie g\lt:,rJrsl;- .l ^.J"-,1*l:r;li
,Y-Y
=:'*. *l:t ,>-\,sU.3l;u.
1+,, {.} -. r,rtf; l+, ,E kl, Lt ),/1 ,/1;l c.r-3 d;L c-J:, A-f ,$,.,i-2r
xl.i,t r5.urr6 ul-L; lys.{-t cl, t{+t; .c*l r$ orl: j|:; ,{f} r,rt43
LP^d C-L, rfJ -b l
qt ,1lc/.nt4-lJoytiu;l orl;-,.1 5 y LL ! ,.l.3
,-.
rt + y' = I', + tl -
Y/1/1 cos(
,-,
cr=
.L.1,
,cos(
tA' *
dr)
\4" +
0r)
zt*at-ll-ll
l. 6lloJua c,b2 6lrJr[.. J-
o,L....
- cos(01) if
(r" -r)
Yt\lr
6l
(Y1-r)
Lr.r
1l
nrti;l A-f Jfu
www.mohandesyar.com
/t
sdiilS. rrtrr;tr
a1111
.{jt;r .
"
.i.u b d.-u rJ,:*l ;l ,c.l:. u;l \-5 L;
J* U4-1, ..srt-. l-F (tffi)
.Lr. +l.rr r,-t1 ,cJL u-l sbilJ dj.jt-L, p-t$l.r).,r.i! (lr *rr) t+h!
L.z U-\,-r"r! rr! v-?t:l CIV .i.rr ili; 6,grr tt .tf &ii t, Ol L; c-^-
t o (Hlr) 0t rbL (f.-F) iJrh, rt5lT,r.2lr rrr: vl:a t-* ,fJ.Sl .* yl* t\t
t -S-t vl3'..:y l: r5-3 A- f Jfu, cJL y-rl.i. u_l,sl:l+ Q D : Jr:,rr cd)dJ - \ A o
0" = -0, tlt,it6ll .:l;- .l L. al-irl,(c*l oJ.i o:l: ;Li; c';b dl,4:-Jt d)
.ry3i c-rr,
0 \i: .f-.t:T cdrd, A-f JSJ i b 0 s ,h ,sL-ltt c-l ,ri6 ,0t itf l+, ts!
Cb;l ,U_bq.r.lr ib al'-:;"' 6rlh jl 4 * .ts sltC ,A , r.-rt{*.t *r
f-te:
de.:l;'- 'l AtanY
o
0 = AtanY(y, r)
,,g
cos ry'
l+.1,
,h
) (*-t,f t l0 :', "(i1rti
xt*yt+/l-rl
Yl11/xt
{ yt
(r\-r)
,.21e:
JL
(rY-r)
.ri[ . S th S \A'o ,(f Y-f) i^[..t i.srri ]-+ s-rr,.r 4r.Ei-.,jbt.,;lrr d
6lr.r=3 g t+ .rrT c-)d, L.l, , c*l .lr.rr.rL-: s.-.le Gy i,;tt-y,
IJU_I
p-rlr.+=: ts;iu,l;51 ,lL,r, Lt;"',- d:-. L.r:.r t+l ,.sbl+ 8l.rr;t ;l
"r,_t1
0'1
- B *t!
(rr-r)
.sst,l t6+0, > ' cJL ,sb r* c-)lr s 0, < " cJL 6l c-:- 6,-jg ;irr
^5
ut-t-\ kl, u-rT6;+,:,5e.- 4 t ul.;,.f t tlt t+'.ju-a.1: r5;_l t b., tl
t>-itg aL:,j Ot+ .;I-.L L-.r,lj - Lfr
0t*0r*0v=6
..li:
crld.?J
r"F
(rr-r)
Ji5 d:-.- J- ,Oy iJrL;l 0, ;rJ
,L.rr
l.g,
e-} )l Lsre ,brb 0-f
\ Jl haJrh, u-lb:,c-l.,!.ir (6-**) Jt,6trrJ:t-. r!
Lly i;trS+ t .xf errtt cos0e sin 9 ,.,^--2.Jil tl ,.rlL c-:lr (g st),,;:,
.S,_ t+.;
c-l
gS^.
www.mohandesyar.com
\
f \ t5|{r.rn q .L+ ,l} ;l afr btt
r;el
c-rr,
u 3rL
6lrJrt'. ilj,C u:
-*
-t
z=tanT
- \-zr
= \*ur
(ro-r)
cosd
stnd =
- lu
\*zY
,lrr r6q t, : t-rulrt*, i:['*l ,FL+ u;bd:L J- -rr ,.!, tslr.-- $-q :t
.rt.rJ,,[,-rn ,r, *J
dt+-l.L" l\ a12-e1 q;bJrL t b JL, U;t^rJ:L Alj,f
.c-l '.r.T;UL 6tr:L;l -3-t t t++--6-t" u-l:l
<.Jh ux.
,l+T
'?-i
f-t Jbr r
b0 L-:l:r+5,,1,-+ "-rb., ' c.;Db.* ,,6lrL-.tq.S,_ +b-tj Jt{, iJrL.
zx13I
(rr-r)
acos0+bsin0=c
:-*,g,.?-d (\ + ?rr).,r aJrL ,f),-,7br (fO-f)-;l .rti-l
o(\-rt)+lbu=c(\+ur)
g-)>
c-:rr
(rY-r)
u.rt+ly
;.tsj
it il ,r,
(a*c)ut -lbu*(r-a) = " -r
s-;.6
(rA-f)
J-t
6ar@]
u l4i ;l
(rr-r)
a+c
n-l,g cdrd,
0 pllr :
(r'-r)
iJrL ,,ritr.rltst (f1-f) iJrh, ;l u ;s25i c-)4, ,st l-r tt -Sl
=h ;l-l Jl,L
arr-rJ.1r s s*,t c.-tg cilit- J.,i Lt" ,aI c
- " Jl d+Jo.;i.rrlJ L,ji,)t+ "u-t -F t FJ' Jk-l ,d:t'. i/-l J- ,s! o$ tt ,st-*ttLUJ t, .0 = \ Ao
r (fA-f) iJrL.lr p: L.y: iL-- Crtt bV:l jl t 2F J F.J .:JL .s2i uath.
o
www.mohandesyar.com
Jrt, s5rtK,
rrlrl! ,lllr .$Li.-
.t-;.,C rtall ,$l L.rs ilrL, r, dsL.
j-u
fY
.1,-+
slrl! ;l ,;-s ;l ,.trlr [4, 1] d{
,b
It
t+l-;JL-
15t+h ,f L..1r b ,st+l.L+ J," .5 t+l;l
6trdrb. lr ilt.f 3 JhrL c/6.r.$q 6ll., yr!,rSJtS,
f L..1r 6-*
.tslr,g e,'.
&ii 4.r)
rp
rrlt J' .I,U ,rl^r;! f U + ,rJ
J#! h ,ju ?-f
4, vlr ,rtt .JL ;r ,s;r!l L..,: ,_,1i, ! c,trr, \ Jl ,* ,rS U_l :1r1, rS;ta
t..1L,.rrrlcd).r
eb&"
d*' 6lJ
,[f, F]
4,Jt:e+b vl* ;-tl-ig c-^"^.rl t,).]J 412,.1s Ll ,rrlS
+Li;.5.,--1r I-&rS"- gl,un u t4T-2r
l.,ts,rL uSJtS,t.st rit':
^Sltgsl;lL1s ,riJ
.5
S
,,_h,
J-L ,_F t ;l -1: ,it ,sl;^ :l b G:,
tt-l ts.'/ .JtL ,r-u5u, etn
.stCL ,s\ x-1. J, .d,g LlrJ,c-l .:J .sJ-r,& Jl.-.1tt, rT .r* -: cI:l
.(r=.: !, [fJ
f.r. xlj'.,l:..riis lsp) \tc/ 16 +i ,,e-# ut+t-; .J,tJ ,F-,
.rJ o:h,"1 ,4.y ,p,st+trr, -*. ,sA 3\d Gu U_l -il
,{f} &bqrhat43 i.r-,.r:5C1'I .Lii .5..,_-1: I.K-ri,_ ,ri 13n u $,rrtK:n
c*l gr:1._[ -. Atlt.lr eti; g2l d,--.- .sr,g il-r *h '.Lit ,y-l ,t {?}r ,{0}
" Pronc
.11
- \I
c-:j; ilr,-/,i - I
\.f1
tI
6lilt,
t IORG _'tT1
- tt
'D
ln1
tr.
Y I)
(t-f)
Itonc
'r^}1,Ltt
\-r)
pt{" bj- jl 'rl;- .l !l:
irirljlj
Y-r)
L.
'D
t |ORG _- "Ta
tr
l.
,[l[il]
(rr-r)
Pieper
c--k.=:rr
6hLi;rt !-irS-- Itrr^- U-lD:,.r;l.r!Ll
,t_l
s.e
> tsJr ,e,\.ts* r-
LrlJl:.Jt+lr,
''-Str
.y
www.mohandesyar.com
\ff &n 4r,*b
tF
u,stl.
*\,h,jy
yr .5
aT
k]
'-j.r
c-)de
fi
cslt
fr =
fr =
dr.sarsr
aTcarsr
arSarSr
,-*e 4
rrr
c[ti'.s,(FF-f)-2r f? ,rt"+ (2-f) U| J orLt
il
ft = arcr *
='"Lttl
*
nr
- dtsarcarcr - dtSor.gor cr *
drsarCQr
d*corCar
- d'7sa1
* drCar
(f A-f )
,g-trSt (f r-f )r, )T r i? .sLtc ! (P-r) L.b Jl t
srgrl
[ttn'' '
Ptonc
l''''
I,"'n'l
I'J
r?-r)
al.2r "5
9t=crft-sr,fr*ar
- satfr - dvso1
.9r = srsor,fr * c1sot1 f,, * cotfr + drcat
9r = s;ca1 f1 1 clcarI,
g-rl'(f?-f) a +-i\.1*--i,e"Pronc
tl-tL
r=ll+si+sI
7-)s'9;,-s|.t+
t-JrTJt'TJrTu\" + fl + /J + a\ + di
6t
rslt
rv-r)
GtV J;
(
r^-r)
(fV-f);l 'rt'L-l L I
* ld,fr* Yor(.',f,' - srh) (r1-r)
c,):[" o6c-, S--ounr,(Y?-l\.,t Z ^il? *. Ltr iJrb. .l.r.rq ,t al:L g,-l JL
www.mohandesyar.com
at, ,5;t5,,
..rtrr;tl
;rl5 .S,.:t;= .
f*'--itl ,'-; t$':
r-(&1c1 *krsr)Yor+ftt
s=(k1sy -krcr)sor*&r
f
".
(0. -f )
;1I,'$
kr =
.fr
= -ft
kr= fl +/J+ fi+a{ +ai
kr=frcat*dqcat
lcr
J2,o*
;1T;
01
,o.t
"ft*t,
a+u./-j c,JL .-
L t+ll
i .iL
,, .{d
d1
*t&fr
;i1r \; ,2-l
0r,Jr./31
(o
Ji.r:3-, 6ldJr[', (0.
\-r)
-f ) iJrL
c-:* ,t;i'.:li ,l"t
'r*Frt
c-f .irl .c*l lF
= kr,'-rl, .KaT 1611 = " Jl .l
thr;ly-rti..,Jrlrr!/ tl ,r..c*l 0, ]i;l
f9r r"J) 6;ldrt'.,(fO-f)
.,ab t{.; ,(,tr)
pJ
.#J-
r;T-2t
o5
,r
0, tpL-6bb;l;.,ltc
6'-r,t J"-t
tan$
jt,EL:,-l.rr ',:*lf'J,.-ziT..,S,z = &s,c_.11:,tf;i,"or - " Jl .r
c-). :l b 0r ;,tl-i,l 3 t-*,C kV sass L1t iJrL..,(fO-f) d"rt ;l ;-oIL_
,-?-f..-q
aT
)rrl
'F }-; r-j'4
Ce .iL
(0'-f ).;l b ,, s s, ,t#lL y_L.2:
.\"
(0Y-r)
,s-'ics.."1,-+
$t-f
f 4tt jl g;l"J:h. *,0r c4+, (fO-f ) ilt ;rl:rlj jl ,r,,d:L, y-l
t.r-11i
c-r + aT :l b 0r olje:
) iJ:h. 5 ,01
iss15i
c*r.,
,sb b (0. -f ) iJ:L, ;tl-i,g
.tS
fl
+ fJ +
fl
,h +.2- jl ,r.
,0t
blj
l+, ,s!
= oI + aI+ dl + al + ldtdrcdr * laravcr* Yardrsarsr
www.mohandesyar.com
\
0 ,rt, ,r{Jtf.,
,JIAJ!
j1rl3.fJL:.";l Cl+Jb,
jn .:'ei c-r + ? t 02 e ,06 ,0r {Lr ,d.i:-... J- ;rJ ,1.6 t},,:-^,
.;E tt u-ri ,sr=fu r,. t+- l+I ;t-L .5t-1, ,r,5r, C"J &ri .5.,- .2r I F_.rfcr.*- ju ,gb:t c*i 1l 't;- .l t tii I qlt u-l rqltc or-.r.i yr .dljf Jlli
LP-, iftlr,=. llig,.tlLi a*L., 07 5 ,01,d\ .*T jl e,.f-uT c-,)al )R dz.; o*
.r.1eT c*: \ b ,0r = ' cJL r) t[, *-rrht { #
{f} !I raltt ,s;;4a,,,}L 6;+ nrU,;
,-,.,.rl"6.
;i J-;. J-s i) r T-,:{* i/_t ! {r}
rfu
,Zl
qt
ull,g,c*l oli o:l: i R d, , ct_l t)
;12- .,>,-l
(0r-r)
lRlr,=. = ;ft-'lr,_.rR
,F n, i:tt6\ t ,lr.r t;1 L_51; a- cr-l ,lL ulti .sln:;t, )l ctQ.f
,f 6l,r.rt-.. t, ,-J*tf, Lst)l.f tt.tj ^*lr,,lLlr,=. rt-f tt (Y ,,l.oi) Z-Y-Z ),-rl
6j) a; oS ,r),-5l,st_lr,l il 6l^c2^^- Jt-tn7 il-;L/ t.rT ;l-L L-sb -,etli:, ? t,d
,r-;lr r5,-3
o2\.a bs4 .22T cdrde ,iloJ.i i-f;,*L=l* st rT J-L ^- csll
.r: $lF Jtl J-;.,,- tslt o-t,i l.t- ,Jhb" :lt;,,1",:: ,C,!l cL4lf ;[5rl.r;
,st_lr,
.$t^ir- :l
g;l.A.1,! ;e,,l.l
,g-t{JU" V-f
.-J F^li ,6q r;,>;!l s: 6lt l, ;rt,ls.S"-L+ ,,h cr-| .t,
Jl .tt.iap s-r^ .F ) 6-* ,F u-&_t ,sU:,tJ-* t+1,:, ;r,_l;l uS-_ clt
(J't^oJ:L b ,slt cfri t l$ J-,|/ t",-, u-l \
,rS .JL r, t+!:r
"5;t-+;-l..J,JiiUJ.',J^t uSjtS,,stor.it ;j=,rr: ^t|,it=Lc :l ,stQ Ll,.r:a:.,^; c-ra,
JAto
Sr rS+ G:,
,j$tfu
.1ln).,-o
0,t:4t)- g!-l
6t-r+l:L ,15)bT L1: ,,!..) t .rt,:., clt ts* Gy ttt5 jl Jt! llio+ td_l .r,
! ,or: ,url b ,L .tj F"li p ,.t.ui q-)4 f J,--i .,,, d L 6?" t.5a3 u$L;..c*l ;tJ_ [6] F-, n,
d9o
o:l: 6;:Js -,r-rL ,-,-p..oa,.;T S
c*l
,rrK-:"n
le3.,t,
1:0;'a*lt , -l '.-j'lri
J.- t -:
.lrtr
\r
Ttr
Trr
,
'ry1
9t
[li
= i"(d'
p,f
T tr
prl
,
\r
Trr
oo
!l-
)r(a'
rl
ITQ, )
(0r-r)
lr9,)
[r?o1 lT(or)
www.mohandesyar.com
tl,
tV *
s) tt
01
sSJtS,
,bLl urt^eLT ;l-2: ef ,tj rtr-+
,rbri!
Jl-iLr.
A.rrlr
$t-.=- \f P
t (Of-f) Urt^.
&.3J;
li"(r,)l-' )r = lr(e,) lr(0,) lr(01) Ir(do) |rer)
+l.r tr ti
l-:r
l"
1i
L"
i]
lili
JL t
(OO-f)
,X-Jrt
(oa-r)
iJ:L ,i? ;rJ i:,,lr !
li il 7,)"
.Pr
.ilrr ;ttj v* i:L ri2,yl .c*l o,u.i r:lr f Ji-r: (\f-f) il", l.)T ;ltt S
,J- ,,l ti u;laj:L d:-r5T (*rr, j tr +:, irj l+ r, UG ,iy|-.J,-r,, r, ,!-s :hL
g--rl,
,(0P-f) iJrt^. o-h
ss.r:
(Y,f) 6hr
-'r
,r,r
r;;it*
-srP" * ctPy - dr
C,g
o:ti-. .l 2-;
(0V-f
,11!c.,rt+*-5-tt :l .oy Jfu
t,.
c;lalrL
p, = pCOsQ
pa = psin$
,b
,sl,
(o^-r)
;T.1:.5
pd-
(or-r)
AtanY(p'p,)
t-,J
,t u;
CrSd-.91C6=-
(0V-f )_7: (0A-f) ,J:l:-rli
d"r
,'-rlt btrlj ,pW J-r-t
sin(/-d') -d'
P
t1
(r. -r)
j4-,5r t, r
(t\-r)
www.mohandesyar.com
\f Y ,rt, s{itt(,
,-rb.r;tr ;r1rlJ
.l+t ir- :l ,C\)U
u-bu'.
cos(d-dr)=*
(r Y-r)
t#s
(Pr-r)
t-prr l+, c* o,
0r = Atany(pv
'^\b
t;:.
!.rr.f
+@Jl
(pr-r)
c-,)tr ,sb !51-1 r.;5 c-)lr
,F-) +lr l: 0r uA I +S +j
"!,
f!'-lOf-f) iJrL - r-h,01 ql22 i$ l+, t .r-l.f c-). ((tf-f)
t-icl r;;,(62-f) irt.1:.2: (l'-f) r (\-fl 66ra-c.;:l:.1f 62.-.ctP"
,rt5F
,p") -Atant (rr,
r.V
= arcr - drsrr * arcr
-Pz = orsrr * drQr * orsr
srPy
f^ t b J-;6tral.rt',
) tL;.rr,;lr r
!1
(Po-r)
(OV-f)r (PO-f) 6Lrol:h,Jl
|'--rl:
arcr-dtsr- Ii
(?7-Y)
;1.1, .5
-at,-al-dl.-di
(2Y-r)
lar
itrb, Jfu q (??-f\
u$;*b,l??-f) iJ:L tt S +J-.y
,* lr 0r s tj b I, il ,*L:, ;UL ,-rt<---$-t+ \ ;tlir-t az,..a ,s.e .;-l (OV-f
iJ:[,.:-2lJ:-e-..e 0,
^,
:-61
0r
Atany(as,
d) -Aranr (n, +tF
+ al
..r.[+lcf 0r c\,-,,jtli vlf 5: t.,l?A-f) il:b,
- tr,)
.1s
dt
r*)a
(t^-r)
c;.. c-It
www.mohandesyar.com
/t
.f uysr*
lr
;,T
;rl.y,g
.,S.itt. 1;ttjt,
arr,J
4/t::-
d +, r*^l9- ,v--& -b t'| (or-f 1 ',/..b ,r\:'
,r, .rit: 0, s fhy_tb :l ,*.?-Li; il
Jl
i-h
(rr-r)
lir(r')J-, ;r = lr(f,r) Ir(ao) |r(e,)
t_
f tl.rr,
f
-rrrr,'
| -r,,
SrCrr :syr -arcr'l ["lt
-SrSvr -crr arsr I lrrt
c1
"
' '
(\,r) ,.g6r-:-c.,rlr.rF
r
Trt
Trt
o
?'t
-d. I l"r'
\ lL.
13;JL t,.r-T,f
tr
Ttr
Trr
o
?"
ptl
prl
frn
prl =Pr
\l
(v. -r)
c-)re f J.-;.i rr ( \ \-f) iJ:L, jlf .,i./, .5
s-*t-; e.*.; ,(VV'-F)
CtCrrPx
SrCrrPy
-Ct$rrP,
.grSrrPy
ilrL *it J).rr (Y,f )r
- SrP, -' ArCr - CtrP, *' orsr -
Ag
d,r
(v\-r)
r*rl ,* lJ crr J .err s tJ J.- ;tup t*+ tl-ict I tralrl'. g,-l
(-ot - arcr)p, * ("rp, * srieu)(arsr - dr)
Drr
)19T
Lrr
tu
0r = AtanY[( -a7 (otrr 0w
clt
(0r s
)t
(orrt - dt)p, - (-ot - a1c1)(ctp, *srpv)
0t g.4lj,-.;l
(v
r-r)
- ("rp, * srpv)(d, - orsr)
dt)p, - (o, f alcy)(c e, * s,pv )l (Vf-f )
arcr)p,
t,
.,lb.rl.c" (Vr-f) iJrL
-S; rtfi }t=) L.,'l27
,t sli s-j -t-tea,. 01
r[41 .-r.f c-){,
6,5-,
0r=0rr-0r
(vr- r)
It, ,latr 1|5 .: \ ,0, ,sb,*,[:, vlr
,gl.tr-:-s;rlr-1f (J;JL tr.c*l ,,?U- J,g.*t (Y'-f )ijrt*. L.> L*,,lrryu-*
.n-TA c-)de
www.mohandesyar.com
\
.rrt, u{Jt5., qrlrr,i! iurlr
.(Jt i*-;l ctdb,
:-*,g u.; ,(V'-f ) ijrb,
.i.,,} rr
f 1sC1C11'* rtrsr 4r - ?rrSrr = -Cf
-rrr.er
:.,p9i
0r
.2r
(\',1) J ( \,f)
SO
* rrrcr = sf$6
r*,ra ,h
lJ
0t ;-tllg
(V$-f )
,so
* ' a5;L; b
= AtanY(-r1;sr * rrrcrr -?nrrcrcrr * rrrsrcrr * rrrsrr) (V2-f)
c-! r +b-!,^"
f ;bL s5l.l12n,.,i.r: at :.21r
cr.li.s:i, t,\ ,00 - " Jl
"p$
l.+r-,.:JL
sh
1'lts.sr,g rt4 ttJtSf fr.! rtz._l
lt ,r* (J;+J:,, ;.,;l .c-l 0, s 0, U;t-lt Plt l- gr.a-,(c-l r*L, ,Lti d ,al*
-b Jlr-rrt+T t-l .S!_l dJr'.,' tlY?-f).rr AtanY 6b i-ti )t I tstls\;.,\-irl
,r, ) ,\ r, 1o. ?t;;;l .pr q l+l 0r .*\ .,ll-, dL U-l .Sl.c;L r&l ,J-2lr 2|1
.Ft1.In d-rr, l, ;,,Llr-rlli. t ."t li irro, ,0e i*l-- 1l
0, : pb-l-)ti, bi :1.*b ii \"1 .l,l $ u-i 61,;23* bliL/ b (of -f ) iJrL,
Ler
?t
):-11: c--.rtaS
.'l.3L
[;r(or)l-'
;r -f,r(ro) lr(0,)
,-l.r
* Srsr
-c11C1y.9y * srcr
t:"tt
C1rCrrCr
c#)dc
";t'-
(vv-r)
u 4b ;l []f Q1)]-' ii.r, d
- Cr.9t -.9rrCr
-SlCyySy - CrCt .9rr$r
t:ttt
-:tt
.91C1yC1
* drSr - orCtl
a1C7S1 * drcr * arsr
I
o1s;- d1
-A1C1Cs
l
1v,r-f
(
\,r)
6Lrr,^:s; ,.1:lr-1lri gs5L..' t
rrr(cr crrcr
srsr)
.c-l
oJ..i
r:l: f Ji jl ( \ " -l) ilrh, ,t lT ,I-+
t-rcr q; (YV-fl ilp-1: (l',1').;
rrr(sr crrcr
crsr) -
"rt(ttrcr) = -so
rrr(-crsrr) * rrr(-srsrr) * r71(-cy;) = 66
(Y1-f)
t;.Sc -b
t t ;I-L
'"-:t:
,F,IJL ! ,la !1 0t i--
.\
www.mohandesyar.com
/L sfiilSr dbtli
r/
0o
jliL/,.jr.r jLr;l
..1!p irl:-
= AtanY(s6,
,*
lr 0o Jl-t,-r
(A"
c6)
0'
,r.
-f
t,.*-l.f cd)rJ (Yl-f) UbJ coJ$o ,JI-lt oj
o:j tj ;'t-tnt L (Of-f): # a*t,, ! (;f)-t
\r(e,)
(^ \-r)
i* :t-rr (\,\): (\',\) g;trr"--
0r,(VY-f) iJrt..
.fjL+-
-l
(;")-' ;r a*t^.. i*
l+,
;urlr
0r
AtanY(s2,
.rrl.:-rli
cp)
,s:tl-r,a
t
(AY-f
;i.1, o5
sr = -rrr(c1c1ssr - srcr) - rrr(s1c1ys1 * crct) * rrr(strsr)
c, = r\r[(c1c11cy * srsr)to - clsy;s6] * rrr[(s1c1ycp - crsr)to
rrr(srrcrco
s1s71,s6]
crrso)
trdrt , u-l ,5-*,t *lL (?A-f) ) Vl-Y) p jt- t_ c;. ,st+:,)t' i*
.+icf dd)rJ ;!l g. (jf nrS'.ncJL ,sDi -&-t *lrrl43 ,u-lr, o3ilr ..1;.21r
ili/:+ ,)! r, oLl a*t',. vl:trh \ pV-- n-fu trhb"
vlr.rtrt
0',
= 0, + \A'o
(^r-r)
= -00
0'r=0r+\A'o
0'o
d--)Jrr-, :5,-1
csil
'pra,
:r-r r{.4
t.r.:t: fr1 C-l ,iS^. ,Ot vlf CJ^ f j5; l+, jl ,.1,-,,
+ 3 ,-tl1'.,oJt-i! 15h|,; jl .xrt r,lK rls,t+Loi, ,*.,- 1t
..l.3 J"lF rrbi;l ,,:*l !"_:;1t ,r5.;tS,
gi.T:l
'f
L-Y
,\3 tsJ-t,J, f
a5:-1lr
3 c*l
Ji tt 3,tL-f
Jlt
;tT Jl:
lV-l-r
6$3t
l-rtt:,i! .;,!-r.r
b5lrt-;!l ,r$Lr=- 6t-r.JrL,Jt:, y-l;:
s 6-* .F b na .de ,b
,7-l .c*l s-r^
'#
lel .1L,r j-A t i .SJt,'-" ;l >LK I, ;rT ;r:rl:.SJk* ijr,
a- nt:r.r
www.mohandesyar.com
\0\ 7t .,$lS, ,rtel!
,!rb .l=iL': -;lsal{tl
t ,f ,t4 c-* clre J itS. ilid ,J-;- ei, t{i d':lr t# { ;,lrr,, u-l
ulf x& t.t+s 6 c*l ;l y:t J)-:.-u.tFI5,,rl5 cJL 1r .i.u csl+rtrt* ,s!,
rt Jr r;1.1f 5.5t,- .- 5r, tf C d.cL ,.iLy ,-r-l i g.-z.i"dj Sy-: rsl4y.rtfa
c--+ c"ti tr;l.lt6,it5- tre.Ie,r dc*l bT ly Ji-t,lt+!-.1 ..ula:o J.-t A+
r.-l-, -r-rb ^r-t)4r t-T rS:.,-l ,-r+.r-fu, rt-;'; -2r .:ylr ,fur(-r 6tryl.l!5;t5,, a 3
.c-J ;LI ,c :-21: tll -i!.- i13 p,tryl-u!6,slr .!
c-*l ,sltJ t (,srbT L..rr 6.3 ,st+!l :l ctQ,5l alir;tr-r,, Lttji ,'-1c.'=L
yl2ltr3l c4- :rJ .i:4.-b tr-rcS+ t-e!, r=, &,;ttf t* t !, ;l it-i,f S
,2y gz.. u*ri c-l u.:lt 't-- a,+r.i - U-l .t-J .rF a,rS;ti cs:1.'^",;-,).1r
; a 6$:a- U--;&-t, .t-Jr; t i L 0: f ,s6.t-tn 5t*t iti; r ,\ "pL s"-.
'A2.;e-1r,gS.-. ;!3: $l.u l. j1l6.2L:l c-6- ;1.2r.5 u-l ar34- ,r-#,s-lt<z
6lrlr riy,r-5 "lt ,?-t' i-f l;\; u-l c|,6l ir+ l+i-l.r, '.Jg tlt ot
t+ c-".r U-l S +S +i .tj ,p,lr O..',-,;T 6y J.,6.i- r,rka .5-'-;tt} **
,c*l 2s, q,b-t yr Jbl .5,-.1r l*r.rl;l **rV ) t +frtka i',rE S
uA.
-dV
,slt k sy,, tlrl,l !^+? J ,M ,;l t >9-s 2l>2,! !, ;t :, 69li.rJua,,-, ;;'
Ab9t 0 i-3! i;l.sh tt an ctltt Jr r-! .;t:l c^tr- u-l .dr-f LP,t 2, t rttt
k ,ltr. ai c*l ,ya .t-S ,,lt t\ '* f ,2b ,.r,-+ iJbl c^p ;tI tl t b :r".t .rlr
.o*l t-,.r- Zi s Zr 2 5 12ls tlt :t\'a2Jr 1) ,0 l-u,.lS t*;:,
L-
L-
l.:
-\,-i1
.-.
lr
.ALj.r
o\y rst'\t-; ..|-l, { .ir ?*tV
;rltst q-f Jfu
www.mohandesyar.com
/t/
,rSJK/ crbril* Attr.lo'.t
,* ,rf)/u j.u.r.5,-..1tftr^
1j.,A \A-t;
.J;U
i-
\0Y
M j,
M--+l;'l
lfni+nl .
(^r-r)
TH K rlttr:r-,tjt:.trlil ?llL;t5, * Lt-nY : X crLa.;-
pv )px,.r1-r, oj
,-T.f
I(-Mx2,
c-)&
(^o-r)
t-r,l J-V *'r,b tl Z, ,ltt s
Z'r-KxM
(AP-r)
cosg=2r.2,
sind= (2rx2+l .k
(^v-r)
1fr-f
v+
a.d,;.( 'i.,r
- crty * sg( K x y7) + (\ -
o-T.f csra.
;.,4
elil
,lylr
!f
,s;r4- 9
cl)(x
l-.rr .r!:: ,r-tljl
Xi
r (f)p./.i-
t Y'-Y Cr--) $-.ttst Jyt:l
345
.i'r\ti
,J\;t1jt1
pn,
i* ,1Qj,-.
(A1-r)
,sUb ,iy,(At-f) b (Af-f) u;b.JrL
.x-r:,r.. ul-rl ,;tV;t ;!r,, ,,g2it2-; til)
-r.l .:,-ra.,
= \r
(AA-r)
=Y'i, x Z,
.1f ;!r,, 6Ai2-; i ,\vT ,t 6b cJ.l c:l: *9't[
cstd,-+ -'r-A-V f Ji -2) r,r--!-) .*U-- tf gV ,F
LT
J:+ry
orlr-*.1
ir ir ir
'^r
i.S,;-l
I,
*t
A-t-.-
! Jt
u;tadJ:U,
i.l:+ ,L-f ;:V-i-f ,St,
'{
(r.-r)
www.mohandesyar.com
\0f /, u$t5,
,rbr.iii arrlJ "fJL:.-;l.;t+lll
Jr
r rrr n"f
f.rr rrrrr
rrr n,
LT = lttt
rrr Trr Trr P'
(r\-r)
L" o o \l
g-.rlr
i?-' ;r
,"5 v-e i?-t.r, b Ot iJrl-
* srrrr
_, r\
rrr *
Cr1"
rr
Cr?nrr
s'
(1
Y-r)
-lr ir i r\r
L.
rr
i)
* Srrrr
-Trt
-Sr?nrr * Crrrr
Cr?'rr
c*l
1.1,
S111;
-Trr
-$r7'rr * Crrlr
L::
'-a
u) ,4b
"r-l
ctP,
srPv
-P'
-.erP"
tt
I
I
1 t''f,
\J
rr-r)
c-*lyi-h :
*
*
srrt
-crrf
c6o
ll
oo
t.i,g
(1r-r)
a-*.; ,(1",f) Lsllsd . arlr.7!ri 65L.- L ..r lo-f.i
-srPc
ctPv
Lf;"4 t'3 + ii tt 6
(
-o
trts./ J-V
dr
.-r.i
.r.lF r*[-,
r;*l
= AtanY(prp,)
6.,,h
taL-; rJr' ir;r.r. il
0', V;T il
(
,5,
r0-r)
e
rP-r)
*lf ..fU- ;!ll grl;r
www.mohandesyar.com
r'L ,rtitg dtr1jtl i111lr.(.jL+- \0f
s-fC qj (f,Y) gg^r: (\",\) 6hr.o'r ;rlr.2[ .srL.,
so=-s\rrr*crlntr
(1v-r)
co=-srrrr*cr|"rr
t-.J.,g
go
a*l-- ,*
0o
= AtanY(r11c1 - l"rrsrrlnyrcr - rrrsr)
sFcl.+J (\,1)
Ltft
t,
CF^^r J (Y,f) 6l-tt-:-c
t fr
srrf = crrrr* strrr
t+i;l:
(14-f)
;rlr
-1!ri
,-srt--
(11-r)
u-!t:
0wr = AtanY(rrrcr
'.zJe \"-F
'rLii
''-.rlt
rrrsr, rrr)
(\".-F)
Jfu C,t rrli'..'l s-r.r
t,f J"oL J.r* J B'^Lic,Y $-L
Gu:1 ,01 2,07,01 6l-ly;r;9Tc-r+ 6b
r-rtur5 A'rLi;.J^r,/ iti!7 ;!-u u-rrtr
.c*l e.tJ rll Y J-L upt C
gJt ABC .:.JL.1r tt-rJ iiu ,#r t
cos 0y
pi+pJ+p:-ti-ti
ylrl,
.;./-t-r,FlS, .sr;t
\'-f Jfu
(\. \-r)
www.mohandesyar.com
\00 at, utJt(.. rrbrig A11lJ.Sjt :# :l
elq/,b.,
tt+l;l :
(\E;m,cos0r)
0r = AtanY
l_
0t
= -AtrnY (1, \ET)
,,
,01
-O
\. Y-r)
A g_tlt, \ o -f
AtanY(ly sin 0r,,1,
,,
"[5-:,
0r=0rrr-0r-0,
",:.;a1
a,.-.r !
.f.=5
t,
/; cos dy)
\. r-r)
'-rs
qi
"|.-L
0,
(
fW,.:
\. r-r)
ltti- +! ,;L-L g;Ut ,rr-rel c-r t jl u-,
,-*e .-l'u Ch A; ,(\ 0-f) ibh. J- : ,V-l
+-b
1.,;l;;16
Ar:
),,)
*,' \ A,=*( -t ar 0r.o, (a,
A,=*(
-t
Ar =*,tA"o
Ao=*,^.
.,rgr.o, (4,
* )r -
g,
* or - tan-'t
o,
*l
+ ',. .
or)
(\"0-r)
-oo)
i;3 ,t cFlr tll -b jl ot,shbt .r-L ,c-l )Jeu tgl-u!r6 ,5r t;3 ;tr1
u.,t c,!l lilS, \1 ,c*l o*, (irr jl+, a;:39t at-Ll U-1 .;i-*J. it^il ,;ta,
,iUj-r c,!r.r 1t .-s1l:/.u.;'tt e 6f t;3 ,,+tt :: ,r:.5 y,te;ll!5 ai c*l
c.-l ,l;1 o1l3t .r,_i 1.99L...1; af J:5.,,
e I ct* I r Y 6tr.;l.t!r6
"-S
Ar-
\oooo )Ar)Arff"oo
l"Yoo"-At
-Ao4ffooo
\. P-r)
\. v-r)
www.mohandesyar.com
/L sfii6., trtrritr irylr.fyU*, \0t
,sl:l+,c*l ;l.116 ,;rE YOP.' ! ,blrt 0 J--t jl ,j,LS .r!,,r, 4 6 tdi jl
;Lr ,rl .sbl*.5.- -l .,Jt tf- Cr-l .t-fg J-V Ao clt *l-n 5s,A1 ) l?"o
.:.21r .71.e.7 .i-;l ,:.1 L-f lVjy l:t5rL-
gLrdrL
-b
l,c*l
il j,,-;.
c.Li
,-rl
lr; ar;5i c*r,
rrb ;l.l; rrllL-l
,,kl
ah:trh
)JlJ,,h-,| 641'..tV A-f
ik *. ,c,!r.r $5 6t+.- : .;& .1:
.c-.,1,JyLi;T-1: .5! \ \-f
"$-
,x.Jg.rF orl:- .l r,J,. ,* j\y e.5,-y: hr,rt13
U-l ,r-#
'{rS
cJL.1r
,t**l **.,V c*l ;[L d!, clr rrirr[-,*l
:Jti; a*,- .5,- 1 d- [ ,.rd! .r6jr, U-$ I \ Y-f JS- li:t .:-l i/S-, ;lS..
i-f;,{B} ,.-1, -. r,.rttra a, r.}..--.i ,{S} ,.t(:*,-l *f,rt.3; .r5.i, J.-:. Sr^;u-l
.S,C ,rai4-r,.r;L ;lr:
;-i,t
c,lr:r ,slt I b,ltl;l j,--; ,{T} *nrtq c.,,Loi-:.. arlr L s-gf ,51:: "l .y
c,!:r 6 ,gli.l t 6b. c*l irS-, {T} v11.tt13 .Suf clrl .c*l Jr, .lti
,r.e.: r:Jl:y i;U;15t{a! * 2 ;r,tt rglilJl d+5qr .r-! .rlii ;jtu.2
{W}
**rV r c*j {Tl ynrka .rr, .up d,rlil {T} c4.*rka;t
.n1l.r;L-lr
sh,-,trt ujrl;:)
\-f
JSJ
www.mohandesyar.com
\
0Y
r.1l.rih-l
rs[.f.je
,li.l ,-22;l.42
"-1,
-.ratttt
.rf,-rte
.ut,6 ot(:-.il;l
lli
\ Y-
f JKJ
,g .a-t; I T try,ou
{G} .i.u ?-ftjy.a' ,i* j ,t--h :l b a\y 4?6!, .i.le 1L:: .15i.:li- -l .1"
d/-J;t ,Jl, {S} : {T} ,sV..*,=Jil .-r,tu, LFi,,h,ot(:.*l **rV a1 r,:*;
t{5 ,t+l Urli-r. jl o-,ol5crUi-1,*;tU-+.$L.f cf tr ..-.:U ,c,t:y ,.5f
.r.5,i.*; 1L.r" I ts l, {G} ;,l.ar.^t c*l ,ri5
u-li+-,>U.) -uU,r, ,48 Wf) rltl wnrl'tr3;-r;,[0-' = ";l u;-,1*t./:
,tK:*,.| *f,rtlt rL.:.?r--r.(rr.f .rl:;!ri c.,lrr;U-:ftt S-i Lrr,
-. 9-;t{t
.t*C.rl.r - ,c,,trt ,r a,[' ,:q ,oJ:5 o:t -.,1 L-;,iLI + L- ,,:*l c4tj
".r-'
e .r.1l.r; ;l; r-1l.tLl
*1;,.;tft C':,, jl ,jgT I rJ:f ,rt*- -l ,,4[f -- = . ,* i
,.r.,,6 i-U I &*; 2h +-r 6t#rr cs-r a;!l a:lr 4f t b tr ulr tl.
.t-.-J.
t1
.#-lr f*,r6;*,-l **.,V L-;
:l b iil *r,rht
{"} = {G} Ar
ttJ
'aL&
;--,* .f
^S
a)51
,.rl
[rlr
.;5r,>r';,
uLL, -r,
,sr* ,|* L** _2,
iljL-r.,t+T ,sblq
lt
;LL.st-l:r;l 6lc-r
,c',Lr.r
.$.,.r a-l-.,r;*:
www.mohandesyar.com
/t s(niln 6bJ! ,1.1/lJ t(rrk-
\04
,rSJtfu stal! ,slJ SOI,VE LL2 il jl orLL-,| l-f
,SOLVE LEtt-j
6trdrL., n Ltt \Ett-j: r^)c/ ft+;l ! G$t
"5uta!+
**tV s tlil **tV ,sW-* t;lr ! ,.*r .y-* .rli d lJ lt ;t:tl:,.lS:,L+
.l tr
r,
=*rV c;.-j I c,t,:, q, *nr[,+,L22-1y-l;l .:tr- ily.r.,.leiJ:,t-(:-,-l
.ry9T c-rl tt,
/ti
rsu" ^*1,,.
,h
lr
,(?r'f
"+_)
?,r
0nl;O\y-rb t+i.rr :
s--J,.,t
B}
++
{VV};K,
,,t(:-_l
) JDl.skr,-rt+t
- Er lr Yr-'
\. A-r)
415;syl5.fjL:- LE;^t-: a6\)) llj-+|uT ,e
.$ J"li a*t^,
cti{t lF .l l:'ir
\ o -f
f:trl ltiJ .s-*e,.llr -L; .it tb; ;f.f (P,st+trr, ;l ql-a 1s
stra-t..- tF .r{,g c--l.u ii I .,!1=r ,*nrot ,,.(*;t5, LJ;tq dc*l U;lat.i;
.s-'.J. ,g c^.l .hiL l, t+l +, Lt-t
;LL ,st-lr,' ,or3 oJlei J-L 1s i:.-,.;tS,
;: 0J,.3 c; i:.J) + Jr-;J^ ,)1.i o:lr eti.j ;r,-l " c.-S;! iLf ;!-u q d.f fu
.up; (b ,rS ,+* ials J"-t^;- 'eJ:-.;l+t r, d,:+ Jr .# -F 4f ,d.hiL
..-try 6J::5+lr 6 u.l(;^r, .rJ:-,r 4* dJS) a@*t tt Jl .i.u tt.i b-j,ti
yr,l5,r, LP"d o.ld orlr +- ttii +b >r;!rr c-13;L c;:
aT gl4:tFgt
)Su. ,# L
.J;Lr.- 6tral:h, +[, ,-u,i i! ,jrttr t-tG,tu 1),.ilr '^Li; ,s;J+-9 atS, ,6r.n
t+T.r, .f ,31+i*: " .# J- lb t.,y ;!-L,st-l:, ;r.rei c-r 1 ,sb. b -\y jalt
S
*lt ,.l,U,rSrtS, g;t! Jslt u. *i*l o.li,.-0.,-.;, ,.116, ,>lu:;.1: j.u tli;
'*6
cJ-li.rl:
.c-l o.t j.j c--l.u l+Tf )i;t! d;!-r,, 616 6';irt
-ELr,.
'!V,*l
cr_l t ;!r.r c.:lra Lr_El-,.+*U r+li o.t.3 a3,h,c LW t, ;bIJ; g:+ t .J:e: $
l;l al.y{! dc;lr'Li *) w $lr.J>a.c*l ;;1 b:yy6;l u-r(-,:rr,!ti;
o'ti.j:=r,- L/--r6, ,>l--,-. t J\;li {ti -!:l .:F r:ll- ,l rStXS 4L*;-.=- ;l ,trrK
,o-l..'.3 a*L, .ttiJ t i*ttr
I crt:-r,, !:.91 ,i=rr ili, .xi 6?,,.,,,cL=, i-L - 1*:+
oJ.i orlr
.el.J.f crLl c.il
,st^r-!t, ,-i: r5 c*l t)st .L*l;J ai rstt.tls -;l pK. (J;tti J^ .J.i)
llr ,275.r113u. iL o\, 13> 6.j5 t,u\t ,(;'t-+ 6bdJrt*.-2r orirat!
-1r
www.mohandesyar.com
\01 Ett
jl ;,.L,gt-b; i-t-.. .1r tt; rta,-l c^c! ,. fu;rLri,"-5Ur 15bil'L
trt+!r,, .L sga--t.r!,,(, &-l tr ,s=ry gl-+ .J.3 .rrp ;yle ,rs,-;k ..c;*l ogtiiJt-, ,.jJ:i. r;t+!-u.r, ,.rl b*: c-l;,Jrt-::J r. t4l c;: Ll ,o-l
,-st^r-!t, lrj gy:r., ,t-*:l!, c,tg ci) ilid,i:r-FK b;U;tsl'j.il .rr.,:161 l:
.[\'] rlr ,-AVI ,rsoE c,!l jl ,r!-tt 16brJrL. 6y
./j,l:; ,p
G\*'t^" c,,tl.')'. \ \-f
J- *l lil ,-\j'.t-rp trJJ v Jir) d,-* J-J,sL+-:, )l crl: ztt
(ji=.: L l'" Hz) rL;_rL*: Lor ,-r^t uSJtS, 15tq j1.;b,,S=;tt -t5 .5-i ft4Jl
aS:,-l ,[Jrq rgi)& J- ,st+-r, t+i-l-rr .): slF c
!)j[, .1+:,tr
-^.-.rl a 6lrl:,-,-,J!-t-,
);tL,f rf11p ,X-J,C cir ,!-r 5 ,Jrlr ,srlJ.. u)"
\ -f u:4 ,, ,,J5 .;JL r, d ,jA
,s
ul,
-*
^::S eu.SJL+ ,s!, "
,c,lr-L, (>-sr ,.p-ltl ,slt *l r iyl: .S""l^+.rr ..tl;rL i iyls -$t+
u;t^alrU.,
1.,
.;-i,g a*l-^. r ,o-1./ d*rr., J:,t1;l AtanY 6b rr-rti'.
-4 1# cJL .2: .:-1lr c -^.-.rl i a6+ .shlrt tsD 8t16* .tt-L, Jb;L
fjl ts 6,trrr1-15 rfttt dJl .ii t*l--4sr d:.cil-rtt+hb" i5c*l
up ,gni:- rt -: c.i: t: ,vh .5"- LCi '1*l^. t, ,.'u,-l c-). h|.1'1 ,:l5 c--+
t+;T
.Jr
,j6,tyr-fr:Li:-l ,:rb.,Sat-* 6Lr.JrL b ,slt u-.ll cjbJ;l .5,r,K:r
gth!1 ,=l-ta,.16J:l -rt ..r,1 ,:-:., i;ES,st-lr; 6il J o:L ..,LLs f t+jl l,t il-i
,r; .ulei- ;ttJ ;\-A -b; J,Jrl vh '^*l^',(#/g,-+ .tf +L*, ! .s+ :utfu-,Q.*-* 5,tr j t+I ir/-f ,,.r.i c-:a, ut-l:, ..r;,J--pJ F q u.q ,rhlrt tl
.-t l
.up
cd)d.,
e-/
8v
[1]
B. Roth, J. Rastegar, and V. Scheinman, "On the Design of Computer Controlled Manipulators," On the Theory and Practice of
Robots and Manipulators, Vol. l, First CISM-IFToMM Symposium, September 1973, pp. 93-113.
I2l B. Roth, "Performance Evaluation of Manipulators from a Kinematic Viewpoint," Performance Evaluation of Manipulators, National Bureau of Standards, special publication, 1975.
www.mohandesyar.com
/L
t3l
sSJtSr dtr1it? brlr
"f,lLi,- \2"
D. Pieper and B. Roth, "The Kinematics of Manipulators Under Computer Control," Proudings of the Second International
Congress on Theory of Mochines and Mechonisms, Vol. 2, Zakopane, Poland, 1969, pp. 159-169.
[4] D. Pieper, "The Kinematics of Manipulators Under Computer Con-
trol," Unpublished Ph.D Thesis, Stanford University,
1968.
l5l R.P. Paul, B. Shimano, and G. Mayer, "Kinematic Control Equa-
tions for Simple Manipulators," IEEE Transactions on Systems,
Man, and Cybernetics, Vol. SMC-11, No. 6, 1981.
l6l
L. Tsai and A. Morgan, "Solving the Kinematics of the
Most
General Six-and Five-degree-of-freedom Manipulators by Continuation Methods," Paper 84-DET-20, ASME Mechanisms Conference, Boston, October 7-10, 1984.
t7l C.S.G. Lee and M. Ziegler, "Geometric Approach in Solving Inverse
Kinematics of PUMA Robots," IEEE Transactions on Aerospace
and Electronic Systems, Vol. AES-20, No. 6, November 1984.
t8l
W. Beyer, CRC Standard Mathematical Tables,2Sth edition, CRC
Press, Inc., Florida, 1980.
t9] R. Burington,
Handbook of Mathematical Tables and Formulos,Sth
edition, McGraw-Hill, 1 973.
[10] S.Hayati, "Robot Arm Geometric Link Parameter Estimation,"
Proceed,ings of the 22nd IEEE Conf. on De:cision and Control,December 1983.
[1U Y.Nakamura and H. Hanafusa, "Inverse Kinematic Solutions with
Singularity Robustness for Robot Manipulator Control," ASME
Journal of Dynami,c Systems, Measurement, and Control, Vol. 108,
1986.
U2l D. Baker and C. Wampler, "On the Inverse Kinematics of Redundant Manipulators," International Journal of Robotics Research,
Vol. 7, No. 2, 1988.
www.mohandesyar.com
\t\ w*
t{et
J; il Y ,t-r rt J-L .- t lL ,rSttt q5tL c-:3.,; 14srS 6La; [ \ O] \ -f
.$f*, lr=Yt" ),lr = \ot",l, - \01" eJL TSDLY
,-r-itsJ-L..-t..lL uSrts, cs:t\ csltl, ;rtls6-t+- .5b.Jrt . tYP] @
.4.211 .:-:r ,l ,L-i;l I
;l f-l JL.rt 6r!i L.rr.- lrlL u!tS.tstt c-:Jful- rsrS .sti [\f] f-f
.1:
qsrlT
;ryl:,Oifr:J fr
L1t a-!,nt uSJtS, cy\cltl.,
.{rrl d-rr, ,f Ji jl f -f Jti
ts:t\ cb. Of-, ,-st+lrr +l5;l tt S +-_Jn JtS-t, r!; t u|ts).![ fA] A-f
:,.3 rr-t^. ,tJ ufot.-st-b, g;trrr;Ja..r r,
tb , 0P" Lll,r.rt ptS.
t" 1 0t (
YYO/" 1 0r (
_ y0. t. 1 0r (
- \f0/" 10r (
-
\V"
.rli'-
\Ao
(a:,-l
..-....v
.
) il qJ.)J.g
'l:_J.'J-J
rrl;..
J-
f07"
y07.
\\'07.
( \oolo
- \"ot'100
\V"7"
r" 10r ( \A.1"
! V-f
.
oLi
.J
,.rii+;r>
\J
c-:r,
L'tr.J:t
rJl
!,
or = \V/o
d7=o1A
dr = lt\
dr = \Vl'
;l
,.91*cr.^. it=..;l
vlr
(u-r+) u-fi-ti At-Jt g;t Lsl,:L ;-lt
'+5;! 'tS"
1tO1
g.4l9.
,-l
,r-:[ t? *U sSJtS, q)1. 6r-+rlS t x;l:,g S olv.;l F +[ \. ] V-f
.Jrr: 9,y.2 ,5;? c,!l c^i: .r, $ j2l ,tr\* jl E ,Cst t>*rp.+5 ++
www.mohandesyar.com
tt,
s$tS.. rrtrritr a.r,rlr.$t
ir-
\tY
kb uL.6li.oJ.o 6ttt 4 L-,5 ubtrtu,s;r+z r itS.4 6![ [\f] A-f
,P $.Sl.r;el c.-x, g\,sboS^. vl:z Gr ts il-iLr.,,Jrl g[J-;.
x- ,(st^r upi. sgilo.i,.a il:*.l gL 6,st*t) ti nl^bl rrlr + F-t ,'1*1rJ
tr; .ulri J5--, vl* cr
o:lr $.i;.ttJ c!L-i.: hb5sL 6la^i.a (Jitti.s,-,\f-F
[YP] l-f
"[5--2r
./r = Y\ ,;y;,c*l lel k! J*,ia; pf kb J*,t\ u-l.r).c;,-l ori
:c*l 6"4 y j*;"',St lr., ryS
-,.:;l :ll.
p:t kb,sl+-l slr (r.-U S-- tt:n a\ b ttqrt
,g-* qlS 6Vi
.tS
c#)al
fJi;l f-f
JE tr rot, ,-'!;tS,
6211
6l;ir;:
,sA
"4"*
dJF [Yf] \o-f
,t-,.oI
.rr -16;t^ti ;rlr.2[ ,sU. ,rsrbT L..,r er ! cnsit ,w
.s-';.,g ort*.-- "l ,.F-;Stt ,-rl\615*i.e- o!*s p$ltfu
V-
hl.,l
a,-1,
H .1 -il tYf] @
q.*LL 4-r
c*; I (YLr) ,- &*;K,.54:--,,f;1-+- (J;t6.hL..
.L.ltstl sgl*r,tarat,r5;t5. g;;! \f-f
JS,J
www.mohandesyar.com
\rr wt
llg.-3 rrr.rrr c-).
ir=
ctct
-Cr 8t
81
c1
tt"tt
-sr ct
lrsr.* lr
81
o
tt
lycq
h1
.SJk- ,rfl .r:;L ,(Y!rl) t- &- ?frr$rr c.:li 5.,- .,sl*! t ,sl:l*
(11 ;rtrr) L-!,^" '2 trrltt u-l S +5J' ,s.,-* 0, :0, UL-rsltb a:tb
,slt E r.2lr r-e,-.e d=* .:JL
!l:rrlr rj-.e,-JL
u-l
,sb el.n q
U-l
.ry:
trj l+, t-(- vl.r 6l;6; ;J
a-,,g,:*lS.9: .p;.r.c-l oJ.i orlr;b fR liKrgr,\f-f ,fS*.2r [YY] \Y-f
;l ,pr a.\J=:. * t> d+5 +-il $,g gLi lrJ,-S,- 4t.i; .5'- tt.t-ttu
q'!1, (.ijl) \f-f JS pts,.(.r';L.r cf! -,rU Loi.lr & u-l,t+,iti
i,-:b.i- (.-)\f-f J* piK..c.*l a-.;r t. !r!r: ("t) L! u4*..st-ll
.r.2lr \fio - 6 -&-t,.fu,L-sl: s 664o,
jlb Z-Y.Z )51 6L-121! ,rrcr o-r,-r d.itl- ,(.iJl) \ f-f J* 1itS,
.(\Y-f u-r) lr? 1.r:l5.rr
\f-f
Jifu
www.mohandesyar.com
/1, siitls. slrr;! irulr.f=,,Lio- \?f
Sl
t.
.b
L.b
+c*; ,pr ,t+f !! 6;&e c-,1 ,ri6 rn!.1: e ,c.-l
r!r, 6 ;t-n.Utt.2) cri,rlr ;k; it&
.tS * 'prl, !, prt l;;tt-.rt f !!
uain^, rrt ..r ,J-r
,." It
ItlS.
iL.rt) t3^i 6"p,(c*l .-.:b
,s;J4. il-;C rc*j {>.y)
6 It g,l+-;Jp
;l 61lc2.^.
E +5.-.y .+5
to:". Y?" tult,g l+J..-t b de
'hl
')tJat- 6
f Ce ,fi :,(:rll rr.r t+l ,jtJ t ri-:eJrr-r
, W! iV
.rsJ.'u;l-:rf l t+ht ,rt t,1,sr6 6..-bi ,1-'-l tJt*!S,- ;l xl;u.
d+) *5
.(rrd
f\qsrl$,shlrt
t 4,,5.;L+ ,*td6hba c.b cb r[Jr es [\r]
.+5
6tralrb. a5 .lrlr 4-2 6tl;T ."ls i t .ll+t r, [r f] @
",:'
qrtrdJrL. al ,sbdc-it- iljs.rJ)bl L1; a- l .tt y U-T.c^-* # .l ti 6al-,D
tr:ir',n J- .l b
tt+ (ie) ,J"L+"
,-rtf-.r.).riJ- tu.$7b pV L..2r u;b"Jrt'. a54*,- ;4 a;l+.Lay-.i [fA] \a-f
.(+* l, [t] : [r]
.c.-l cri orl: itJ.St'-t; ,*+ fRuSJlS. .5tL.i- \0-f r[-.;r IY0] \t-f
,t+t+l Jitt -
\_
/,\
/
u-l
= [",1oo, -too, "]t ,1(..1) o-f, o:lr .;tJ f .R;L: .J"ti.sr;tr \0-f JKJ
.(\t-r
www.mohandesyar.com
\20 Q2-,
fi:,dr - t/l ,q = fOo,@\ - \;l.slcr;tc -b* kbub.-rb\
,W j .r>*l O = [', too, -toor']t l ]l;..,JSi.1r ,,;lS. g;+,5=1,
gJtr.*lt .J +5 l+, ,st* fu 2tliu 15.*lC eSy + \A'o 3reJr.. ,r
.et =
11
' Prone
= [\l \,
\70, \/Y" V]"
.c*l rr.i orlr it;.SJt; ,t+fn .,*K" rgt!.i- \t-f r[5;rr tYO] @
,d7 = \,oy: fOo,d1 - \,o1 - -t'o1l llcr-1v-b* tltgt";!t,
irSJarr .o-lll.:.O = [", o, too, o]? L,;[5*i.1rf;;1tt-g;+.,;511,.or - \J
o
p!lrc-:t, di +5 l+, ,st-b | 07 ,'-:,lL {5.c*l + \ A" 4-L t eSr
,
-bt, fv-f
D.-_ _
["
t"r\/., \7f \f]"
r$ crlr ;tl,:; RRProt,-$tS.15t! [\0] \A-f
(J;t^dJ:l,.
tri.llr vlr r:3 rr! y-l (;t5.)
.*-r\ -b I ! fA-f ,$*!.2r or-i o:l: ;],a RRRr"t 'S.;L+
,$tS" rst! [\0] \ l-f
5J.11: vlr .l:; rr! y-l (atS") ,f;t^+ 6taalrl,,
.*.,,4
r$;.2r
u,".l O = [", too,-1"o, "]".,K.,1) o-\i o:lr,1l; YR,.r,.. .,5=;lS..sr;tt
\t-f
JKJ
.(\v-r
www.mohandesyar.com
,1" ,,trtt(.
.t-;\
trbt!;Dlr\dJi.ir-
q
-b t1, f t-f ,J5;.2r cr.i c.rlr i:^r RPPrnt ,J;tS. .srq [\
tJ-2b
,-,1.e,-
rrtr
gr-l
(atS.)
.*t .- U;b.Jrh.
.-r,-.,r31-bl !, F. -f r[5-: yr o.,.; crb il':; PRR nt .-JitS. .J,t! [\O]
!.[lr vlr t -r,'! cJp-l (,JtS,) ,-J=;t 11- g;balrb.
.4-& -b t ! f \-f ;$;.2r o$ crl.r ;;l.a PPP rot .FlS, CJ;tq [\0]
tJ-2lr ,.-,13r
r,'! y-l (.rtS,)
\7?
(J;t^dJsl*.
"$t-i:rilo-l..: o-rlr r.aE 6lal:-,-t52-i.#t^e- U;tadJ:U, tfA]@
sin(=osin0+b
sin/_ccos0+d
tb=t*6
,slt,,rl5.JL tt 6 {*, it.l; ,rh : d ,c ,b ,a;:; 1jt,
J-l- 0 csl;^vl:t:, t+" il ,sl:l+ 6l gel,i-2cJL .+T.f
,l'a;,{i- \} !I *.njy-* ?}.{i} tb *nty-* t*t #1, ![ Y']
.{,.rri c-),tu i-'T s96t-:.e:l ,Al-i Jy,-ao I u.(t';rLn-ri;ti:u ;-bL,
csrar
=lrr$
.+SO..* ;.*d
t1
(f c*-i) o43ito51 orhb
- t,ft u!t(, cy\ clt ilb,Jrt^*
x-*g
,cbl
u;t^al:t', d.p,-.;a 6l*,L2.y-;
J17,.aat ba-t:-: ,+,Lr; ,j,-lt: .(i n-i lt l-Y cJi;.r) *t J- !
Procedure INVKIN(VAR wrelb: frame; VAR current, near, far:
VecS;VAR sol: boolean);
ttwrelb"
;] .tt ^S
t =*rh : ,z-l 6sy5
.-sUr, j>r1 ,i12-o{ .5) b a\a,-J. ;tS, 9 c*l Gly) "current" -S./
J,f9r vlr "far" ,.rlrt u-$-ti "near" )5.s. L4"J.,ltpr3. o:lr ,rLoL
l+,,11:tJt).ur,r, ,lLJ ! vlr ili t- i-u l+, 6c,*l \<r,.-,7r.S,- "sol"
t^;lU, J* -ltr,g sol =FALSE ,r:'i;
c*l o;r l.n
-t)
It=lr="/6
t'-',;
"-[, -. f,rkt
a,
r*i
;l c*l
rtV rJ .4,-L 8f ryS
-\v.o (0; < \v.o
1. Flag
.\
www.mohandesyar.com
\PY
q2;
{*irF t'r *,o19o4
,YT'"J?t+ jtl
.Crir^r .t-*r;
tt !, ,crl
r,
i-1,
a1
*l.b iI ,rf
Ll;, ,j:-r: ;t-;,1 6!2
.ru t,- ,u:...1J,-S,- ;ryb'Uib a.rbr19r i/_l UI 4:.*: r
y-l .c*,1 o.l.i.J..*,.tt,,S=;tS- (J;t!.5'- ;lY L)y + cstl,,ll .l
J*j,Sc/ ilo e *-nr!.-. a,, c:.*i b ,lil *nr[ 6
c,*;
KIN L[;J
,tft*,-l *f,rh ,rj> 6-16 tr9le... ,crt:r,r;l o,u5o:tI-l
:{:-,-rt l) Jt:n7 61lr.12.2-; .,2-l ,sf Ut lT
Procedure SOLVE (VAR trels: framel VAR current, near, far:
vec3; VAR sol: boolean);
: tSrl i:at {S} -.r,rt4; * &*;
{f} *9'j9,* "trels" ;T-2: o5
.sW_-,- .J::-^ INVKIN L!,^,--j y) o-u
^# ,s|a-r.-!r[ iL" 2K-t ,,96;.]rL.
LEt,1-j.J*il, 7G ,>La,; oK:-r.2, !r: s;-l; .st+nb t t+nf,
{^t} : {f}
.spll t INVKIN r,TINVERT,TMULT 6.l;.12r,_; .r,-L SOLVE
os3 sa),,2a 6 s ,A tr +-*2t a5 | j,u *frkt .S,- .5 +,-i
;Ll 6la.L2 .f
(i; e ,c*l {S} q &*; {f } ;! ,*ila ;1>} ,^;"*g,-l ..l5 c.iL_-r, ,c*l
.$rc/ itJ ,r:5
or5 o:LL",l a5
!, t+- c*l
b
.r,-L:
cr-ga,lt ct--i t5
DJ:
x*C
'pJ4,i.
"l-L
!,1
ua;^i urr6(;:.rl^-.) i.-|j rrlil ,Lo;l .-!:, ,-r?
,-o'-y; tj Jt:et {^9} : {T} ,tSu. o:1,+-.-"1 (Yc*;)
{r - lx
lr -lx
j.u
y
y
-["7\ "tl \'.r.]
0] = [-.7\ " tY . t"f
dl
jl .5-,_ ] 6D l, ;bL 6t_lt
4. \4; a, 3 c*l ,t-S ;GI d;ria t lt q,tf d
JL I b cSr c,!r,, S ,-h-i
.xJl+,,,_r$ j.u'aLft r-...-yb wlf Cr-jS,,_:;; +! -[;r .b.tc/j.u a- y-l
.+5 o,-L.. uj ts
0..r.3
o:l:
.-3.-;ta.- a-
lrr ut 6t) - 1"," ro - t.r"]
[rr Ur 6r]-1"; -"tY fOr.]
[rt Ur 6r]-[-"rY "tY \Y"r']
lr, Ur 6rl-1"1A \rf \'"r.]
o
t#l
a5
+5
6+;:
-rjl:4 tt
,}t* '*+ !
WHERE
SOLVE L[2r;;
.rJ*q
iub gt; ,-?tr
www.mohandesyar.com
www.mohandesyar.com
.Fh-I
sstar.ry:
W-,* r4u.f$
a.o.li.,
\-0
;V ,&Ll .rtS, JbL- -il b G\y *t ,-$K ,st"l! i-JU, ,Jui ,r-l r'
u!ts" ,st \ .Sr J$ a;1.,1 *).- r. q .S,- ,slr-sb , ;u; c-cr t aU, il s :t
p+l;-
I t ,.* fi Jrrlr t-Ebr,* ,O^:--.^ .#ftpli o:tj;-l
Ce or[i;-.,,| ,rot ,,.!;tS, ,Jt"ri! t rl1' .,S.x-t-l ,-sLnjLi
,rot ,;it(". tst! ,g-f l: ,r-tl t ,,r(;k-l ,-sto:r s W-*6t+i- e'JU,
..u Joli (fJJ
u-l.tt ,r-tU ;t2l .-t l4lu.
'F
t+.5 ,rrl:. .;i*.2r s 1*e
dtt '* .,*+ t+;t(, 5Jt+- Lt'y h.*lrt
.2r.;.L,: i'JtL,5!r,.riailc i-$l,!..li"i r"li ort-il tl,r-Ll .Sr!:r tt E,r^+ti,
.S *ly ([f] b t\] erlr) .SJ[S, ,sht5 a; slju" +=,j
UU".2: t4T;l , ,y-$,C.b
\
a,
g,_l
aU: U
c;e
x-* 6;eE
J ,lt^(i LslJ
c5-rlif)ti
rdry tgrJrl-Ll q I "-1, t.aU, ,it*-lu fe 4f
.ctrfifrLj s ,,51,-sli 'J'sr
ve,-y;
"l-L;
Y-O
il
,-fu.
,tr.2lrra 1l
.LU.r u u2f ln *Y t*+t,JI,.fu-!, ,>11,x1u.16+b ns.f 6 n"-;6 C)t!--l;H4;L--, .\
www.mohandesyar.com
stJb-lab.ur
.S,_
..;*. clt
il
ql6sL,.jl ,(hLj ? J-t r, r
tW.r ,W..ft: \V"
&t(.c (JlllJlr; ;l 6$e
) | ir-n,r (fJJ cslt cl+L. ll*+
de
'r["'1.11-17
"ve=ft"e=lig.W
\-0)
il t it5- js2 3 6l,,Li; ,); e^sr- Js..eat ;.,\-irl ! itS. jtl- , tcr
I, Q g* tb.r, ^S t; orrLl ;rl-i,1,(\-O) ijrh. + +j\.r-fJ.b 1s;fut
-# {B} 6 c*i 6l; ,*iji L. Q Jl fu .,.S., a-l,, {B} v*rl43 q c-*;
c^i.-; Q a5rr! c.3lr r3+.9 u-&-t *r,rkt -St *,s31 .u!i ,ire c.s-.r-, rK;l ,lS;
tslib jt.,;;l g ^S csn.,V StrS ,r;,* dtu-l a, .c-l ,_-;; JSr, ..,1 t
'-e,-f;
;.1T
.r-rlr
c--ll ,rl?,rr
s ,t-S 4r. ,gXrV ) *.t
al-ie J,-t jt2J^ lsL 3r, l, c.s- rls2
jt.r'
C-.,Jl CcJ,e',,.i.1l .$ .Up orlr ;L,i; ,rf-llj,h,4
t
?frJloU-l
:-fg
a:,.tj
"("vd
Gt
0.+ {A} vX.|4" r....-/ ,(\-0);l
-#"0
o.r.T
(Y-0)
,c*l Lr-, L ' i .rr 4Hj .5: a isr jt]. f ,r5.JL .rr d fr,uf
a, .i-*i ,s;'".:', 3
,s.njYB:.1-2lr p-, =*rer & ,aLii ;rT c-- t.ru.u;Lr
.s-ig il.r il a1 c*; ,.x.-lr2 cc- .rltt E 6*rV , ;jr;;L+l il
,-,c-l D-r.i cjj c;U- vf,rV -,..olo.Li a.-L, ,isr,(\-O) 'r\bl
cr-ttjrrl d,jJt ;,u$tl ,sA.d.rls ;t-I B ,r_u:,J+ l1 ijel, +s
.>:j jliLr.e rrl.s t3'-s ,ltV *_ttj;rlr ;l-:; { 15jLi ,ril,.'(,q'rJc y_rb Ll
"
,(+,:n
("vd -
nve
(r-0)
Gl wf,tkt.rt ,..+ i.sr9l {* ul,,r, ,r-tl o1l5..t jg ,,,41r
b r*tf ,r--i-tjcfu,b1-i,-/ r.213.r,.*icl orlr;l-! e-re r*+
\ ' - Y u:4)
il+ i/-f .tJ.iL
nf
n("Vd =
lR
BVq
c*Lr.
(r-0)
,slt 4-1tfa1 u;hrL; b F.-,-yt,.. (f-0) ijr[. c.*l c* Jfu + t Ldrtr't ',
tr-.rtjLh. Fj q t+l.rr, ,-t:-lL 6;U- *9'r$ Jt usr i;u o1l2-t tLc2-t
www.mohandesyar.com
\Y
6g b. **,t
"it&Er
it(r cb qt$J;
.r-itJ cjV s21V
?nJ!.o'.S'- 1c.*; &i;.S,- a'sr,rtt.Jt d;l.sLt+ ,4112,, ts.1Qf
...nrf q c-i ! v*r\tt
,r1,. ,o,*. lG
'Jsr 'y--5. -h
g.rl=31
Ft
dg
orli'.
6'i+
ot:et
"l tj
6la.o):,- 6rlj3t[.J il 1;oE cJL u-l glt .tf eV
'uc
uV"o^n
(0-0)
ilid'i:..c-l ltt ?fttq" {U} t,{C} *xr[ '1,r.'t'ltL t1v't}fi;l.,r '5
**.,q6i+- u- ,sbb Aas s-;: ,{C} =*r$iu tn- I o;l;l ,sb.b 06: rLi
,rJ,$-S {U} + c-*; 6L \ JD rr.r6t {A} v*tkt.r, .t:,.;=-; {C}
.(c-l
\-0 Jb.r r
o.sr t d urtb * J.-:. rah ,{U} -B: * Gy rr,rtlt
$f.,rr t"o mph &cr \ 5 ,*.-jl a f-:',-. Al-64 : ,{?} JSs. r*f \ " mph
X t*rl*..| ttas-e:r}.c-l oli orlr;tJ,{C} c*l
tsf {U}
=nje;l
c*l ,-tlL..llc"tj ) lbUR tYR ;tbst,st*,-it .r5,r.
\-0 u[S*i;r
ud
E 'P"o*"
.,F Sf.r'hr..rtaa )t JU
\-OJfu
.\
www.mohandesyar.com
sSrib-l qrbtC
t$-r ,Q.fr:
" (uVro^n)
.Y
('v"or")
.r
"
+Tg c-)dl
,*,Ot.Shlrt
udrP^^-^-tJ
E' Pcone ="Vcone - ac - f"x
" (rvro^c) = " r, = ?,Ro, - ?,R(\..*) -YR-t
.\
"
(,v"o^o)
\YY
\..rt
.r
: FRrv"oRG = -Yn-, Yn v'.f
.r
Lsl1-t)j e^,ort
jtJ
.;$t-" .farcr il.i; O rL; ti b aI : dC .-0,-r; l, glqj: u2t rlry l^i-lrr
iL. ! f.-" .S,- Ji-, ,slr-sb trsr ,.tSg ,_i"^, b "Li; e- ,Ji, ,rL; c,"s- ^S
.rtr tltrl ,{e ,P
dtL s12. 1l,al q oyl3rr dtdl;l ..ur,r.
'e;'''r$
osf Js,a* l,
,slr--.1l:
'e.& -b I E vn.t[.S.,- ,5,!:r
AQs,(Y-O)
J;lA;l )Ss. i:4j {A} + &*; t {B}
,[5*i.1r
=1''rV ibss
t>er- AQs j.tu : {A} t c*; {B} ;tlt:t ,ll,* ,^L'J } tt Adln c^p ,,r5.,_;;
ot3.:-, * t: ;)tiL/ .r1.,-t jt2JA -u;U i b ,sl+:l: cnr1l:y ..Ler,r, il'J; ! i!:r
.*l.r
JU:;l
{4} v-nt[
c.*;
AVnone
.>er l, {B}
*9;[
Y-OJiJ
www.mohandesyar.com
\Vf
+,
&?t
dtr 2 rrLi *y
\ ;tljg or.ii -1r 3,:lr ;l-:; irE . rpr oLoz;a
.rlqrb L.cr "('Or)')E .rb u,:,-ti l,;l ,srrliftL;
.tFe,ll.t {C} *9't1q PJ dc'*l
Ul .t;p+li orli'.."| rri orL g;rljfrU;l ,.:---e!, t elt .,JL dJU l+i-l.r)
.2) r!)5; ,,a;,* #t+ ,t:t ol',.:; ot(it;l-1r.5 >ilcf Ch| 6\t.t ,c:JL
,-is^' rrlg U;rljf)L;
i -&-r,r-.it;,,h,.5'- itj
{A} + c*i {B} vnrk
nl-bl
0)c
(r-0)
='{1"
.c-l {U} w gt ,6;-l & c*j {C} *nrta3 ul*:b (>cr uc itl.rt d
g;le-tb,J.er + Jll c-,1 {,a} ot(;-r;) o-Li il.,t {C} .,. fJh .sla"Jb *2-Aws
.(c*l 'r-j
-b-rr {U} a1 c*;
'>L.
"iJ
,4e
t-.?l upbss t ,F &o;t f-0
,rl?,rr L"n(J.cr q d,Jt" b Jill ,b4- F*".S,- tsf &-a;,J4 o-lf
;r rJ-i J:-j,sl+-;J4a:l+tbl ,sW,*,b&-lrr,.1"1 cfl t.r[, .dg tgJt
dtL Ib vE: py?J;.2r.:b x.rp eli,iL.i trrit cJL +lrl 'I;
f
'#r-tli
dC P
ot-o-"' ot3;-,
.i- dtL \E g g
F.l,- -b l,,l:S,- 1 c*; hatr3
c*;
a ,l J.oi
,*? ruelb 4-
tQ eSy
lre .S e, ,-J-
-u;U ;.; l+.:lrt
ft-"1
4f
Zi
&.>trt
*1.'tV
jtu
*;L
'f-je F.t'
'{A} *xtg
'r-o
o Pnone
a1
t
,{A}
o*;
i.tbs> u--tL s
;tS. ,lrr1
**tV
{B} v*tV
if+ &l ..r:s; ,a, 3..; uK \ AR 6;+ de ,;,tt"i .'-*,t ,.4; $n
.!Lj { c*.; BQ E; (t-)r o Paone ,ra';l ,{A} 1 c*; Q'"Lft Ef dc^-L..
't/.rl ,iE
'.rLit
,*t
,>sr-,
rrL;L,r
;rrf c^-).
Q
:r/ c^..1 .ri6.c-.1
{A}
,rL;
q
)t
c4U !,
r.5
ove
{A} ' i:6t
t'1,. l,
--
cr,-".o. q J.-.. lt {B}
t+I, ro-b il..: {A}
ov"o*. + AR Bva
*rb eor'ril?
(Y-0)
www.mohandesyar.com
.,ijb-l ,sbti tW.,' .Q.ftj \Yf
.+t,r Jt;:l {,4} ,nr[
.!rL ,rL,r.
cf lr -1U
c.*;
{A} : {B}
,AVBonc
'#
.>'r l
{B}
,-*rV f-0JfJ
,s;rp ;;I; ,lV
^S
,slt l+ (V-O) ilrl,.
..:*l
,lb:t u;e
rtf+Ti+. d,V-jl\t,i-b & L>tr-, t,(;', br. lr *e-rd )s sr-tt,+ JL
4- f t-rD f+ + alid b vnt[rr.p t- .5.,- .c*l ,fuJ,-S,- 2. ,iU;',! '^oS
.Jlo$ orlr ;Ll; ?C f tl ,du js-i, .t'a ul,l-6 rfS*i -2r Ll ,rJ ,P
a*1" )S'. rra, 3l; uS ! ,{,4} ,*rV { c.,*.; {B} vnr9e- ,s}..++
.t-f. cl it=: /Oa tltt\,{,4} 1 .:*; {A} Gb:s.>.sr ;firs. r-\,r f-0 .,fSi;r
b ,r+ ,.fot JL .c-,1 c4U {B} -rr d r5s. .rain^, b ,jdJ; tQ jU r,7irr.r
u.l(l,e,{A} -,. r,rhrr CbrtL +r jl ,;.b:1 c*;;l.rra.S,- el-; rde Cb
rljv. ifrr F_S_ 11 c*; tB) r {A} g]v**rht, c.-l c.li {A} + c*; r5
t,:-l t't(a
..tj; bli.,r.,c-,1 c4U {B}.rr tbrtb +r ;l e jt2.*T t .-.j t,
"vg-"
Lsr-'
re>.e
rprr, ,{A}rr Cb}l; +r;t Ll ,..:*,
(^-0)
{B} *
c.r.J j4;s,_l
-Sl
:t b.up r>syn{|" +,gb.'t
rr ,0-0 Jifu .rt .1r--Se.-SJ6rr+.i c^ibJ jl ,Q /Li,; c,c-'*L- ,slt
rJrLL {A} l}E 6 c*l 63.,-;r2l .r:,..-l cJ.t orl: r[.l.J,Oa Jf Q jtr; },tJ;l
eLrJ
www.mohandesyar.com
v-rar!F{
c*;
AQs,sl^,;! c.r
.r.sln-tb
qr-
- !,c-l
c4b
s*sJl u':b ,&
{B} vnrb
4 e--
r> 6
6-6Jf.3
rls, f-0Jfu
)Sa. Abt {/}
www.mohandesyar.com
sSrib-ldbt'l tW.r ,Q.fl: \Yt
.J,lg.
{/} .rt eb }U S t*al b .,1'r, I ,rj; j.tLr c^rt iltd,o-o JS-: tJtL
t t' +\ AQ rt ;l?;l;4,-rroii dc*l ,t'st ,Jsl L..2r;r .tpl c-,r t JSut rJrLir
#;J\JLS t-frl r.t,.r,0-0 JS... +.-.t !,;,Jr L.tr.rr.S! tt'AQ Jt'tndla
t
c,*l
lLQl
*)t l5s..fl5
-,r cJ-i ^:;3 (3
0;" ubli,_)
- ("Ql sin d) (l/o"lAr)
(r-0)
rsrlttvt' ^J..-b! r d^trarrl& t f; L-F u-l
# iI u:'L.b \ ali.- b jer c.+t i.1!.1r r!
ove=nQ"xoQ
#J .brr
.15,*i;
il
{B}.-. r,rkt
a1
c*; c*l irS^. Q ,lry,,rlf cJL.2r
f_.llr
ove=o("vd+roa xne
AQ
J:6j
dt-l q o-.r q r,(.16:r
ove
L,r,-u:*i
,rl.tr
(
,Jp_l
\ \-0)
,r-t-tj.iL
rJh-q) .rlrrr ,r-tl rtjJ6q tl
c*i,lr F+lf ,a-l f R "Q &'J t
loa x AR
= An "ve +
"e
et
,*
\. -0)
;nl
( \ Y-0)
Ltlt"-tlj
t ;L, wr
ol.-z;-irr,rr;T.2r.5.,Jt t
iJrh. bli.J JtL+
(\
,\f
or5rl
Y-O)
i+..
,slt ,-{ \b :
*
cl
,}; c,"sr- ,b,y-J, .rlr
c-)&
jl
,{B}
,>1.-z;ot(:-, a1 c*.; c"Li
*lcf
,h {A}rr tb.rt[ +r
ove=ovto*" +AR"ve+oo" x
(\r-o)
is.,, uy
!, (\Y-O)
An"Q
,bu
.s.,-
4r;l ,Jrr.:, ,-. r,rh.rt
tb ctlstd- t. ,sltb cJL irrjJs(\r-o) ltrL
.J:5.,, il.t ,,t'L **r$r,
Cb
g/l+Jlj, -.ert 6l!ls .;-i#
f-0
t+i_f .rr .de tfrr.+
,(\.-0)
c,tjl
,ir+
,sl+sb &,Er ,,:;1 i;-l 9
l,
&!
nrh-l s-Js^ c-ihJ jl (\.-0) iJrb. ,5^rll.rrlr ;t; ,sl,,',;,,T t d,Jl; ul4 .i)EJ
,JtI"
www.mohandesyar.com
\
VY sl+j:
*7
,vl5u-f iJU"
i1U.g
st
.4t
ir;-,J'i.
s.Jt^tr.
;.lrr.t
,-h ;tl .7-$C uit,.1r b ,.el-r.:.it^J ,ri
lr
J.l,sl&
tj Jt-tot ;t"
'&b ;tl;,A,artl
L,tji
,)--.|J."J:;:
,r-jL.S,-3.uUu,K- ,r-rL.S,-,;'t. 6,
,rL x n s.uk ti- ,r-tl ., g;b.r.,;31 c^.,x1
rL,
al-iLr. ,R
ntr-In
(\
f-0)
t- .uk t5.,- ,r-tV t tu = f .:JE tai-l.rr ..:*l n x n;tr ,r-tl In ,> ^S
s-;.6 qJ ( \ f-O) lJrh. jl ,F-S 6* t .c,-f .l ,y ,bl:'s n-;L ,R
6T
L-
h,tr + Ritr = o,,
\0-0)
.:*ij on ;tlie, (\0-0) iJrb..c.-l nx n.b ,.,-;tL .,. .rT i 6
h,tr+(hR!)r=on
\r-0)
.;-r.
S
= ita!
c,tj; *
^9
!,
+ ^9" =
\v-o)
(\t-0) ;:lis
(
\A-0)
.utr:.Q ,rl+-,--rL d;.I 6 ,slJi-: u-;
',>-l artl rL ,-,-;[ ,S 6 r;,:.r. ..1r
s-t'1g iL{ &+ ,r;L,r, L"n a/tf.r.L, 6la-x7L 1
.9
on
lJ
tr
jn2,r-l
6l
R.B-\
qrtV,.r!,'rr tl
(\
r-0)
t &rt 4 *;-
.+ri -b t,.r:S; .# {B} **.,V 1 c.,*; 6 l, " P cali.1lrr;
s-.J.,s
'): j ,h {A} -&-t,rrV
Ap
(r. -0)
=An"p
www.mohandesyar.com
gltrtr.,,
sfr:b-'
,1:- ,AP.6;l ,(ul*
-b
\VA
tWyQ.f[
O*,r-,-).utr .rfr, JL-rr {B} *xt$
A'R
.p-:t;.rrp *i;
A'p=An"p
,,,>-,1 c.'.13 B
-Sl
d.ffu
(Y
\-o)
.>sr-, 6b att.26q u;-rlifrL;;l orlf- ,f lr ,t-
ovr=An"p
f*-idti rue+,;l1r
ovr=ARf.R-\
p-,rlr
,.uk.
t!
1f .rlr ;[-L; ,q.t'rrl-{
BP
rlri.,;rlr.1[
t*
Y-0)
I tf Y-0) JL
AP
(Yr-0)
,sLe-,-;V ,slt
nv"=As
,-r--tU E
(\t-0)
'aa;
il
orti-*,|
(Yr-0)
"p
c*,1 o,* ,sa.L,.L,
V--it:
) J-i
\ ^9 ;1.lr .5
'^kb.tt (S) arta. rL,,r-yL u-l;tx..:*,1 AR,rtr ibs> e-tl + L-1-,..uUi:,t1,
w;e ,11-JU ! iI ,+, F+l9- .:.tr+ S ,s-&-t.,|,)t q e ,c-l o.l;r.ett (Yf-O)
.&b./ u.lu-rl)
cill>J.
r..& -b I
s-
li
e'a
Jue+ l, 'S a;tr'
J ,lrti:e
tL,
,.r'r-rL S'- ,slntat
F ,-.F lt *
rlr
O
xP
x \ ,-rj-, tlt-, s
(YP-o)
"= Lll
-
Jl
(ro-o)
| *' :" *']
SP
l! UQ*;t,
;tJ ;tlje;LI.s '6;l
(YV-0)
www.mohandesyar.com
\Vl
d1-tlj
*'ti1\p.4t
srJtll,
?* 3xl;Li.; x c^.It 9 ,.pr ci\ P 3l ,> 6
.c.-ly'itb I x I (sl.-t)i,isr,r-t| lrr,;tlorlr iti O t .!, ileJ,l'x \.11rr,1
.s j* Y-0 ,ln 9 jy2 u-l .'-*c/,r;li gl+tb wy itst
,g atJj ir;r (Yf-O) '^\b ,-,-,
.r>l
61lsr,
s-.J,.
ovr=ndl"xAP
i:aj {A} t .:*;
lt
{B} *9'rj6 r>Sf ^Sc*l
3
)Su.
Glu-tb,>,s.,-,.1lsr,AQe iT;o
ssrr jtJ,!je
L4+)U
6rr+
I,
aT
,f-*
fta,- ,'^l1lr..r' JL
:r.291
";',-
)Sv..ir.-
(YA-0) '^bb
c-rl ,!!r) *-tl;l ,;z-6;i*\
ir- urrr-
YA-o)
pp
O.2l:r;
;tli,A t
R(t+Ar)-A(r)
Lt
dp-{r
O
.Fj
1-0)
V-tC ,r-tV tt;l uJt J12,'o* t R(t + At) JL
R(t + Ar)
++j t,.c*l 8J
r4l K t*
(r. -0)
nr((^0)n(r)
Jr Lt or:Yu; L,0.s-tif:r,ii tsE
e*,, e b (Yt-o) jl-i.-/,(r.-o)
(r\-0)
t
h_
(H_
Ro(Ad)
\Ar- "-
c:j;i=*
.(-,-f
r
I
RK(Lfl)-| k"L0
l-*, te
- /.\
)
,sl-lu
,sA,
-k,Lo
\
k, Lo
(rY-0)
R(t)
llj,s,(vv-
k!Lof
- k" Lol
\l
Y)
&| +.-.r
t:
(rr-0)
www.mohandesyar.com
ssr:b-l (,bt'J
tWyW.fU
\A"
+l.r tt ti Js,-e/" (f Y-0) u,-,,
-k, L0
"
h-
ky
A0
k"Ao " -k"Lo
-kya0 k,ao
o
lim
At*'
g-tlr
,.la-
,vJ t Lttol
,-t-'-JU 66t'-:-e
r"'n
l-kre
(r0-0)
kr0
t-f,g4,f,
[ . -{1,
RR-\
1r f:-J ! ,1t'.*!r
-r'.t)ou'
(rr-o)
rr0-.f
-kr0
R_
n(r)
0rl
=l o" ' -o"l.
l-o, fr,
(rr-0)
.l
;11
lo,l
aS
l*"e1
o- ln, I = lu,ol -i)k
(rY-o)
Ln,J lr,t)
j 6rr3:a-;; "hA f tt aic*l il ,O ,,sl*-sb &sr tlt,;^ ,J1-;j- f:y
,ll t* ul .r;-S -b f k jr qsp J. Grrtt ry,ed ;)l...L,r.lt ;;bst JL r)
t* ,tI Jf il,':r &cr,rLl J t-t? l:F,t ,-h-p S,'- jry.,>1;o+ l+l d,.r!.l.lr
.:lr .ul.9i cd)a, b ,slr-sl:,J.cr jrt ;firs.,g+,rt- (0)
-. 93rl'1;
,sl+jt strN cJi{ti rdr
sl+.ir.r
'ji .rl, ,i-L; f
,sl*-:lj i.er 6 $ tF
-&-t rst+.ilq bljLr. b ,sl"-sl: L,cr
c-l c-r ; Z-Y-Z-[| ,st-ll 'art'4. ,>l*; &"1 o1t'*,llrr JL.r, tfi
lal
67,y,7,=lBl
Lil
(rl-o)
www.mohandesyar.com
\A
.rl43r
$lu-j)
*.7
c^.-:J
jl
i1b 9
.4t
.,rJt!,
;l E 6J.-t ulylL-,,J.-a; ,ja U-l C,:-ilr c^.,r.rt ! C+lF.f
.fisl c*). ! Jtt .l;ll,Jb o.sr it.,2,.84 rrtr-l ll21'tr9.at
,F-
d,t+r
itR!
;r'-l
;l ,,1,
-n.'
- I ;,
l-n, o,
(rr-0)
{t]
Jrrc/ c*)4/ ly 2-; JZ:.,- iJrL
u ,u-lll
;s'_l
O, = irrrrr
* irrrrr * irrrw
Oy = irrfrr * irrrrr * irrrrr
{1, = irrrrr * irrrrr * itrrrr
(f. -0)
6 b ,l$V ;tl-irl ,Lj21 'as5.^. *'.
E gr-rl; \i:6j: (f.-o);l cr[-*l I
J-S.st+rtr .c)j; 't:Su. Lt_, Jrt*. ,sl+:b c.c-rlt1 l '|, tlt 'a.cre,. cWr
V-.tl:
Z-Y-Z -*.:l ,sL-\: ,sb.fu.r-2el-1: cf-JL, r12,-aa ilicr.l.)
(r\-0)
(Jsr,lt,, a l-ly k3.a- &cr.2lry i.r.rrLVrl ,-*-fl: E(.) S c,*Lr. il+
,s-b tty,-sU:, 'lc.t-",. a E() Jfu .c*L-lt
tr-ttj jl 6f
;11
"4,*.g!r
,#,
ir:..r 13
'iu.2,u.- 6laLA-r-:ti,
r-2b
.rfu,c-l
:l ,*E ),,s]{-tlj
o-u t*l-u t{T q5!lr .5
.s-*J.
o:lj'.
Es,y,s, ,?_,rsl*-slj co.,* j;1. a;Z-Y-ZrL-51
.*-rrl c-rd,
:-i,g
aa,.:,pjl
,510-r--..i,
E7,y,s,
= l'
L\
I
JLr
,(f t-O)
,>tJt,(t"-O): (Vf-Y);l ,rti:-l
f'-so
co
.
"l
r
LsL_ly iJ;J Lrt,E ,r-tl
Y-0
iJ:[e. .1r
i/-l
casBl
'::fl
r Y-0)
www.mohandesyar.com
s*ib-lslr.uy tW.,.
.:r!,-r.r
,W.fl:
gl4p.tl,6y
\AY
0-q
e:, ?.ftr141' i*+1, {'} kb v*1ht 'rlr- ';t5.r u$b cSr 'e'tt cb'
;-c.ri : ,{i} L.b v*rka ir" t}; ,.>tt-, a; *i} ul+'-h"^lf -b I
..;*l **tV ;221 6l*-5J';
e^sr..S'- ,;trr,, Sy;. L.lt * 'ol^J.ra .2r
.1: .r1lr ,slr-9b .i,c,-..(,- J
"rL;
c*.; lrylrra g,-l ,t12. cr-lrr.Jlo.ui orlr !Li.i i !3lt clracn- g;trylrr1 O,-l '2-0 J'fu
rJlo.U *j
{i},-. r,.rh q
,-6
+ sb.b )l csy <i-cLib
,K2t
.:irl.t .Cr; trJrb al.:r .-S-.-thhl ,sll"-sb, ;h' c&r'a*l^''uh u-lrr
.J56. ,Sf ,f uQ fL*l t # .S-ra aJc*l ft-"l ;l 6ra;; 'r"t ,;itS..
c,!-u it,rl
,6 U-l rsb..tj a*l^. \4;4.t kt f Lttr ilid 'rpr g"''e a
"-t,
h| S ,-t'r f,il? t a:)lot i L.lt,JEr;l c*l rtV i + \ \\ ur 'tS 8;
,;"f-,
\b
t.$./
aJ:* rrl, i tr \
Jy-ar. ! piti. Lltl bli,J;-itf or': 2-0 ,[5*i.2: d;t+
r. .ciJ -b;: ,15,r, J:zt rsl^-sl: is4 iU; '(J'sr 6b.2l:ra lt ;tT tSr
J- #
,o3ilr
,nrf,r:-
,cllJ: ,nr1.-- 7 rs
c.Jt.P')tc)t--l rr.;f
..r*l
tt\n
4! 'ui
,g &-f fr
!!
;l ,,sl,.-2li i.cr
s .L.b
t-0Jfu
.t-rg o:l: ,J.f C;i ,{i}
) u; 6la.1l>1.1. i ,, itr
=r,rt+a
ir"
,ts c-sr qt
t+:-lr'
.,!f
www.mohandesyar.com
\
Al
!r
4b
,a ,_b.lt
:t .;.rrr aLbl,
,Ff.'
kb e9'j.6q ,f a1 c*; ,t-L crt.a:i, ol*-,, g;l+ q ,bltd b Wr U-l
hb c4nth .,,, d ,t+l o-sr 6lrylr; tt '!r" ,i + \ : i ,s$l.b,v-O ,,[5*i .;r
.ilcri orl: ;l.i.i ,ilori 4f
,4,pc/ *.i v*t l.63 .5"_ a1 ':*; rr.p a5 f L.1r jl-is. b u Gb:t csWr
.c.-l i hl'. ,slr-:l: c-sr !L^ ,i + \ !! ,slr-slj tsr-, r4.d! t, .rJ g.a .3-4 tl
ia;J p d (J;r--rr .ilj" ;r)t't
b W- '&\ .n-T,-t {+ i + \ !!, t' Gb:'
(at^::i,".; ti) -,. f,-r[.3; au &-i iljL/
.#
ito
'rr*,
- tr, * l*,R or*r'+'Zra,
(rr-o)
d
o*t[:
..a\A
&.r
=
oi+t ,*, Zn*,
I
|
+5.ty
(
r-o)
Lr,.,l
t): {i} .-st+r,rt.33 6r.o: LQtl ;l9s u*'-;L ;l
tt-l
,{i}
isl3s 2,2.t,u,!:r,f-t\ .,r-lo:J
[oL ,5f ;;l r ,$ dt.;l
=-*tV;
lt ,slr_sb ,r-sr d? tt ali,g u_ b\.Se J:aj {i} ,-rrV.,' lri+ \ Jt^.L
Gbst 'rili.
,rlr lL:; clt,{i
or
l''Jret
*W.-rk!!, ,Jer
6ta.,l:ra
V-AJfu
www.mohandesyar.com
sS?ib-l dbt",
'rsr
;tl-i,g,,{*tR.r, (f r-0) ihl'.
r-h
ss.ll
(r* c*
t VyQ.fl:
Af
:l +-*l e.*ufu,\
\ !!1 ,sl*-:b
g,;..-; * {i+ \} =nr$tbi+
t*trr*1
-:+tR
t,.r;1d;1r
(fo-o)
'*'2r*,
,{i} +-nr$ i+, uh; c^s- t, c*l )t {i + \} *xrfi+- ,b L>cr
,Pt rL" '1"p, Ul .t--J. ,t J-V i t! elr:t t>cr tl t 6 cs{.rt .ili. lrlt+
rr tP,+r ir: c^:B #r*,t^.i-lrr af ;eh cr-l [r,.r-l J:.'i (\f-0) il.t1.lt\ aic*l
.\ig .iL t1^" .-S-- '{i} -. r,rtta
g-)t
tui+\
'r,
='r, +',t; x '4+t
t-.J.
t*to,*,,
g,-l L
J:b.
L.ly.4;
g o-;
,l*t R tt
i)::
.p
d4+,,)
= ;*t R(',, *iui x
rP-o)
e-e \
rv-0)
etr u-;-.+ il-rd I (fV-A)r (f0-0) 6LralrL
;l ;ulc,rt r ,c,*l 6t:S i + \ ,F d,jJL -2: ,bal:L
uLoi,s.l
t*trr*1 j*t Rtr,
=
t*tr,*,,
= ;*t R('r,
*iu;
x d4+,,)*
i,*,,
i*\
2;+t (fA-o)
,trr J tr" tlie ,-$-t Ll., , t!.i- ;l Jl* t*+, tral:b. u'-l ts:trQ
1 &*; lvr U-l 6 +S +j .C +A lt ,!1lt U-fI ;Lt t ,slr-sl: cWr
Jl .c^-t JLr.;*,.r,-: ,.+lr;0.1,,-l;: ^S ,sr-b* vl ,s-l .o-T,t csrdJ {N} -. r,.rl43
*R ,r-tLr, ! t+T c-l ,ri5 ,d *6 r,-1, c,La;- o6;-, g I la-r-, F+li
,-'-V v-i
t
.rF
l-0 JEr
...:*l ori o:l:
iti ,!!:r : ct)rJ ut*L-i ! rot ,rSrK. cJ;tl1 .i- ,A-0 ,[5-i yr
c-)dr d*L,-st-l:; &l*r.-.fuT :l ,*E J15"e* !, rrt ,stel c,-c.+5 rt" ,{" } -. r,rh -r, : {f} ,nt[ 15 *)13,.e 25at
,Pr"t .J$tt ,sri! .rt{-l*.;3)u. o-r,r 1-0 ,[5*:,-1: &U- ,{l} -. r,rt+t
c:.*t.1r .-5 it.t if) -. r,rl.3; f L vntkt Cr-l iu tn- eVes ,c-l ori
vl1.q.I-.rrT
www.mohandesyar.com
\
A0
dr h; u. ,P.tt :l es7 tbLilr .ttt'.
.Llt:t t, rot
SsJrl-:-,
# $t
I jS.:1ei
p+lf
,-JilS.. ,srjt,
A-0Jfu
i {' } *,.:trt+a g\la--,ale,--.r pr
.(t-o JS-:) C'r;VI ,L.lt skr,rtlr
c-rar
iu cn- 'r*l-- ,slt b (f V-O) r (f0-0) 6bal:lr.
;l (fV-O) J (f O-O) rt if, de Qi ,rlt jua c"s- d {'} i,-1, .-.5*,-2ta6;le
f-rd
,6r. +-tart4;
.\l.t
.,.l
:t l, f t
,rSjtS. ,ssj\ f
[nt[ " '-;; ;p
1-0Jfu
www.mohandesyar.com
s$;h-ltrbly tW.,- ,Qflj
d,g a-L, lt ,-F t-st+t-.ly ,-r-l ,t,,t.fc/
,'=11
t -st
tct
o
o
?-l:
r -.9r
rcr
o
o
0)l:'","1 ,-tS
kb
\At
(J;tdJ..'
ill
itl
rr-0)
oo
ll
IT_1.
\o
o\
oo
ll
aS,f-f JU,..r"t.J;;tS.6t! q Leal:t . U-l S +5-.-r
r {Y} shah g.1 crt+ ,-#j,-+ F.S.U.1r ..$Li ,\*ct a:-:,bJ! qV -*r:-.)3,- ,,6 u-l c-l oS-. + -Sll c^-al qs*,.rrlsh-l ,rS klt J-1- 4:-{ {f}
,r32t h! + ,hl, jl Jf-,*+(fV-O)r (fO-O) istt6+ t .(rp
t-=J1e
L-slj;.r
o.1l.e
.e
YJ4j-
;1
it,
^a=;
trr =
(0. -0)
|;]
trr
(o
\-o)
l'l
tr, =
1,,
tr, =
i ,,]
p]
i,]
l,' I'i']
(oY-o)
(0r-0)
www.mohandesyar.com
\AV ,$r b.lt q ,-b.b -it uy
<isl.alr
.t(*
,,, _ ,,,
(or-o)
Irs10r I
* t'(g' + ,,) I
,,, =
.l
[',,,'
(0r-0) iJrL ;l
; {r} ,n.,V
rR ;;b:t ,r-tU'^b:+
Gb:'
too-o)
c.er .c*l l:*- elr (40-0)
.r-l.f c*)dr
! t+T ,dt; it, .rr,-rt+t a1 c*;
t-'J.
ift = iR )a rft -
iJ:t,"
,g
at-tj
W- i#
0:4 ,f-tl
Lil
l:,: ;,1'
l+, .s!r
g,-l .f.i:15, .rt::
'l
src/ c-)dr I c.s-
- /rsrtlAr +.At)'l
ar=
* /rcr'(d' *
"ttgr
"' l
L
f-r,,r,.r,
(oP-0)
,ib1.r cll
(ov-o)
:2.25.n{Ji I
" t tt.tS s: -r[ [:d"-lrr
u;t^al:U, ,cJL rl-l-r) .(f-O JU, tgt) c*l ,rJt$.st+-rtt i)JJI c-)+,slt l+T;l
(AO-O st)
a-l+ Jtt'.5.- o.3 b ,*or.t ...', rsri c,t^Lc f tdl ti ! ,srl
;rli,: .l,p: :;r,r5.:lr p+lr ft+il t c,t -t-",l-r il cft t5,t,l*S uAS+t,,ry
*;-tlj,g! tralsL 621 .c*l a*l'-u,sl, (t+T ; r-i;$*;e-l) tral:6 u-lN ,;:*
orl.L', ,1
,lel
(f V-0)r (f 0-0) u;t^al:t
Vb ,Js_,-'a*1.- 6\ ',r t o:j; c;la.lrt ti Jt:et uiLT
o5;l ir+ *>i'J .,6^ rprr"t ,r$ti" q)l. f cD. lljg ! tralrt g'-l ,g'-) ;rll^;
,oll c-: + wlr tJ13,a,l-l-r, Ll .r:L u.V q)\ ? 6teal:h, ;rr9l c-, L., civ
uJJ^; GrV r12,-aatb vlr d-U t^lEt .-u[.up ;t-6;, taalr[, Jfu: c-l 6:.rc
!, ((AV-O) b (O'-O);l) c,$^c '^rS Jl,g-r-aua .d! c:l: r[:;l-2: (00-0 -\:it)
L4tl t-r5, ctt+ ,rrK ,sb,6 d!t-., :lu .r5.:JL tt I {, r+li ,aa: 1t+l
.-u r"li ;3 ,:f u"
.ullt
c.,Li:o, b
;tT
www.mohandesyar.com
str;b-l6b.li tg,- ,V...$l:
\AA
Q..fb V-0
;l .*b ff$,r d+rt -b.ttl, eb p it .,:-l J:rr, ,r:
?,!n :tlt:
f.f
9r =
U:
.fr
(,rr,rrxtrxttr.ot0r)
= h(s\r orr attfrttaortr)
(o^-o)
Yr
= fr(x\ r olr xrt ltt
g'ti ih
's.tl>t
o6,r?)
cltrlitrt'';;l 'rt'i:-l
bl-9;,r
t balrL
v - F(x)
c-#: a.rb;l 1*-*21
6a,
-
6!t,
-
6y,
g,l
(ot-o)
6terlt;!r^,-r;l ,e.E oun+by; J[-;!i"-) ,.;|.,'.1.St);
r"-j,; q;; ) dr;
orlj-""|
rr *...+ !-6r,
!or, + Fa
dar
dtr
= dxt
=
*,,r,
orr *...+ !-6r,
orr
ort + ltxr
(r._O)
+ *oor * . .. 1 P-6r,
- Por,
OXr
Ott
Oxr
o:j
gia,6,11;2 ctr[f)Lill
6Y
-#0,
o:1,'*"1 t,
il;.r; I bal:b. y-l
(P
\-o)
,iL; J l.t;rI s r*E,t,g.fl: ! (rt-O).r) G? g.V-J",,j.V ? x? n-11
,*E Gy rr$-..'., o6;1,*L ,F * f{X) b /'1 (X)et;J I d+5a-.r.F+rr/
www.mohandesyar.com
\At
Q.St:
C,:'ji bl-i,f ,r--i.,i gl-* .r:: .t:A; t; ;l
6Y = J(X) 6x
6la:s.,-..i-:t* J15ea b ef l: bljs. 6L;
(PY-0)
i!:r;r FJ tl
-iJ -b tt Y 1sl4:.cr- u
|-";l*-t ,*
.r,
Y=J(X)X
(Pr-0)
zl;'J j-1r.c-l ,rS rF.l,-rn 4 J(X);,:.,1lr ;r.'. qltL X 1t'V'^L'Jgg
..sl;L; \ ,it- ,rS ,F 15t4l..l; ,[*tlj .r,ss.
X ,-r,_+
=i;;r t ,-5..,!-+ r
,slf-l .116r ,s$r q tdt-L (>.cr ijLl- L"t ,sb. e_f lj;l J;l,.SjLe.1r
'>L .t-i,g orLi:-,| ,gL
v
-' /(o)o
(Pr-0)
6\-r- j1r2 u r ,.r^L uSJlS. 621\ j,.-f ,s[,-lst.2lr2 O ;T.1r.5
ai c*l o.r.: aiL;l ,r-ttj,-h,6- a-fl; ,L; { ,(Pf-0) iJ:h.
J:aj
=al";i
L-r,.-.f,rk? irr: crg-* Ott'|1;--tt: U-l .tSg jt.:!1l_!r1 .;6r .>s;.,J:5
.fuI ,ttL.,rs* 6+J:/, f 6b.d+5 +-i.>-f,gjL,;!Lcrr.rl ,ir..rl,r,
I b-:,c-l g,ldbA 4b u-\.11: ,rb' &b ::\,st+l i.sr l-,;l,-,L U;t-lt ;,|,=ii
erL. ef l: |-L # ! .,,!l ,r5 rJt cU .tSct .# ,; e-f l:,r, iL^J
,5t ,Px \.116r,Jsr.2l:.rr.c-l Px \ ctlsl).,'ur,?x \ 6.1112 Q,?x?
n-l,g c-rd, ,t' x \ Gb:t ccr rlr1. s I x \ ,l; c,^s- jtr, ;;:lj3
,t
.1r
.c-l
.;161
(Po-0)
"= [:l
lj,sll.L :1.u,- .rJ-": -n ler * ,?\ (f-JL. r4 JA l. ;.,lie b gf lj
gl+l--L rl.u; L )t;tT rs[::-:l.u;3 1fr1c-.; r.Jr6: 6l;iJ:6rbl c,L..2r rl.u l,
r:-llr t- ^- ;l u+ ,-lf l: rrl.l ,r!r ,6la^iu LN\.1: .c-l ,et ,r5;lS. tsriq
,Jr\:-l ;tI ,sD alje L.rrL-; ,s?*,{b tsl+L-L I sela-j,.a,st"rit .rr Ll ,.t:L
Ilz
,r-s-f
.U-L
iF 4)
6b,
Y
.f*"T
E
Y
,hb
.-:-i
x
st ! cr,,! ,t-f t5
,Jrtb.S.,- ily.f
J-L,st-l:r rrn
d;T 1 Y-6 JU, i?,J a +-i \ ,,-*-f l: ;r2l .:;lu. L"-, ,s.4 ,s-* us- u. l,
www.mohandesyar.com
sfr:U-l
c.*l;r;-7
(OO-O)
iJrh. t
,rtrf,rp
tW.r ,Qf\
atL {l} .-. aka-rt ori &i3; ,s-fl:.n-l,g
lrsr
.
'/= f.
llrct 1/1
,,r1o;
\-
:l
,rr,,,
c..r.:d,.-
&t g-f li:
- /rs', rl
[;l:,'_;::,,'
t"
e?-o)
IrJ
c-*l ;t:-7((0V-0)yl ortr"",l lr) {'} -.:trkt-2) oJ-i
./(o)
(PV-0)
.l
;LL,st-lrr rJ .fuT 6 r*-2* t&;. ,r-tV,r-lo:lr e*t,cJLl: f tt S +S +j
S -iJ .b.r, ! I * | ,sf l:.i- ulr.r rg^:-ar.r ..ur tb.2l ,;-V c-* c,sr-, a,
.r': ,J,ti iJ b ,-*4 6:ry ,slr-sl: c.sr
6 t1-J.e o.laL!,r5,r". .a-r;b rsflj oS,(?Y-0) b (04-0) u;t^al:L t d-.i tl
11
.r.,peT
c*: + -,: 1;,S-,,5=;Li- u;tr.J:L I ,Z* ,sjrFt*-, t, ,lr.f
,ef
l:
\-f tt ll ;fiu. fll *|1. .b,.El+t. GIJ ,Js' U-l
jttsT c-rde ,sb ri:t,rrryt:r-*..l^i|.: c., lT;* dcit- I x \ ,s;J4-rlrr 4
,sU i -&-'
ry-* .s-f,s J-;,(fV-0) r (fO-O) :l ,)t* s:tr'-.1 \ ,,-*-f l:
')a
a..o)t- t*+,t-6J:, ul:i r-$-.(+J +b [f]
et " t ,Jti rlr=t) :-21: r3,-e tS el
.-t-: .tap j.* A-0 ,;4rr
cs)4r ,slt ot;r o-u a'bl ,ja;l orl.n'-.""|
"l-1r;l .rS.,,rSrtS, ca\cSr,rS,-.L"-:6tealrt.. ,F rslti ?P tt S c*l ;T ,g.-fb ittsT
.rr r+lr r5* uT t *L:, ,-*h.:i:., ,roL
;tlitr
,rsl^-sli
itr
tl
c--l
"r>9rr.,oJ-i
f;] =
u.r,-rk' .*a
,e.f U
d--i;i {B} :9'rh -r, 3 t-,i ,J.f lj
BI'- ''r(o)o
(2A-0)
,lt,;,a .t+5ory l+l .Ftsi (is)./ {A} =nrhr, ,-tfl: rslt GrV rr+li.r
{A} ". c^*; ,r) C.J,_+ 4-l*. jtel., {B}-2r o-L-i +:i7 x \;r5r
7:
qt
AR
i,
[;]
ol
Jr;;l
(rr-0)
www.mohandesyar.com
\t\
oJl;srt#Jt,
rl- r.
t-*'t
OALi. (f.
Hl =FIJB/(o)o
o"110;
lan'l ' I
=
L.iJ"l
(Y. -0)
"''''
oJ.J
(v
.rt+Jb
\-0)
A-0
c-)J) '1L,4 Lty crtf, ,Jtr + ! trrlta L>cr aS JS,sU;.'t+ +h
orl L-l ,r:*- tc-l ttiss-tls ,r-tL cr-l tl ,d Cb, ;tL:- ,*e ;,li.,g,*itr a.:1,
c&r: d
bab b
;tT
rolig.6;1,*L
@
J5
a;;*t
oarrlrr
l;A j1,
.:5;l;
,r-tu
c--tt ,;.25r
V-rsI
1,,
,c,L,r,
Jl tc*l ir$u ,r-tl
cWr a*lr \ t ;l-iu-l
J- '(O),
(YY-0)
c-: p+li g s ,/t>v,.11: cn ..rlrt-, &1, ul
<sla-- rol;;,g, (VY-O);l orti'. .l t .r,J 8r,.116, u;l-ai
i- .sblq ,e-f l: t-l rrj Cb * -t-t, I ;y ,-Ft, .(r-ul c-r/., ,r:-..t uil*,b I b
tc^-+ ,,';,.,yb ta5lr ,d Jl !.:*l t;,'iyb O y-rLi,
.1ie
,O
,-sl"r;! -&, f
,6 ,-t-fl: jl 6y-rti. ,sl:l+,,et
*
"$tS.
i.r
..ri.[,r,
t_
,st"ri!
OJ..] .rhlt rl-Ll t prtS, Crt .-rt+Jb b vt$+-jl
l
g;l-bi,,fb,r;i
lr .1r rg ! ;.4 r,rri u;.r6 U;tii jt t 5,.rot,JjtS"
6.16
i"*
li ;l-t"
.-J r.lJ) c*l 6lB .7t5 y-l ir3.r^. ;l ,g.5s 6lCL 6Jirl-r 4ir UtL ..l7lr
,|.-, .ske-t ^tJI ir* ,l+i-1.r, .(*J qb [0] et . i ,)1y ,t-l f .l+ ols)ttl
'{,g F.i; 4.v) j.) * I o.5' .rtCL ,d nbl i=ir
It
.J"5
g;l-zi
j,
Jg
J5
f6s":, dr::...a a_lCL 4st6 glL'I )f i CrtJ..st+tb .\
't"; at+ c* ,q*e $f ts)) t:t\ J.6 ;r- t,,^S
't+r
U-
.-\L|J6 Cy ,s-J.tll
,SrS
www.mohandesyar.com
stJu-l dbrt
:V.r ,Q.ft:
6l;i :-,. jl Dt S J::..r dtCL ,99.16 6b) uf.b;r C"tJ g;L3;Jb .Y
.JLrr,rr Oy ,tjul rl,r Lb.l,-;r ;L-L r-rv .\
er drrt(.r ,rS.Jt
1) 2 ,ggS
[,-
u$ ttJ) i fl u!K. ,$)1. 6 u,ti^
t-) r,U1r,.tr6, 6l;i.rr dc*Li, il+ cr-l .$tc/ c-:;l dJ6, .sl-2i.2: ! r5ll-i,r,:,;,-,l;rl;LL,J.cr a- 6 al:l F-e,rT.,r.5:-21: 4-2(u2L2i a-i
.src/ bt+l 9 qlS 6l;i jl.t> ) U-l 3 c*l d,-31, .:l: c-57 b a\:t ca.)
(.')bl
4rr *
t- .S,-
,t.J,-/ .tV
f-0 Jl:l r
lr.sr;tr.r, o5,,Et+Jl
,f-*::i!l;lllr5f-0 JU. \b:t
6l;i J-1, Ly;l [- -u...a 615 6L;i' jy ejl IFJL i/-l t-l
E,gt-r-rr.l-5 (frrb aT sf\ iq./i r-!,1;&r^ o=i LW;tt.{l+,.-s!
.c*l g,.t ,orlr .:*:;l b tr &6 At ,g-f l: J)L jip it.ryr cr-l
:c^.r- O$.stCL
Cr-l
s,s-,,6
DETIJ@)J =
| /,sr .l_,/1/1s1 .
=
=
ll,r, i,, ,,1
(vr-0)
Jl 6 t-*,1o-I,-r,rL.3l,ra
ll"A$ rs*6f *#1u-lr:.c*l '4:SUISa\0r = oJ),,J1-iLt^l
rl.p.l .5.,_ u;[:-l .rr
.(,_ plS. r4.d,i tr .r,1 .up tS^, (rrt, ,, :ys :lx,l)
";5r
,-itf 6y Jy"tSOt, ,01 = \ Ao o .1r ,L;;; i,!-r { .c-l orlr ca) ;l | 6J;T L1t
(:l.r.,lr: gtt+).fr6, rl.i:rl .5*,-.1: t+. irr4*. ..:*r,:5r- ,o$ e
0,-l .c,-l Oi.
+5 -.t .s-'J.,t .rt*lr,'L qS 6Lzi 4J r) l2-; ,l;lqS u;L;i jt A jl U-Si .rtCL
lt +s .b.^ i,F-,
'F, ;+;kA f L- r ,{" } -. .9,-,rL6a.r, oJd +:.ie; ,-l-f t: S
;l .y-:J.,-/y*a fitS,. d=* t ,-u!
a-.rr
\A' t,- i.o
0,
,-,.
.$rc/
C-)d.,
&i;,r.!lb ,c.f l: aic*l ,l,ol 1 J.J e;r (VY-0) iJrb,ll orti-"."lrtcWr ,g$ lL;: t ii:-.r lr d ,F.f c^ttr ,,r-l l<tt-..J.t-/ ,a):-> Ci!.-l t ,t 5i
.JiJ:. c^,-ta; 6-1 4;LL
o!r,, ul Jl ..t'-r$ -h I b Y-0 JU, !f :, l,; c.,t 1
u[oL 614-r nf ++t ;L:.; ,.Ler ,5f ( \'-Ojfu') \7'm/s t>Gr l. X s"-
,sLb.,,r
! rr 64
d-0 Jbr
,s-,ry
www.mohandesyar.com
\
1f
oJ3 ,.rt{:Jt'
)56.,*f
u.,01
cnti u.L-
ctr t .
t+
- " O.* iLl; * o\y;-ui
(sr*,
.5.,-r;; L
\lte: I ptS,61;[ \'-OJSJ
Ll ,'slJri.".
a*l^-'
d',
'/-'(o) =
bi;,> E
trt th )l
ist.2et 1tK:o
.JSU. J., .-.,h*
{"} * q:*; b,g-fl:
u-rrb
l+l
(vr-o)
[-,,r'J']',,r,, -,,r''''li,r,,]
l, ;bL 6Wr,X c.tr2 ,, \m/s ,Jsr Lc!,. (Vf-0)iJ:t'. ;l o:ti;-l \
',r
Jt:ta'.
qs&Jt:,;l
cdr4J
.*b
'c,,!l
fisT7
0.,=9
rsr
J
0r:_#_tr
,s&r
.A*t
,01
(vo-o)
= o &2.1 ;l ;.r;.S,-ri : rr! ;I,0.r"5 \ 3
.J:.:Su,
- s.i,e,oil'ff
,&3
:t::j
,l
t-,,j:
o-!-r
,r.1,'.i.:uar
J-, .-,-t+* + ;),eL
t-0 Jbr
:i" 3,;:
fL"* "o
.(+-i ! \ f-o u-;.l ,-rlS,c or;b; 6'rxs q lt 0, ,5a.t.rl&
,+5 tt;,*. L.'),6,,'-+r f-O JIl. I hb:r ! ;!-l.r o$ .JL;) a+l .ri;L ,t'3 Y
,-st&!,,
,-r-l
www.mohandesyar.com
sfnih-t
.r>*l
cbt-n,cJL
o5*. **5
r-r-ltt t-J,g
rll
,s-&-t
qS
6l--bi
.rbri t9pfy]vh..fl: \ tf
itg
O=t.JL-r)-r,,!
I ,ir:S.;
,05
lL;: g,-l .x-;.,g
= to aS u.Lf;a
o
6l+1;l ..:*l o:l: c-r ;l | 6sl;T L..r, ..l1 ef ,t.,sTr/ }-+
& rsrS 6l;i J-1, CrS; .:JL U;;,llJ;T,.u, AE qS,sLzi ,-it,,bltyr c-l
U-l
!1
.#r+li
-r) .,SJU-| crta-u* 1-0
l^DtS t trr; <ect; lr, ,-S;.-.5:.21:.r, ;rT t b L ,,r I uS.;t(, ,stoe;tr c-d: ,k)"
tsr;tr tbT at+-l '^&s+ c.,!:,, ,g;)tr cJL r, .l-5 (f)J.,tJln L.b + !!, .S-;l .l,
3; tf ca)-2.r lt ,st\ L-r src/rS-/t ^' Lr^. y l u-...-,(.lt+ 6-*l tf
cl+L-l. t +t' ,ufub-l J:t; i.tt] jlt,sb SL u,-t^JJLi
,g l+.:lrt .r;l:r,
rAti
,j$tS" trtAi!
t'l1.'
| 3T ,3Qr-;.i^r lll .rot ,,,,tS, .u.r\f.r, J*r:,tt:;::
r*;t"
b
ctJl.u
t.lr
et.p,oat;ti-u
,grr
p15.r Jb ',il U-l
f or.{T -r) 'iL 6
DIS1q;'p*-t,c'Lb Gv.,r'rh t # bDIS t.r,l J't; kla,' dg
pL*l Jrt;r"t,.$.;tS, caL.-tt b s; 2t5 |,--;'u* Jr -!-q d!7 J$t-l
,t .i- rli;trr, &-l ts! p\ P gj^rtl:j.J,-;r u-l+.t-S fr+lF o,-1,..,r:5
rta,-l
.+lcf cd)d,, ,Ji J^e.i ,f c;t+ (SrryJ) |1 .,iib-l
,f-l^,t 1S*.61o7-5utrljt)tJ vs| Lb ^U:r. '.r; JLrl rtlL< ):t ;tV,slt
i - \ Lb'.:+ i tlt t r-rl: csst = f;
i - \ hb
^b:+ i tlt 4 stls;aEf = n;
.l
.# r+li o:lr- ,F Jr* ,jy :1,@ll q .*L. ,shak3 u-: ^x 6l!
g." t
..tilo.t-i orb
;t-i;
JJJIJ
o.l,-? :-213
if'
,r.(;t*| ,5.a121:,.5: b:rn , \ \-O rfS*i;r
y-it ,U.^.. g,-l arlr.lf -b :6u
d"fi+r
(vr-0)
='
'ni -tnr+, - tPt+r X r/311 =
(vv-0)
www.mohandesyar.com
\
t0 /. s{itt(, ab1;l*.1r sfnib-l .rbrr
.!!r
ssla.relS-e;
pL-l J:b \ \-6Jfu
foltr-l ,d
.fisl cdrdr ('
A;;!r,, <.*: 'alLel o.ld JI-nl DIS ) )i J*i \ lt tS Jl
!r) c,!-u i-t, b !t u-rI J l, t! /'^Ls+ '-u, JL'l rtl8 )
.rr d de,stJ-r,, ut* t (vv-o)r (v2-o) ,21:-S-t;,st+rt* uS,:-l1t+l u!
;ra 3l;u. b +:; .tj f6lA,-t, ;rk t, tsbhl t r"Jq irk tr ,st+hl-,,rT
rxt!l
:t
ic _ ic
Ji - Jt+\
'r, :
'nu*,
(v^-o)
I'Pt+,'
X ',f,+r
(vr-0)
*-S: gr:^Dls t t"rl 6 *J toal:L U-l F-i Cl:
{i + \} at-6; et5 ,.;r-; ibs: tr-tl lt=-5*., Ldl ,.ltirF !t
(eeLllD
6_r!-ri 4
,{i}
,sto:*
U-4 ^. lJ L, ,-rl
f*"tF
,-,.
f,rl,33
a, c-.-..;
6r9Lan-2: oJ*i
.-,.
"1,-+
"r-l.rj
xLte
.-&-' hb + }..lr.i-;l
'
f, - l*,,llt*t/,*
'n,
: i*rr'*tr,*l
=*rE
"$tt-l
(A"
+ t4+r
x'f,
(A
-0)
\-0)
,sl1tL;:J s 6s,- g;L JrLu, cU,\f e iL r-j.-rLl gfut,1qF
'#\
Dl:'"< ) sx,slotltt.stodi. L" Srjr-2le tal,-.L.rr {! u,-t.l.23tlit ,t+h!, t rtls
www.mohandesyar.com
u*:b-l urbri tggryL1;-fl: \ tt
atj l+, ,sb, ,r. .x-fg u:l; ftls' 'i e;L 'a!*4a; ';L"t' .,r Jf ,21:'S V
,rS;U-l Jrt,; t[*l ,,s!r: p't ;t''i' rtl$
1lsr2 o ;L-L sru 1l>1;,-J-lt +-* +tr
t-S
+6lt
,r1.,
,tls
rtl:5
(^Y-0)
n-1,1c-)4r ;,r:1 uL-L;lllr6
r;
-if[
Lfii )'t\ GF i J4L il
i2;
(Ar-o)
.Ce orl,'""1 r rL; il ,'b ;i-L,sst,sD u'- S +S +i
c-i; F"lf -b I Ltr lJ ;l-L Dl:-:"< c-:. c-p ,-{.JL.2r ':l:vf *"
.:y' orl: 3f ;l-L, A-:b ,r-ltl c^a2 1t W,;l i,J JFt t', d
l-* rf* Jt^tl cslr;.i1 ;\-L.sJ4el:-S'a*l^.,(Af-6) b (A'-0) c;;aa1rh,.
Jsu/r-{&l ! ,uS^;U-l .:JL t) i,!l g,Li ,s-* '^b:+. DE'<
V-d JEr
JLrl lr'F csst jt1-,:3. dt+ 6'ry'^b:+,r-O Jli \b:t trr"t" 1-5!;t(" ctttl
! pI ;L-L 66121:.5.(+5 ,-ht {Y} =9'r$ lr., ,, t ,t; u-l rl zL";\ S't
.Jn* ! \Y-O r$; .-r,-r3T c*,ra, ,0.)J JL-cl .rr ) cs+$, -il ,g.V J12,'aa'.
.rf
,bi sl+il .r, :i J',,lI JL -,,
L\ :t l .-SlS, ,sr;! \ Y- 6 JSJ
www.mohandesyar.com
\
tY
,;
stQft:
i).?
f"-J.d r6q ,crlrr,
t
c
r'r =
r,-t,
biT k!.il
-,;.r4.1, 1,tv-o)
t;-
(4.-0)
(J;lrdJru.
lt,1
(^r-o)
Ltl
'n, = lrx, x
(A6-o)
l,;l
:
Lil
t-fl
::
l,'
tt,,
il Ltl lt',',.;;f]
+ /,,-t,
1,,;]
"
t-f,,
f,',," *,,;,,,,-,,r]
(AP-o)
(AY-0)
g-'lt
rr = /r srf'
rr = lrfv
i)t; *
r-
(/r * Ircr)fv
'r'
(^^-o)
(Ar-0)
,,_r-;; 6f*
J1y-o* ;tl-i,g lt 4b
[":' " 1,""] tf]
U-l
(1. -0)
!c^r .f El l?7-A) iJ:t,-. ,' e-f lj e_tV;rt+!i \ e-tU y-l ,r:j .,!
:-*6:rtWfb
,#
;;e
\o-a
,,S.;L-l c.='; s ,, b t>-5 J. ,tls ais,: 6 ;u ;I-L 6loyl:-S ;.,,-l ;l ,.,:.:,
aS
.5'-J ,g-6r. d.rfu .".-ttsi (--)4 ,15.,,
,;t-r: L:i ,JF ,rlr
,,;e
,i-;,*,.r5.'-rr-r;t+l (.,i e f# r)rK efin aJc*l ,r bqtr
1s)W tttJ.- f o:Li- ,l .;*l ,itl sK t /K- l;-<e e*),.Jt^r l LL-G r: era --e
4s 6-,t-t-,, g;i:-a>, ^,_t:.; ,.S-35c--ta; ,st-+._[tt+ JL^rl .--L-r + tlig
glcit- f:^; '>ld;' ot-(*, -,^ -r) ,:rl: I ajti ,sl*- rb rS ;rn .C i!
J;.-L-
"5;U-t
www.mohandesyar.com
.,qib-l ,rlr.ur tW.,It4.;lJtJl,1
v2,b
k;
,Q.fl)
\ tA
.|r,-tr6, ,>l.o=;.2) oJ.i ftdlJK i-itl ,)-s\.,^i.up 6r$';lxl;L-f.,;l c*l JtV J5,qsr': .r.+ .:JL ;: .rl: tV tlt ;LL 6L-hi.1) r$
,,?- lt4+4 itt I yE':S L- 2r; ,1s.,2,-Fl,
f .6X .\i,c
r.do
(1
tt S c*l ;16r ,tl:'3-t; P x \ jyz f
\-0)
p3
,;J*L 6le,1l:-S P x \ jsrl r ,.r-t+ rs14t 1t..tr5, .!,rSc--ta; ,st+"-h*tt P x \
I (lt-0) c,rt*.c*l .S-,tc^,-ta4 ;LL rst*-ttqh P x \ .rl' -E 6@ 14lr:
u)j; Eilu:12.etll-ig
jsr,6X
rrb,,1t+ tsrry
rr
6x
- rr 6@
(rY-o)
;l c*l
6x -
;1T
rtV
,-t-f l: s-t;
J6@
(1r-o)
- r..l@t
ottL/ tf,
fr
J6e
a-zz.:,J
rr
6@
1s .xA\
FrJ =rr
(1
tUt
dO ,,_:tL
'{
,sb
r-a)
.\,-q
(10-0)
:f,g + il5)J^ rrj'rt+lr
r-Jrf
t,
(tl-o)
Jlt Lb:r!;tr:, u.lt lt-r.t5 6r,'JL(12-O) ilrL
JrL J-L g]^:,U^S 2l,t-> t rrl-t p6r ,s6:i ,,g-flj;rt+!r :r5,r, c,Lil
tctj c:i 6ta.ll:ra
'-fd cJ,-i {"} -. r,rh { + ,g-fl: d.rfu .r-rKc/
#.1,-+ tj rt-t'u. ;-tls,g I {" } -2)
.'t5.Jt.r:,,+-J,-: ?-6
o-u-?
r - Jr
,t+T-r,
tt Jl
(lv-o)
sfs c?,Sk;+* rJA),r,0 c*r;l b t* r!6 +r r-l-fl: d.ffu
orla, ..rJ JL'l -b t -r E-'; ^. L, ,Jttt-l ,st"r-; x|i,f s-14 c-*
"5"Urlr
,-&t
'r
www.mohandesyar.com
\
tt .,fib-l 66ti t$r.tr6r.Lrn,
d;l;e.\,,r1: da6t-.p-ltl uo\ dtF0" tt bl-ielt f ,t-.J ,# ,afl: (tV-O)
rsb-f: ,.ti.;til t+T+ Oy .tr S dt{i11) r.9^i .r;.iUJ u;t, ,sltr.r.i r*t^..r1&
a .slupl\ .,b 6l;i sl::t+J.
,F-+ f 6 c,*L'. ;l+ ,y_l .(+5 +bltl
ft
Jtrl L. ^S 61l.;rfu;Su. J=n --t*o ts,-,6.,Ft5, cs-j.,i/.; 15[CJL
,i$,stCL ,4; cr-l r t.'J '4-l Jri6isi ,s-4 ,s-* f ijjct,.(-,t ;bL
.J,a:,rr ,tJ i :i 6:f-,,: t rf ,.,tS, 6jf y ,1).c
'A*I-- j:* s)c/
'jt"l t + lt:,c*l JL 1Q rsl{.t (tV-0) d+J-.y
ftfu-2r .p5 ,L+ J-;. ,.sLzi-2r..;J +t G)St c^J..!,irrb,J"t .- 61;
.c-..s F+lf 11- cS; y-l;l ,o.l-l urt+ti I J-*S'al:*. (frJ.
,5l,rgl:,.t
.,fuh-l ,stAli )Wt .,iJtts ,L+ \ \-0
u'i"-ti 2-;
4. 7
J*:
\ -21:ra ,-p2aa b g.S,- .,lf
(>sr lr,g
,413.
621>
P"^J
"=vl
rlr aLl;
;ra 7 x \ rlrr, t .,lScJL lL si
u;ta.rlli
rA-0)
jlj,f ,4J i,:-r I
(
'= [;]
1'\-0)
.J.:*|,* u-;.,t-ll x \,gr2l:-S rlt2lf : I x \,5r_r; j>1. F ;1.2r .5
tl:.,' C Cb -S-'=-nrh I .nr$.A-;l t#Jy-l .:-:6; ,sltL ? x ? ulS
,-st+t-+
yri ,A.t Ll, a ,h| ,l,g,r,; s W-'^,;Jl
ijiJ -b t \ b ,S u_l
(fV-O)
t>sr.slo-rlrr
it,p,.aat
J ,-#
.1,-+ ,rlr (f-;L, ,sJJ*.
L
J (fO-O) t+i-l
.shr,rh3 bn .r*--i,-/ {B} *ntV1t t+T }lb 614;*; a {A} -. r,rta"
,t--;. dr"U (f O-O) 'o\b t 6 0,*r,.ll;[.a, !-S- *. eJ- ,*+ t+i-l r, L4 ,2t
.2: .,.,-lorlr f L+il
r.3
l:::l: ft""
r,!1(
.E ,r:S J,S r*". L* a\ ;l t
ali,c,t4J,oLyr
+t.5trrrbt'JLrl
-BAR^!^";*
$li
,iu-
"ll:;l
Gt.-l,s
(\."-0)
d +,.d -b t L \b :t I grl^^;.a f f. .rsr,e url,, .\
g,lrr .c-l,rL-_rr t,'.,Slr1 Lt$ C, t ct+
L ,c_..,-;e
.rJrt+l LS,,ir[-l t
,s-6s.*
www.mohandesyar.com
.,Sit:.l ,sbt!; t$*!;-f!
c*l
,,-; L.f-;L,
.fu ! Jrt
.cfrtV
v-e c-){s
| " -P, pu1
px=I o, o -p"l
l-0, P'
"
Y" "
;T.2, "5
f\"\-o)
t'j.-d Lr-, -S-, *nrt43rr W- r. b =9'r1-'6,;t+-r (\ " " -A) il"t
.rr ,ri alr. b ?, ,[_; s FErr c.e)-l,J .,L+ l, ? x ? ,LIu cr-l ,#, i,r:.^
l, {A} 6Wr a5 c*l 4r J.l,-+ .Si Jt^t ,t-l ,,f,V tt-f ,-r-l ,t '7-}e b
( \' " -O) 'A-y,- aQ. cb 2-; cll6t[;l ;!r i,,:.^ { )ji6,..-t-( {B) c&r
Ce o:k-'l
oro
( \' Y-o)
" r" = XT,
a
^-
,J
ilb ,{B} ,sWr filr t {A} 6$r
'a*l-' .pL:"'"
t ( \' '-0) ili,g
qt
o'uo;o^"*"]
[*:
l:n)=
l:n)
\. r-0)
t:
oro
= AT,
ur"
(\"r-0)
f,rttt:, u 4b SrT J- ,-;J -b 1t cel^LA eLi ! t+T "-t d,r.:; Jr 3 lrl:
u;t^-,lrj 61,. ? x ? n-;l blid,(A\-0): (A'-O);l oll;'..'l tr ,qtjJ Cr.^a a, .JL
:-,9T c-ra, ;1 lSu. rl,-+ {a} t {B} v*th;l t ,{ ,sur
.-,li
-.
lopo]
1""^J
-tf
aR
PnoncxAR
AR
]|itr"]
(\"0-o)
a..")l-
oFo=ATt tf"
t*+
l- s
\. t-0)
.\)L/ ,6*. yl;':3-2r; .,lf .,L+ ;:lr ;t;; ,slt Tt 6
www.mohandesyar.com
Y
"
.jli,
s(JU-l ,slt:i t
lFr
A.,5, .L.r
tshnt.3a rr brr
Wr
!-;
,.u-...4
,'--rl,
Qf t: #
,tx=1-fl;
,c;L"
tr-J 5
)56. LttF-rf-
Arn _ Aq-T
Brl - Bt,
.>f
ua;
(\ " r-0)
c*s-, 6t+t-+-
I (\ " O-0) * qi
tl
\. Y-0)
;]i,s , ,;.,;,'.b ,-rtt
A-0 Jh..
i!.i; -2: .c*l c-lb 3; tt uJil oS.ur,r" ;LJ
Ls;,JJl ,slt o!*1: ;.,21;l .c*l o$ orlr tll :; tb.rt
Jtil
!2
!,
6-*.5,- ,\f-0
Jt5.i
g, .S,- ,r,,ti t g-V
,s-*
,g-Li
lC o't':
Jttl t5t'rr3b'53 t'r-r-;
ussi a*;l ,[5-3. ^S,sf * *.? x \ 6-2117 J12.-aa' l, -l - Ul rf:i
g;lr l' ;* lj.u ..1-J -b t, c*l ,{5} ,a-t..- -. f,.r[.6,a.2r oJ-i .;=-; rtt$
S l, ? x ? ,# ,I-+ ,r-;L .c*l ,r f ,lr.l,st+-11: o.\^"? Jttl 6la5l:':3 J t^#
lr
.r-rsT rryrdr ,r5,r, J.i::, {"} ,ltl
=-ft.,kt r {5'} *r,.rl.46;l rzlzS-2r; rls2
,lT
.i)[;r {.t} t+j,-lr: d+5^ty) .c*l 1rl',
,-*-,{5} t {"};-r:5 Lt-n rI-X
.1.t**,-t rr,-rt+t i 2 r>*l a-L-,=nt$,Jtr.
(\'2-0)
iJ:L
,l:.'u
,r.16
.c*l
a*t--,
l+l
l,
+T;r,,b
Tf b aT: Cc
.l
( \. 2-O);l o:l;-. L.
u+ .t-*,-* u|,J..:; ' Proo" :T R jl iyl,' ,f,-;U U-l .*-E,I
'srJ:,c o:['o-"'l 'li
"
,1.1
a-l --
.t;
LL".- sr
$t
r5q,
vr,rh
s[nt[
\i-OJSJ
www.mohandesyar.com
stJb-l r.r[rr;y -tp.r
,Q.fl:
:2ia
'f, =Trt t f,
[1]
K. Hunt, Kinematic
I Tn
"l
lr rro*" xTR TR)
"
aaS
\. A-o)
;11
Trt
1s ,S
\. t-0)
8v
Geometry of Mechanisrns, Oxford University
Press, 1978.
l2l
K. R. Symon, Mechanics, 3rd edition, Addison-Wesley,
t3l
I. Shame s, Engineering
[4]
D. Orin and W.
1971.
M echanics,, 2nd edition, Prenticq- Hall,
967.
Schrader, "Efficient Jacobian Determination for
Robot Manipulators," in Robotics Research: The First International
Symposium, M. Brady and R. P. Paul, Editors, MIT Press, 1984.
t5l B. Gorla and M. Renaud, Robots Manipulateurs, Cepadues-Editions,
Toulouse, 1984.
l6l B. Noble, Applied Linear Algebru,, Prentice-Hall, 1969.
t7l J.K. Salisbury and J. Craig, Articulated Hands: Kinematic and Force
Control Issues, International Journal of Robotics Research, Vol.l,
No. 1, Spring 1982.
tret
,[- ,c*l
o.l-: ,u;5j
{'}
-. ,-,l'43
f -O
5l:!r
-r: ,;.-f l: d dlt 6b.lr f-0 Jl:. [\']
Jti .-Je eb L o.r.T cdrd, eH t-T .+5
\-0
c*)4 f J.-i jY u-rpl6i;TL1s a- !rot,rSrtS,, ca\ a.-flj [Y0] Y-0
,iLo ;T 6;J4-J ,eb r:*r u;t+Jly: a5 {f} -. r,rh r-..-, | 5 t-:'ul
;1T
.+*,-31,c*l
{f} =nr[ ,s;r4+
www.mohandesyar.com
Y"r qei
cd)., Y J4t :l Y U--,- p 11 6tl;I L1s a-,t* ft ,r5if5, c::\ gfl, tf0l @
iL^ il 6;+r ,gb c*r 6l{jl.1r a5 {l} ,*rht r*r, b aI.' ;"-.J
irLll :4{ l+, ,-ir., u jl lJ ,-lf l:.+*,-rt ,c-l {f} *r-:,vo* c;&e
,-& ".SrI--t*-,3 ,t-1, { t{:,!l;l ,S"-;t*l tszi etLil ,l{Il * r-1,;l u'or
.,*tt.- u;trdJrh,;l
.1r
g,.5.-6kJL gst+-+Jo,
lLrt) 9i sjrrr
g5;,st+JL ^f+5c.rtj
.J:ar,r,o
.+J+-;, {?)
,*-r.,st+hl,
ee-rkar,
J*:d}f ,W- ! ;;& t
!.uiL c^ilr
4p
,s16
6l;i plr
lr
6?. Ux,,-t-fljtft]
;.-&aJc*lc-.2r
-2: ,1.5--
[A]
t:r
16-
lE il rrs
t-T
@
[fV] @
dtS..
.\,-q
,Jtr ,s-fl: dt +{ g,t ,stl;,T L1s a- !
[V] V-0
"r.;tS,
"$;
t- .S,- y le ak ,-.SJti* .riq f x f ;L.r ,r-tL tlt ,ttL..-st+-.r"*Jo,
i^5-2.r
,;1T
L.
.+^.l G..i al^- 9r
c.i;g! lt;;D pl; ^; u.lL.;t+-+4,.2:,:*l tf..,,lfdL.r, t+itS. [\ N@
r, . [V] \i,g r,921^... t{l -rl.ri 3 ,J.k ,r;lj,.shj-* t+T r, I x-J tl,,
s
l,
,sb,
t-l:ulLul .+5.** I lrF" tti; r1,-e,r-o Jti kl,t:' t
,-srit
*-; t,
L1s,,:,)!ft,*tS, u-r,i!r) l r;:A !ti.; r1-.e clt y:^t L-p,tO.]@
.(+-r I A-0 u-;) 4-1eT c*r+,sS ..:JL-2, ,u;rtT
5:.21r r3,-.9
d +5 o4,-^, l, ,f C+ ,f-0 Jti kb :t *t ,rSJli s:;tr tslr [V]
,YF j42lb + ,;tr:, cs)Jr Y x \ 6st jst.S,-J l!) ;l-L gJ^DlS
.r-l&
1.,
glr,r, [\ f]
-or0oo olooo 1"r"1
"14?? olooo olo
Arn
B1 :
oroooo
1,,:::
trl
0/'I
\l
-0
\ \ -O
www.mohandesyar.com
s'fib-l
rsJ, t-:,-i
on" {.4'} i*,r,
o
(,l'blJf'
sW.r ,Q.ft:
"
u[; c..st- rl:" Jl
ro
lr"
At,
*Yt"
=
\/F\F
\/F\f
o
ro
.451.ro,,c-l ,P {f } ir" t aT -'-y'^Li; ^Slr P x \ asr-, iry.
c-)dJ ;l-L,st-|, ;l 6l^-c2.a.,1-l y--* r"t .;*tS, .-e:,it ,s!r: [\0] \Y-0
,st-lr, 'Ar94. .t-S tV 6;5 6L;i jt t5 d=S; cJL rr :.r! t+l .sblq 6 t-.,51
.+5l+, 6jS 6l;i r[-l: 1r o-t .Jl ,slt i u-&t
,^,
c*l ;r;1,!lr, l**t ufuti tstq.i- ,-t-fl: tt1 (IP
'/(o) =
[;l:,'-,::,]' ;:::l']
! p:I ;l-L 6Lq2tc,.S ,,yj GF cssi :l a'f -b-r- \
I 6ey j:2
.rt,T c*ra ,ri ,rb !, " F = \ o f,.
"$t;l ,$ .:JL 0r = -to/oo 9,>2)ria 6?"luru,rt ar kL t-bl,Jt 1t't1
o$.JL ;tT ,sl:l+ aS h rbL ,sb ,{ GrLr .:l: lap g thS 6Ai jl A
,a7 ,ltL ;sJ t-a tfu f ;,tV Cr-l i+, il.li r ,{-r:T c*)de ,Je:,rr t;;u
f
,S6t*jl ,tSJ.r,S;1, t,1.ltt:,r,!ll )Sv' a*l:'' -1'/"o \lltl0, "ilSl
;ilr6 e*l -t; .i- ll-ig ? t,6 ,Y 6las^' -rb 'oLx t,r ,Y sl-ol
,J.cr SltY xY u2tS\,f J'-oi;l f-l JL,.;lt,rtt5,,srrt, slr [Yf]
c*)d, ,tSu. a*l'.' ;L-L ,sl-ly rJ.fuT C;jb \ b Jtl tst+-l ,rti
.r:--i {"} v,-,t43r, b e-fl:.+,.,:l
ti"ir
lct.'.L. \ +8,
sSJt^+- 6tratrL ,l.R 1L ,rfutS, 15t! .S-- [Y'] \t-O
(VY-Y) il"| t, aT
,r;r-,Ft^+ 6taoJrL ,r.^,-) 1l: Z-Y-Z );51 6l-121
6t$.c* ilS Ltr.,A-fl:.(-lo$ orlr ^f = 0r ),0 = 01 ,a - 0t csljl+
.r-rsT cs)4, l, -il Ll., ,sl*-:l: ctr t ;LL
'Pio,s
r" Zr,.,)bT ,*rt Jx tr .tl -r., ,sb.,,j5.JL tr 3 +Sr.-+ tf \] @
j jl Z if.,- 6t.l-21:;-r-rb ,-S-t orVal .Jylr t:t:iy-rb '$ rsl:l+
-. r,-rl.33
sl* rr! d*l
,-E!
www.mohandesyar.com
Y"0 Wr.
+firr -Ui 3tS. !E+-.r r ,.-1, *nr$ *J It L.lt
tH,s$tf; iti;r b cnr eVa.f;lr c-r1r ,o-1, **tV *J
gb, tr,.relt,g,lJ'Ptoot t'fr-; d'-'rr (c*'l c+ti n kb + c'*; rJ)
ylil ,stfrl &cr,dlrl J-L t
rrr $lri ;,r:2 ,i ,W csr jl
lt
\b
t-shr,.rtra
';U
"oi = e;2, x ('Ptoot -'P;o,s)
c*l ;.,;a ,W
621
(\ \'-O)
,>s- jl ,;E ,n !.lJ ,slr-sl:,J.cr t
U)i
= 0;'
(\\\-o)
Z,
'Qi
t u; Uf g." t elil 6l*-2l; t ;U; ,F u.Atralr[" .n-Irl c*)4J
r +5 14,., ,.:*l G-F i J-L d'JL ,sb b (\ \ \-0) : (t t'-0) -r;L
,2, *2,opr ,sll;,TL1t,r:': t ,srot ,s::\cb\? x? ,-l-fl: e-tL
.+-,-i
c*l
o.ui o:lrrr-y
,T=
['l'
Ptool
2,P;or,
Jg,-aa.YR;L.2r,*t^+ 6tr.J:l*. f t^i @
-CrSrr .91 /tCr * /rcrcr
-Srsrr -C.1 /rSr * /rsrcr
ctt
/rsr
,f. 5.r,--29T c*: r. urt t '/(O)
.rA) c-)q {'} -. -rtrtfa a1 .:*; ! {f} *-nrfi+- ,F L>.sr
c*l o.ri orl: g.:; RP g.-,,S;tS, c5t! .i-r, Y !f iJ iS, t\Of @
,.8 e2^b ;t-L t>sr jsrl
1s .5;T;l
;:::r]
r->
:
r-toRG
l;:r
'14
uL; a.sr 1t11 |,--;", (J-sr:, dl-r9lc-r+ 6r* I Y x Y ,;.-fl:
tlt cr$ .:JL rr r.rt: ;l ,sl:lr.61., O ;l 1s1ltL .S Lt, {Y} *r,.,t43
'+5
o==',
't-Jrs
Lt, nl., *t u.futs, 6t! JaD :c^..."> 2-; Zla J ,b.r..r: gjr tt"i@
64 n - \ .sGi -r) {b 6-t\.rc;L ;lycf I ,t * 6l^J"": tt $J rlt 6tlil
o'$J -b
r'
www.mohandesyar.com
s*:b,l srblf tW.t ,q','fD
|"?
(0
c.--i) .r-.r;a.rEt Utn
,:',- ,srls d- J"-S,- c*; S "--& -b .tt l., {B} : {A} -.r,.rh:, . \
dC s,_r; * lr {A} =nrV u- 1t'V cJL ul.tt.c*l ?E Af
a1
oro
l"t"f
= l^ul
L^o"l
g,-l
:,r,].:rl .$ l+, b tr" it2,Auo s AT o:;lr ! d +.*,--rr 6la.l22-;
:.l;S-;tcT *
lr 4p LLr2.c*l ( \' '-O) iJrb. g;1a2,;r ;42,a,.:JL
Procedure Veltrans (VAR brela: frame; VAR vrela, vrelb: vec3);
rfitf
"vrelb" 5(Aud iL") {A}
...;*l ltr"
v*j.6.; t .:*; \>tr "vrela" ;1.2: o5
a1 .;*.; c,,cy\ uEttj
t" {B}
=9tr$
(*,rar,(f-f JLrr) Ll.t -L 6la^i.-r"t,-$.;tS,
f x Y ,;.-fl:
'sA\,slt I
c:* M L-,(r-o JL,, r;L) \>cr i't:,1 JL;;1.!-! ,5ir,-l ,sU.n-r'.T
"$i:.l
,lS t*+b ,s-f l:1 i*r ,sb,*;t+l .-!Lr .-r5rrlr-.*l ,(t-0 JE r;t)
.Y
'+t-'-J..t
lj'r*l'- U;L;,sl^'l2.i;
t-p5ea,s1'i,g'.u[ r"/(O)
^t,{f } *,nt!"-'tt ,g-f
:,rl.st:-l hb
{f}.-. r,rtxa.t+54-.J.1:*,-.9i ;LL.st-l:, :l ,e.E
=*rt-3a
'4J;Lil
b blt'--j.:-2lr-2f
J-L
J3tu r iT i.r..
c*l
Procedure Jacobian (VAR theta: vec3l Var Jac: mat33);
. (;'
u. ,rs.alL g;-25 pt+l
,-*-r') /r = It = " 16 ;l xlart+:;t,
,slt l, 'K:-,-l **rV
(.lla-.rr :
lf - lx a
lf -fx
d]
: ,l;,'.l -. r,rh
--
totS-)
6tao:l:
crloi.S o:lr'.-,1
.l5.,, s,-f: s-j Jt-lp
- ["/\ " ll \'"r']
y 0]=[.t"
olo "t"f
1l:-1[ il ;6-,,: j,1,l6t+l ,.fli,6l^L'Jy
lr-fx a ol-1"/? -"tY for"]
www.mohandesyar.com
Y"Y
1f
t{r,'j
,l ,sj,;lxl g*
(deg
f sec ,-'-.-r,) ;^^=,L.st lr.i ,=i J""l
O=[d,, 0r 0r]=[Y"r" -\"/'
.+5 o*t^,
,oL^.J
!b
-r)
\Yt"]
.:*; b ,'r, ulil .sl+l ,sln-sb t ;L, oar
.+.rrT ce,). lt 6'-,,shl:a i|f,*l:t .5--;l ,-h t*s J.p,e 1>
,-)tr *9't[
www.mohandesyar.com
www.mohandesyar.com
rAt,
"$."tfu
g;tAiti.{"Qr
\ -t
U.fLl
,-'(.1l;= . c,tL-)L u,Ll t V,- 1., *U uSJtS, ,st"r,i! */lIL i.9;5b
I
tj'! abr.,o Jt Ul :,'-l'rJ tgJJ. b Cvr:,'l;L-l,st"rr,uS--L-l,sl+e
"\r.
1., ,l.U,rSJtS. .sl! .i- cS7 6bal:b. ,J*"i rl-l.rr .f-l"i-S;
-b I ! cSr- :t^J
.,.,-lorlr
trl
t\yp 6r- rh_l .F& ,hajrL u-1 .,g ,r11
.$rc/ ,b ;1 9 t ct"tE,st"li Jttl ,tryl-ulr6 L-;
gJ4.Jl:jj'^b:+b
'.u; JLcl
L-
4 a;), g,-l e'JtL ,-rb+9 ,:*l oJ,""i iL3j ,srL-j .rl+6 ,t+,.itS. .Sr.Q: 6llrr)
i:*,-U dut+T ,116.,*+b +: u-l djrr t+:,_lr, aic*l i,-ir.r .:;l: jtJ c^ij t0JL
u*,ti ,Q ,stlJ6,.S:rli-r.2, o.uT c-)4J ,gtf.-r, ,it ll .C ntt,c*l ;l
ori a.-.;ir"t,-JSIS.,st"riti 6rg;;c-^..rL { t+Tt, d,CWy oi9a1 ,.1;.rlr.Soty
.1r
'Altu.1r .,q.5
J- ,rt
de dlL b 44a u-l J;
,rSJtS. ,st"r;t .S.rti-r t, ttrrl
ts_t
t' t h,l
..:*,1
a):-...::
p+lfcf
;Lai&
61n151;.:311r,
filr tr ,J:l
,st^riq J-Jl,dJc-... i/-l J- ,sb 4;5a1 ,r5,=,1,-r.st".l+], .fisl csr4, le r |'.-;
..ill l;;l5- ,.Sf ,;"e,p:: ili*r l) .r, r..rp JLr.e-, ( \. Ji) r"t ,J*ti
#lr .F-, ,-,rVr.s $li a*l'- ,;t-L 6l.e2l:.5;l 6l^s2.^-, Jtrl ia;; y
c,!l ggi.-^p 6U ,lt* g,-l J- .xp,g a*l'u 6 , ,O ,O ,,-rti, ,r .rstc-S ,lr,
r+lr Ll ,p jl &.5.,_ .1 L"y 6,
ly
,O ,O
1,,
*l
J:.r:.g,-
www.mohandesyar.com
/L .,lyl5, dt 1;q J.rQr
\"
,-,Je ,1-1 srbj l-,
,4h-J ) tt d,l dlL .|, ,T vh.: *-b t' il tr tst+l=L; FJ q hi-l .r,
-";,,.+ af
6l.Jb..t:-l t ;U;.-Li
.lrlr dtp.:-i.
,"-;1,
"to
dt
t ;U; (>sr 6l.r.1lrr,1
F-, rtV o .J-e^:rr c-\y[
u'll'Jli
1^;'^L.b:,
"vo-*yW
(\-P)
t
o{1"
AQn(t+Ar)
d,
=
dt "CI" liT.
Lt
-ofir(r)
Y-r)
,6ji;-L, Jt Gte.r,r[4. d.ffu t t+!-l -2) r,+-Ju-) t{tr 5D tt aa;l -u;L
rr rr+li ,6+ b 2-; 61lKtt; ,ul* {U} fb g:r *nrV
u
(r-P)
'b-a, :
Voo^"
)
u,q
* u {lt
(r-r)
,F.-,h;
ul\ tr jl t tQ js2 cs.,-, d,l (\ Y-0) iJrh" .;,,- ,0 uLoi il ta, ola++ l+l
itr* ,Sc/ it* (;1,;$:,J.,-r;'- 22 bl'.a:J+t'i+,,, dCL ,s!r) {a} rrr,rt0a.r,
r+rd it +-l u-r
ove *An"ve +Af)r xf R"e
(0-r)
.rsv.
c)r; tj rs:-t
iti ;b ,.*S l.l, "Q .# ,sr&,.Jrt',
l, (O-P) il-iL/
,c*l u,Lt, et
4.e'th lrr, ix
*r*R"Q) -AR"vq+oo" x AnuQ
.rr:
$lF
JL),-,
,AT t,
u-l
i!
(?-?)
rbL:, .-b-i iJ:t , a:.,9T c*rt f Kb -2r al:L. i a12BQ.-,t* cslt*'^L.lJ ,(6-?) eJrt,,;l u};*1"
.r,-r jl
,st"irr Gl:.{A} rbL
g2l
www.mohandesyar.com
Y\\ sJz,'..p-,'b.,
.uT
ove
- *rtl
.ule; c*)dJ ,-\;ld-ti
"ve) + 'o" x AR " e +oe, x
t'r {B} , {A}
*'u
(v-p)
ftr
u) ,r, .f-Jd .$o; 2-i'aJ--. ,sltrt5-: Jl iL" .s! rli- yltt I V-?l '&| J;
tr,g *-i ,h (V-t) iJrL c*|
AR "vq
x AR uvo + o{r" x AR "e
+ Aes x (AR "vo + o{1" x An u e)
+'ea
a uvq*y'o" x.Ruvq+Aeu xf R "r::r,:;
(^-r)
lii'to,
(
!,slol^t,-\L.j fuJ,-r5,- ti4-r,
n,.d.t
nl^bl
(t-2)
ilrL
a,,c*,1
r-r)
tr 3,;t + oy !t,,*- ,sU,S.q,;1lr
{B} =3''r[3'ir" ;L, '-,v,6.uar;Li..; a5
t-|,-l cd)l *
,F .:JL -2: "JrL
ul
ovro". +
of,l" x
odl" x
AR "vq * y
AR "vq +
AR "e
/cta
x (oo, x AR "e)
( \'-P)
+
t ,u! qEBQ
g,gfu,(\'-t)iJrL,:l-{t,.,t b: u-Lt .,Jt
( \ \-r)
"ve-"vq-"
a5.rar,r,
t-*J.
ovq
g orL 4":3 (\. -2) Jtt'
=ov"o^" +Aea x (ofl" xf R"e)+o{1"
,_r-l
ts
xAR"e (\y-t)
,5t ,;!rJ 6l.aJ"-; t, *t ,rSrt(. ,sgt, ,st+!|, ,F.-t:-i 'r*l^.,s l, ^a;; ;r2l
( \ " -P) iJ:L
# or-r-;l o-t ':.-l s2-3. ,gF ,P.S,- d5ujt ,slt .tt f+lF
.s5-:
orti' 'l
cSl*-Sll,-,b;
{.B} * c-*; {C}:odl" \>'r t, {A} a c-*.i {B};1.2r f +r4 -b.ttlr.l;
F t'l {A} v9'j.66.,,, I ta,2lrr1 ,o{1"'a*l-.,slt.S,l jbstBQc,,>s-L
www.mohandesyar.com
/. d*lt'
L/o1,|
.(=rQr f \ Y
de
o{1"
no" +
An
"a"
o{t' ='o.u +
frrtP
aQc)
\r-P)
(\
r-P)
f-r.drKq ( \ f-t) atllt'+ urT tD .tt lJ l?-71iJ:L JL
ohc
='o" + AR"h"+Aoa x +fn"dl" (\o-t)
.rJr""fF crLi:.lft .J"e
.-sr;t
,skllt ,sl*-sb.-L-i '^*'l-.
fr.
6il, ,aa;;
;tll;l
G)i Y-'.rr
8f .t> .5-;.,1 a4 Q- fr (fr 6-r!r) iJU ,.rrr!l L.,r .1,- ! sL.^,*=
c.,tt 612a" Jr.1r ilr!.;T ,)- f"-" d,;t-2r.c*h-iT iL-!r, dtl tJ pytJ
6tF Jf ,lfrt ttf tl.c-l c--ta; ,OS., i.tb1o g14-t* rl-u; ,x5r, cSy &i a,rtl ,,jti l+i-|.,,, .pS "-;A>t6.|, ')- 1..+J, f-,. ei-. ,;"e.lL ,opr
Gb:,
,-;J -b r, fi.s- .sJel CA .9 e I iI i;u' ^S 'lt
,Gt *-nr!6 a1 a; ?J- fi ln 6Ur 3-r!.rr ^5, W;l 6l's3"" )V
o- .5 .urr, ;LJ t ,-G cr^-* \-tJfu' d,g ,-a'.c; tJLar.rr cd)/e ;tclll
opr *nrf1 a, c^*i ;)ljdt
-Sl .r>-i 'l-:. ,-s9'tq aI
'{tstorfb
1 t+i-l,r, trl ,rt 4:.
S lt 6tFb
r--0,,-rt, ,.)- te 4 P
-,. f,rh t #
'l
.S.,- f.: l, *:*
6:il.,r;l; f G, *n.,V ,1s! ttr rt .g--Je -b tt ,t-.;. cl
trb .tt+r.t iV; ,r--itiLfu,
,t'-;t, r42,e* lt {A} r,-rt43 a, c*i
'#
ftot.f ,i-L; i/:+ I x I
de i-*
o-11-9
,-,.
lI,, -Ixy -1,"f
AI-l-r,,,
Iuu -Ir,l
l-,,,, -'in, I,-, )
il
Ir, =
Ill"(s'
sl,irl^cJt5.-l 66t-:.c
+ zt) pd,a
(\?-?)
;1T
r: ^S
www.mohandesyar.com
Y
\t
;r2
g;;
{A}
bg-
AP.js2.l4-1.;)
.$16.1t:;
Io,
;1.2, b pe
6:i J-&,'".1
)Ss. LP*t
6*J
t;l; \-tJ*
,rto ,-,/#.V-t rn
: lll. (rt + zt) pda
il|. (rt + ut)
Iry =
lll. xy
1,, -ilt. xz
1,,
J^
12,du
pda
(\
v-r)
pda
pdu
In,
6 ,da ,g* u$\.i,_: u;t^'j+ ;l ,-t-- r-" ,( \ V-P) Lla tt
o-\-i o:lr aLi.i J12-aa,AP
- fr y ,)' ,ltl t, f,+- ".h f ;tt".rr-cf ,|5'.J
.t1-!r-f O*: ,\-t J.fu'
*>*l p t4l er[
;:
: III, gz pdu
Jq
t d +5 a>s .t;.Lu, F &,Jb,SuJ b 1,, t ,Ir, ,1,, 1slq, 's
s,-;l ildti il"-U tr't'b pd, F. rt --ek| Jl&l,cJL u u-lil .i'' .,'-l,r-sa*L-" ,-h',-r
fr? ,& cWFle; I ;J,^aEu$-t:-),srlt tsh:
-rA
-rr
;tJ- o1 ,.r,.Io
,.rb;l ,tJl.rylt
f ,JlJ,rli:--o g;t+:*( ;l 63;s. L#
'A-cr^-', 6,-l .l;.lu^
J:-,c*l oJ.l i-J;,;Tr, c*; fi ^S gnrV 6;+
j,- ,*,),sl+*t-|- dr/ k,sr* iljLf,i! tl;I gr *akls;+
www.mohandesyar.com
/1, sS=.tlSr,Jtrtq.f.rQr
6^$P' $.*'t
: ;:#'"Yi"r
: c;lj$- itJQ
b
I*
l;i:,| .-l-r9l
l-?
ut,F
\f
i irY;"":K E,
\-t
,i
;l;
JEr
t-FE
JS- J+:* f
ca)4, ,Jfu,: o-L.i u4',^, ,il^;,;". ot-l-, d: .:*; ,-l p \ -rb
t-*g a^^a ,du = dr d,y dz fr en ,.rrr -r6q ! .n5.,. a*l^.
aS
l!)
,[5*i,2r or.i, oslr
r,, =
l.^ I.' l.*
,0, 1 zt)pdr dy
d,z
- l.^ l.' ,r' a zt)wpdv d'z
- l^
(+- '')'o
dz
=(ry.+),
= +(/Y + h,)
.c;!g
Jq ! .r-: l-r,ft
(\
A-2)
www.mohandesyar.com
Y
\A ;,; g;;
,l.f4L-
c;(-;
t,
t+-l ,*,1^.;t:4
iligb I* s Iu, .c-l,--"
JS
lfr rn;.21.o ^S
131
rvv
c-re,
6r.:3
(\
r-P)
= ?@'+ h')
r,,=TfU+?rr)
(Y. -P)
de
r,y =
l,^
,rooa
l.' I.'
a*l.u b I,u JV
d.y d,z
- l.^ I.'{ood'Yd'z
th -t
(Y\-P)
1t
- J. fna'
=
T'l
r", =
Tn'
Y-t)
t
Iy" =
?0,
c*l ir:+ f<
AI
I
;l j
GtJ ,'*;E
f?tr'+
-
t,
-r,,
| -?n.
-* i*
')
-T.l
?(''
"a*l-- ,slt
+ h')
-?ht
o* a;t*
u-l
6*J
-?h. I
-Tht
Yr-r)
tt;l n
(
r-P)
? (tt + rt)l
.-st++f
,-$-
,cillf
sls.t.gtuo
tr[ ! l, ,r-2lr -1!l fr lr ]-n t;T iV S ,s,-/ vntV tt
{A} : fr lfr f-,. ,' {C} vnr$ Jl .sjlct Ltt ,r(--t u,-r. -.pt43 r,
or.3
. r: or
'F
www.mohandesyar.com
/L .,frtK, 13trtt/.torQr I \t
t\l ,J
jL1
&r" al-i,tl, g
r_l ,-uq dit_ JE:jle
opr 4frJW
Arrr=cIr"**(rl+y:)
Alrc=clty-ffir"A"
Y0-P)
.S,g jl.=t {A} -. r,rL6; a, .*i b f- ft a& P" = lt..,U", z"fT ii ,t 6
.tf +L*, (YO-t)iLb t' z ),n ,a_c3-t \ a|;,-t t & ,sl+,:,^L, bF
O:4 iltd e-SL-tStly, -43-a*.lt *
t-L.
"t;
AI
cI+ *lp: p,k - p"{l
(Y ?-?)
=
.c*l I x f ;La ,r-tl Ir iTrr d
l-f )l:t t
,;l-*^. rt^l*, t "*.r!
fe 6b.b ,# r-,*;E
fi lt f-n ,st iT ir., .5
((YO-P)
iJrl',.)
.5
ortr:,"1
q\r ,s6t:* )*'i j
;11, de
,s2l,Y-? r[5-:-2r oJ-.] orl: ;t*i.; .-J...r-.,r1 c#)4 ,s.2lr.,;f
l,'l*Lll
g-rlr ,a+J
cy fr(r'+,')
txa "trt
1)
t:
YV-r)
"
c*; ,F ,fb: .r;rf a*l-. ,y
-ti; * o-.t t: ,,r-tV J2: sg\,zt
p,+ ft r, Cb r,rh
41,r, c*r + *
*,.
,')
c
r =l*t':+
.sl.-L-
f+
fr(,J+
U-l;L-l rs6r-t*,{C}
'
h,) : I
fr('r+?',r)l
*ntte' c6r**>-l
(Y^-P)
cs}; ,r--}U
U-l
aX
www.mohandesyar.com
Y
\Y *rlit:hr-ajsj
iJrtrr
:c-l ori iL1 ,u..'.J t-str.,Fb + Lly
-&-t
u6i-s jl
,lt
,J-j t5
lft eii gh .r,,li '.;e.S- ,lJ"S ,t:-,..-. fJtc3 il unr, Jt
,.:.-,1 arti; 'a-..;r -t lss ,ravt.4T ,r-.it-; .a,- ,J uJJ,slg*)*L.tfli
,JIAI p.-a J)
.:t. Jt^lf )ru
t ..:.i ,:*l
"#,
!S^"
Ll ,.Slc-:,
,F.SL4-*LL
o-1!^.e
,rJ
,-st"t'J
.Y
.ljL
.r.2ls
p-, Gr v*tl4-
i;e 6Lllrra ..uli-"
bT
Ls;J4-
a,
c*l .-1ti o.2l-e^a ,;a $
,-kl,..".t .st"F
.JlF.."-
,t'.-a
;Ll
,Sla.tV'#
a-
g,r-
.Y
t-FE t7-2 ,.slL .f
-,: s-tL Ul \ -bg
'V
oS;3 a-JLa t* g-t+!! r"t .-$"itS, g;teg! .;-:,n
'"*l-.,gttt'>t^r.c-l
,l,ft rf-c-/:,t+i .s!r (\V-2) i!! 12.25,rpr
1F 15t"F
6j,;lxl ,kb f cJ'h ,(d-.1 *Xr\ i:.) Ls*S,ilsl iL-:.i-;l orti:-l t i, t+T iltLt
.:J
iE ^
e J.2ls Dr.&,
-*:l
iJsh.o-43p
iJsh, l-r^
A .t;J F^l9- .b t 4- ,# It tU uSJtS' tsr;tr;l kb *
clt, .;-ict t-i^h y"tS it rt ffr eit ,S&.tflT ,*t ,.y,L-, !1lJ 6A tt;l;
1-Jr ffi 6\,';1 utrrl .F++ ('.uKt-'r-l1 D.,L*i t+T q ,[hf a.rlr cJr-
f-,. ;te
lr
iJrt
;1T
u;let uh..." 1., .!r" 6;; eJrL, ...r,-t-6hf rt lt
..\:5s, it.t ,q^t- f"-" .5"-.r, I hB s 1f
"-t
gji:,-b
6t"F
tt-r,-,L-i;l .*b
,ta.l-;
,;-'&b
,-f,-:l
Ur. iJrtr
f.t f-n $ 4- tf, f-P ,[5*:,rr
a;; '.J:[, jl .\*,t r.2le ,...a ,,-e ft t d,F 6ti .e; ;r:A p.c*l o.li
orl: ;Li.;
ca)dr
*2-l
,>Sr- t5 bc
;.t-pl ,-,L-i \
;.tT
n-T,g
F = m'tc
r-r)
.c*l ,...- # fa m ;sl g
^S
www.mohandesyar.com
/t, sSritt
.s)c/ ic v*
C.-"
t,p.-" 4 le fr
+ or.:
s.sl2
dlrnt/
StrQr
\A
F 6er1 f-tJfu
y'51 fu:t'..
;L- ,.r5./
,$:t-.,-l
tt
lbst
,/r
&
.l'll"-tlj,-,t:-i 9 u
iJ:+
rr
,rb
L>.sr t .5.-L- ufi ,Y-? JSJ 1t
{tr d N DIS,cJt- r7-l-r.: ..:*l oli orlr
+T.f c-)de rJ"-31 iJrL;l
,y'la'-5li
fiJ
(r" -r)
N -cIu+axcIa
fi lr
f-,.
t;l1r.,
ut 6lr,-51;vl-r
a5,c*l {C)
6lu-el;(>er
-rrQ.i q + fi 'F
9-+
s5rcr rJlrcL fit
r-FE
I ;;T p aS
.uls
ij
Dl'< f-tJfu
.S,s j\ss
www.mohandesyar.com
Y
1rl u*
,stt$ s*,t+, er!-h,
*sl-
6-,
u* srl$,,Sl,qr.:'L*'h.o
tty b;l t ,J"e ,suL. ,sU. ,ft* ts-* l. -bf 6u,.3l:.5'a*l^' 'u4 ul i
y-l ! .6lr,r, ! (O, O,6) tctt ,-t:-i 2 *zrt,ilS, rl./ et .'.l't,g tV +-i
;bL,.eLr15l:-S relje,c,t::.r rt F gji:.-J"t-e- otritl a*l: L3 trc-;lr
.J c*l ,r:, t ,P,Ll-l;r o.tr; cf l ;.tlJl .C +A b eSr y-l rtall .-s!
;;1
..s1.:Jctl If]
tJ[,r ,tJb ,t'J
Gl f
[:i J W:- di,ti cslt G:x tttl& crt '"1^"
'1*l^. uh:.',^'
^LA gt) )-! ,@l I ,lS 6A cgl.uU;
:ylr 6.2!f; ,r.+t, ,drt-t^, ;s,-l .s12T cd)dJ .|, .-'!;tS" ,sA\ hb ? ln ft Gttt
" kb 1 r *[-cr +.lrl <;jr4 u]r> ,-&-t k! a ,hb jl 'i;4 s ,jGT \ !l:l :
'l-i,g u*'
,S
.r_yJ W ,slt ,* tsJr O J.-i y J.-t kb + ,hU:l Gb1; cer <i.ct-:lD
e*l 6;a,i + \
.
t LF ..rtsr) ,y.b1s c.sr
r
,_
t*trr*,,
c*)dJ
lJ -S--t
i*\
- ;+tR 'r, + 0r*, 2;+t
(r
Lj. a ,h|:l ,slu-sb.-l* ,l.u iJrL ,(\o-t) Ab J
\-r)
orLL-l
Ft:,-ln
d*\':''
t*t 2r+, T
wd+\ .-d x ui+\
rL tb,
wi A
IU 'r,
i)r+, '*' 2r*,
* vi+\
* l*t
i R
; a
- ;*t
^ 0,*1 2i+\
",
1rr_r1
1fg o:Ly-; it12-at al:t,,
t*trr*1
n-Te !:s)4,
;+\o;+,,
i/-l ,.l..ili
G-F i + \ l-; Jl
(rr-P)
- ;+tR 'r,
r:+ (\Y-P) 4b ttr5 t ,!,!t -. akar iV iU; ,-'*,
tB+, *iu; x ('r, yi
=l*t Rl'dt, x
P;+1)
+ tr,]
(rr-2)
tj rtt-r
1.
Luh
((
2.
\. -2) iJrL ;l or[-
Walker
3. Paul
.l l )
.lq, i/-l ,-u! d--# i + \
,P.iLr
a5
www.mohandesyar.com
/t, .,*iK, ,rtrr;! .drrQr Y Y'
-r,-T,rrtr
'*\rl,i+,,
d,.+
d4+r) +io;)
= j*tft ('iu, xtP,*,, *iai x ('r, x
f Y'+tr,*r * ,lo*, o*'20*' * do* , o+'2n+,'
(\Y-t) 4rJ or[:-l L .5,'r!: iV ? hlt* p* ]r
;Lt
(f0-2)
'-'V' t 'u:'?^^
+lcf cside
(Y?-?)
L.b fnJ-,t;TL., s t-id
et Lt9,"
J--:. {C,} *;t!,&1, u-lt'
t,
iJrL .c*l ;t5- {i} tt
,s;J4- ah u-l ,s;:4- .c*l uJ:=*rV
t- ,y-I:J .;JL :) -p ,slJ + J) J )JlJ *Vtt t+L-t ,5f ti .tr6+ a, (Y?-?\
.c*l .rlSa,i + \ J-L is,'^ ,g--F
'(t"
\
.'e. - " ,t-rl, \;,,:*lo:L.2!"r !r 6! taal:U.. 1^l:s16 6 +J.t-r
,-,.
or
# ;lfi;
I, L., f
lr f-n t ,1, ,F
,l
[ ,.tj
l+jl
!!4 Jrtt:rrt;;Srr;
3 .tt
] lt J-n ,slr-9b , ;U;,st+* 'd*l-,:l ,r,
6taaJrL;l
tl:-< ) :z rol:g ff-?
"4\ )"-rl-cii
g-rlt ,r,.C +a
F; = Tt'bs,
1/,
hb
=*rh
,-t-t+- t
;T
- "'Irr*w;x"'Irn
qtu(e..1
I^DIS t
J-L
661jc'S j-! ,,'-rj
(rv-P)
c*l ,fu Lb pe j-n t {C,} i.u ;Tr' of
.c*l iL..5.,- {i}
toli dpli cslt Ga> Ltr lF ot*-t^,
a*l'- lt_tt-p * or3 JLcl 6t.a.2 )tc < ) trr; .5;l il e,
.f-t:i c^.)4;i ,rilor-i kv t { t+T Jtrl d^r! dt
. +i ! t^Jru iJ.tlos- Jrk il:t'" Fj \ ;.'lt,s b tS u-l
t,.!r- 6Trr4,s$b;l u.la,1l:-S: [:,.1 \lr* r,.:l: pt+l (r;=1 lt 6-? #-r)
\b 6y jl ttl: ..al'-'.s ) )i ,-;--U 6lJ ,6P ts .5-*,1 tJlt ,G;) Jtl:,:< tlt .5-"
'FJ -ht: b -ei;;e 6ta:L; vs!
)Su" trl'. i L| t i - \ ,lt S s_s* = f;
Llt
rbl,5=1,
..,lrr
www.mohandesyar.com
YY
;.,r1-
dd ,sj$'f.rQr {r!-t ,
.rot .,(1K. csa\:l
!t 6
6la,rgiJ ,so:i
d--;l ,b'; J:b 6-r,ft
t i - \ }..1,, 6 612|r:-5 = n;
t \l: csbr,* i'/6't
1*.tt:/ J-i cti J'E 'l+! a i
156"
rrls
i kb
,lr
tF,
iJrL',i,t+l
.1rl:-2f
-b\
-if. - l*,R
ql-.- t
t+t.f,*,
lfi j-n Jr
t'r
(r^-r)
ttls rslaul-'3;;sJ 6.+ t,
l,-T,r, C.*t * ,-; ,gl:^S ItV
if.
(r1-t)
-'r,-tnr*, +(-tPc,)x - (t4*'' -iPc)*'fr*\
(f 1-P) il9,g,,rl:) ,r-:V .lq j# n3lr (fA-2)
^\ltJ J4l-14;l or1,-"""1
'1,{,
i)j
ty'f,
'n,
- l*,ft
'*\n;+, -o P", xi F; -i P;+r x l+,,ft
t) Jt-t-6 b
t*t-f,*r (f "-t)
jl 6j6 kly o.t-t-+ 3 'j +.t 6* t rl8 ).f 6t.oalrt'. altr-; 1WF
.t-b, ,ra:[, e-rt; ! iL* t ,i! 6rk ! :,-t*".r
I
'
f, -
'ro =
l*,ft t*t.f,*,, +i Fi
t/rr +
i*\n;+,
l*,,ft
(r\-r)
*i Pc, xi F;1-i Pi+,' x l+',ft t*t"f,*r (f Y-2)
t b tyd 'r,,Flr , .-t a,tt a t1b,o.i,i;trT " L.b;l ,taalrt^. y-l
-2: pb-l c:i 6lt,s"i csrde qlS !b, t,,jrt' ul:r),-sr\F LJI ,i,-l .x-2.
;!:,,
A-t,
www.mohandesyar.com
JAt .5$t5- ,Jbtt?
"iJ.};rt
.pt < 2
d:iS
6la.12l:.Sr
by ,4b*
rt 6 c,:ti
(J;!, t+!-l
y-l
.S;rQr
YYY
[,.sla,Li 0J.-;
.J.;lo-\.3
iJ.Jy../U.:l
l ,}; ,-r cF
6l4pl:.5 y t+i-lr, ,utL-l
o_Trl cd)4r ,iI ul+ L.b
cJL
!!, .i_;l
:u,';L
'.
rt = inT
C',
ort-L- 'l
'.rb
(rr-P)
:-:'&bil
,-uti
&F
i+
\ J-i. Jl
r;-iff ;2
gY-?)
.c*l;l.i;!S ;L; s;.er.., sJL.e: iE r rL; alt, d
N*trr+,,, t*t"fr+r ,.tSu.4?:!l L..gir, :, d.ffu ,.rjLau-ilr a-.;
,r.t
orL -1t*t ,n t| U;t t^oJ:L g,-l :.,;16 d:l +s 1t 9 ,.\2^iut o:lr -2f -p \ lU.
-r, [: ,.rk ;r,-l;l J.-L ,.gl-451:-S 5 tor; ,rJl+,,rL; L"'.. tr -!r, Jl .t".up
N+\,fiu+r
clt -p -* '-rJ- ,pJ.U
Dl-.:S tr; Jrb U;t^.JrU, J, ,t*\nry+\ J
'r-J.,g J*'
-h:l-u* rtrl&,rfu Qr et5Jl
taL-L
or$-.,,1
c*i
6f
\ ;bL 1sla;'al.-S 'a*l^. ,1.5 ,ZlJl
e:;l
.;l
J5.'5
b \ !t jl ,c1al$ \l:t J o:tp-.-"| t t&, ,rhl:.: s Wr,lrl c*; rr .c*l o.l.l,
:6:|,;rr r.l*i | .5-*d &j tt t ,slr -[-:l-Cii 6teal:h, e ,+6 " tt
a*t .. ,\ !t ^; n L.l jl G,trG,r*^.,J-L;llf K 151.421:.5 2,[4.!.! ,h g.6tsu^,jj
,x.-i ,/ o.-")l- J-j i 4 rrtt-..a ct-LJ t+t-t'^:S Jt t5,og 6;taaJrL .x-*,1
i : " --+ 6 zut:x ,stl$ d.,t-t^.
^S
t*'2r*,
(fO-2)
=:+t,R 'r, + 0,*,,
t*'2r*,
t+\.'.
wi+ \ =l+tR 'r, +;*tR 'r, x 0r*r'*\ 2i+, 16r*r
$2-?)
r* \ ,r);+
yiP;+',)+tri)
(rv-P)
r =;+tR (brxt4+', *iu; x(tr,
d* r
rc,*,, -t*trr*, x i+t P",*,+t*trr+r ,a (t*tr,*,, x t+tP",*,)
t+\,.
(,i+
+ t+tr,+1
t*
t*t
4*,, -mi+1 t*tr",*,
y'y',*,,
=c,*r41,,t+trr1,,
(fA-t)
(ft-2)
* t*trr*,
X c'+''1,1,,t*trr1,,
(0.-P)
www.mohandesyar.com
Y
Yl q-,
Jt-, q dlrdrb, 1 cs-if 6trdrll
t.f,
=j*,R
d+t,fi+r
'n, -'Nr*l*,R
d4
(o
t*tr,*1 +iPc,xiFi
+ d4+, x l+rR
\-t)
(oY-2)
t*t"f,*,
(or-r)
r; -in! i 2;
"5,-iJ-b .t, b.= G irr:.,#j ir,f,'rt;!
lt 6rt \G .-,ti t ;t :r t-t, d t; ,fJ il';,f ,J12^a,s1l-2: .c*l ;lJ j4 G
't*r,
g1.\ .1lr L6!t t ;$ i"b st^o
,rrl ,1! 6r a Pt,-t:*i u-l .Sg df
.-iJ -b t b G$ tl tlje ,j5l'a*l^. ^;; i:* ,rdy
;r.2,
:[:ti;
,-,
t-EbaJ)tr s csjF cttAalrh.o
,|,+t5- d;lrlr rT-rt.f r.e:,r, cs)a,j!t^, ib&-,(0f-2) b (f0-P) (J;balrL
,r \ly u-l :l.r.2el c*r a; l |',-; 6le,.1.l:.5 bliLl ,t+LoL .shl:.; s W- s
4:*, Jfu
:rJo:ti',-,| J,te,a2sa, bl-i.L/,0 Ji"-i tt g-fli'r*l^' ,slt tL.161 6l.r.JrL .l:iL
a:.251 c*,r *. clt ,*l; ,?-t&l J12,-aa [ 3 rg;rJc ,j!lf*-t&t 'S- ,>1;o*
.g,-rL;
6tralrL
,t.n.J:L u-l 6:-21: c^.^ali .p ti t rg!)-\c .t-!t-, .,-riJl J2-aa.b.Jrb, ,tti
) ,P", u;ta-/l:; ,[ht lr ,,F,stor-#b c*l ,ri5..ll,;:L op: c,!-u t ,sb,
! tr.hL jli b );r: ",a;*,uolLrot .,.(*;tS.(J;rq.f- ,slJ.+'R rs$-tL
.r t$+,opr 6f f ,,. Ls..r ;l-L 6layl:-S'^*l^' ,.glra'l^i'--,
lr,g*, .,,:i!c-l: ta.J:L, rBL jl -*.,s.r,-r ,r+lF ,-/ ,rtl-f .-Icl.2r Ll
oltl ;rli- t, .*,-ti, I ,i6 oltl;tly L-.e,c*l at\ GF + L"r.st+rt r JS-,..,1a
! .,sft!-r 6;tr.Jrh, ,r3.-, ,-,tS; rfJ) c,t5; y-l d;lr c;lJ.c-*l
+\,GbJ
'#
.g-td
rtt5
6ta.JrL
4 JS*., t
\ al';,g L +
;r2l
i/-rLi u;t^al:U, ,J,rsL,,
l+, .slr o Ji r, o+T l, c*l Jrb, k u-1.:-2el r*:t ,6 : ,6 ,O ,sb -f,-:l-ui
.,*-rlr
l4l
,rs.-flj cr-rf
Jt-t- b>j
www.mohandesyar.com
/t
s5rtK. dtriq
.torQt
Yf
4:*, .jrrqr crbalrh.o il ,jU Y-?
?-7 ,Ya.r, d,!! r, t ft ,rSJtS. ,syL. rsltlt +,ri,L,-: crl^dJrL" t+ll.r,
c--l'1* y-,t
6ii Cg;a,l:.'- JtL rslt.7r-r..TrS c-)r,,c-l cri rrlr;Lii
.tErl rnr ) Tat I, f* ,sV.e ;r2l .c.*l fr;. hl1 t sl+rl.r, ,,-a ,f t c-l orL
o:!', r;tiu. tV -L:l-ui ,F:\ g;tral:t^. t, I tt ,sf UJ6$Jrl.rL l.l*l
;i;lir? ,L.b t ,slt pa f-,. aK 6.urr;L-L; u;[^-/l:J,. drt
tPt'
,
\lt I
,sb,
,pt
ft i
oJr-i, ,r:."ie;
= /'''t''
p", =
Ir*,
6*J .rt;I;
c*l
o*rr>;i'
(,-ElnLi;)
f* ffr bn
,>-l i.o ,r-tU \ lA
c,Ir
c'Ir
f-rlt e,,l-t'. ri ,ls 6-si
fr-"
TLf=o
.\b *..sl#l.r'
f*
pe \
\t,
t,1
r;t, ,-,
#r
,-s-14 ,s-,ry
www.mohandesyar.com
Y
Y0 ea ,rSrrQr 6bdrtl )l ,JU
tl-o
w.-
t).="
V-i,C,taal:L, ,t G$ (J;t^li
a"
n-Tg
c-lo J-i
;*tR -
nL:,
- gl"
6ta ^\1., J,I_s"_
l*',fi =
J:;
u,,1,
Lb
rh-rh
,tr,
"r"l
lci+r -st+r
c;+r
" /"
ls;+''
ll
olo \l"J
f'r'
I tr* r s,+,, ' z' I
|
ci+r "r'l
l-tt*t
lo tr"l
| 'r"
.f-rd tS+ b (0r-2) b (r0-t) 6bal:t,. JL
i;lir+ \ !!, cD G:x,srl$ c,t-t^.
tr,,
0r'2,
l"l
L.,'l
0r'2,
l.l
L.o'l
t,i.,,
"UC,
'l lil ltl
.
.
=
i"]
L,il I
lt'] [;l;{;.;: ]
t;
(nu b .-iJb 0f-P)
www.mohandesyar.com
/U s$Kr,rlr1;q JtrQr ll?
tF,'
trf,,
(,,J, b <er 0f-P)
-;l
,r,
,r,,
',it, --
L-
[,i
6r)
tF,
ty'f,
lv,
c,t-t-.,
::
i] [;:;l'..;: ]= f;ril:
ttc,:
1,,,,'
I t!,sD.,g:r.,alS
6r)
l;
.tlorL'
.-u,,]
;i,3i:, l;:r;]
*
l-"'n':*'''']
;1,3i::
i;:r:]
filil:
ii,,sr - m1lr0lc1 * mrgstr - mrlr(Ar + 0r)tl
,,li,cr * mrltdlrt + mtgctr * mlr(dr + ritl
I
(,,:u b <-iJb
00-t)
L'l
;l .slc,rLc
'
f, -'F,
.l,.
cb.
Gat
ql$ c,t-L,
(<.r,lb 67-P)
www.mohandesyar.com
TYV
{--/
.F.q:
sbdrhr )l ,}U
,l'''
=
l1c1d1*
L-rr,,
rnrlrlrsral + rn1l1lJc1r * mrtl(,, +
dryJ
(,,v, 67-?)
;slg1:; \
t.ft
.l
fr, -s1
=
"o, ,l
f:'
!l
,slr.
Grr cjS c,t-t-..
- mrlt ,a{ + rrrrgstr - mrlr(4: * r.:)t'l
* rnrlrsr0{ * mrectr * mlr(o' + 0')l
fm,/1srti,,
lmrtoer
rn,9s,'l
l-*,/,,01 +
+ I mJgt * mtsct
trt:l
L]
t.t
L-,r.,
I1c1i),
+lt.l
mrlJrs,BI +
m1l1lJc1r
mltl(d., + Br)l
lrnl/f
d1
mt /r9crl
fll.l
+l
'
- mllllrsr(dr
lm1ll01
'*rrryl1/1c1(li1
10r)' I mllgsrrr, | (.="
.l
/
<'jJb ov-P)
1 0r)
o-i,g
c*)4 d-L
m1lgc1c11
6la,.i.l:-S ,in;
j 2
6a^;lV
3s12T
;;2y.L.
rt =mrll(0,, + dr) + m1lyl1c1(Y0,, * 0r) + (-l + m)t161
- rnrltllsll!, - Ymfl1l1s10r0r + mrlrgctr * (-r + m1)lgc1
rr =rrlrltl1c161 { mlllllsrBl + rn1l1!Jc1, + *rll(4, + 0r)
(,,*u e c,-jrJl> oA-t)
.r*: t-er*,itS,jl
48,-,,s-oq l ta;l"u!5r) oJ-i:t-.,-l-19L;3,(OA-P) 6taoJrh,
www.mohandesyar.com
|V d*Li.,rb1;q .{orQr
YA
g,-ri.rL il ,&-glr: r*a*,'U.-,Cl; u-l S *5-.r.-rbr.re c.s)t J-L
tt e$\ .sb 4 6lrrJrh, d c*l i,-3.r, .Jh.li J-; v-F,.,t,b ft uSJtS"
:^-l r,.Lz*^r,.ll: : ,6tbT 4.rt
cstrr.itr
d*:
JAt,
-btt-f
;-ig
6bal)h, Jt:iL
,r$tt 6iu.,,5r"qr
g;r!
ta:; srlalrt*.
o:l:
;Lii
Js,-aa.r"t ,,S=Jti
taal:L,.1b.-L-
usi"t:,-r UtAaJ:t'"
;t*
,r*-2: Ll ,t-J.r-/jj.- c,!; .ft
A-9,
:-213".-lcl.2r
itT;;
^5*>-l
sJb LsL":; ilrh.o
,ri,L,-r g;lalrl'. ;;-*,1 ,aL-ll,Jtli ,slt u-t*r*+-l-:Lu-t t.'LrajrL. S s.l(':J
ttj 2-; JS; + lt ;tl bliLr. ,S 4lu. c-).
r-
M(@)6 + Y(o, o) +
c(o)
(or-2)
V(O, O) ,uSitS" g;t! { Ltt n x n F *}V M(@),rJ.rL. ci f
L"t a;Lrd-- ,trV n x \.1lry G(O) : 1-lu-f : fy:l i-J stLraL- 3x.r:;Ej
.r, d,V(O,O) lt-" ;Su]t#, + l.Jt- sLai iJrh, C)lt-l L.c^,-l gF+
n
\.1l.rra
.[f] fr.f
tF
16a.
,o'c-r
utS,
c-J9r.r.r
a1
,rlJl.rrrlt] (Of-?lQb
J c+*, .,.b .G(O)
r M(O) r.d-e t
.c*,1 O r O 1l cr.e..,, ,e.E U V(@, O) ..-r tt .c*'l,rnt .,.!!tS.
t+ 6s- ;l | ;f"eL-r ubalrL.;r oJ.i tb c$V af uf /ll n:t;n
'.s
.r..u J$ b ,1lJ,ltt s 1-lu-f : fi;l i-J rlsr2 ,t:\ 7-,2 ,r-t\ s
,sA\ 61+L-L *5
r,V(O, O) .M(O)
,#
,@
s*215
r-f JV t
,,fi+.y ?-? #J-2.r oJ.i ,:lr lbrot ,$tS- ,st:\,sb
c^.,t., t G(O)
(01-2) tlrL
.4.1rT
:l
,r-tl
.tS,g '-"-r; .!, ,M(O) ,uS,itS, cu\ ,,-o. ,r-tl
,trl, u-!r:L:.c*l O;l ,.b )r r.;16.-.r;. 8 r*r; Jsi dtrd.- L^
u-l
M(O) =
Itl*, *
Ylr
l{n1e
tl*,
* l[(nz1 * mi ll*l ]
Il{\e
Il1m1c1]
tl*,
(7" -7)
www.mohandesyar.com
YYt 1L s{Jtfu
.r>-12-t,;s51lr
.J;Jb
&
..r1;l{
J:rqr 6bdrbr;LiL
'-rlr- dJ\9,c..l, (W t
ht-t ter
irlil
ri.:*l dbd--
rJlr,o,.r^t ,.JrtS,
A:\
1-rt ,-t-'-JU
t5.J.t-: y(O,@) ,c^c;
il^r
f-Jlt d.
y(o, o) =
",frr,r_rr,r{nLl,rrsrri,,vl (, \_p)
[_nzrlrrr
o'r uW + lt: ,tFv. t!-l ff :l if 6ti tl t -mrlrtrsrtif ;5- srlaL"
s +lr-l ++ ,xlr tf ,s:i -)l -Ynz1l1l1s10r0, in g;ld.- .t;lr ,3:-,
'W
-r,
.c*l crrk ;l*;' osr 5s .t2"2LL .Jrt...i oj2.a
.t-J1,C *b,G$c.:b,g t+lr, E t-Se t.ts bdlrd-- 45,G(O),G$'+
g-)t ,r,
G(O) = lm1l1gq1*
*&ehr
.11
(-r 1 nz1)t19c1l
crli',',
a,
a,!
,:.2b
,fu
(7t-7)
O q -Lii
GF'^+ d+:So.r
15+.fo (tL' i ilrh,
,At
tlr s;tralrt'. relje,V(O, O) .c.c- + d*lb tt-- p;
!1
";r-rt t
g''sT c''t+ *
r[OO] e
M(@)6 + B(oxool + c1o;[o'] +
c(o)
t,
(?Y-?)
,c-l ,-l*,-f v-V ;l n x n(n - \)/Y rt-l t ur-;tl B(O) .JI.rr .J
sfie
'rlry_y ou-4aS
;LL rs$r,-,*l-;;l
n(n
\)/Y x
\ 1g.jtt
(7t-?)
tool - [0r01 0,0, . - . o^-,0^]'
:,.qta\n x \ ctlst [Ot]r ,fy:l i-J
v-lr il n x n ,e-tL
C(O) .drir-.r
c*\2-;
lli 6i ...
,sr,it utS. Clt
tii
iT,str*,--"U b-:
e:1,
,FEd tsr+.50*
(?0-?)
6bi
iJrt , lt(?Y-?l iJrL.
.[r] ryt .,SJIS.
www.mohandesyar.com
,b ufrtt(r (JttrtU .{YQr
Yl'"
1)-.J) d,,[--L. J*,r5',-ti-r g;l^drl'. ftbl ,-):t tt-) f
!r; 4trrr.r6.rr ,L*y ul .l*,ArrU; ,.t::...r 'O 'si:itS" tstL ilS";l ,r':b d
g;trrJ-rh' 3l1r 'rrl, 6t*6 J/
t, l-!
..r.1lr ,:^.-rl ,r;t ;,i1,r::\ 6r
'f
,-;SE; tst^;!t,
"d..li-r d.ur,r.
(?Y-?l
.Jrh,4lj,l-$.oi. ;6- eb J;i6r-!t!.rl.rt
'Elrlb,/g
"JrL)
\' Ji-i,r ! rtrL. jl J.t-t- gr-l .(rlr -* t\tr+f::, *i c'sr-' t f fu ilid
)J
.rlr p+F -,li
+i
r.1.e,'r
c.1Le.r'r"t
,5*tS'
qL
J-S
tfrJ ffu
?-?
;l) c(o) r B(o)
,]; ;>;;
JV I
?-? ,$.2.r rr.i rrlr iL:; lL sSJts, ,s::\ cb,
.n-t[ c*,.!. lJ (VY-?l iJrL
,rL ,st:\ u-l cb
VJt ,kber !
tool
161
- [(i,,or]
=
(?7-?)
[;i]
6 t-*,g r*)
B(O) =
c(o) =
srta.r;!
,"(o,qr
t-:,,,,",]
fo
(7Y-?)
-n'r,r/rtrst]
(7A-?)
l*,t't,',
uil.Aalrh,
J]-;rJ,Sfti-.r.1r
(1"
U-,
[-
.lrlri c,*,s+ t, 7lf'!
,iu \-,
,r$ts"
lorro
-?l: (Yt-P).itrl ,s\yt t'-[-:l-iii
c^it+J
c-,)4, ,sb b u-&-, ,iy *)V ,*+ ,i4 tt-l f .c.*,1 ,11'l 't+h!, ,,x tsotsh5
a'
g;taalrL.. ar-231
,-ir,,c^ih, .tjrt+l- i-p Olf'l,rf-Ql cslyt,'l; ''("b-:
,j$l Gy 6"il'- ,t ,$J -b;: as..i Jrldr tj il ili,r | .S..1,-r \ -[-:Lt*
.5,- 1 ,j:., :r 1 ,;t5- .,nt ,-JttS. tst^ri! ,slt 4l.rylr nrsj;rb i-t, ,: .r'b.r
.5t! .5..,- uov .:JL + Lt-,. s -& ,sl$l.S.,li-r ;lL LtlJt .J!-J.u.rp q;
www.mohandesyar.com
Yf
\ .,$tn abrig rdorQr 6bdrtr. ar.ule.-rq I?rf't riu
Gr .rf
cJL ;r ,![5 .-/rr ch
.\t.rrp vI- ,s*:b \ ,s.ds rt
t+.6;l .V-irt(Lr).tt,-JitS" ur;tr,r:; ciil
\b
.'15*tS.
.4t=i !, [r]
,sbt-t-.rtt lql
-rj ir;a bl'../ !, ,(kd) ,fli
n,
- l*;
a[,
ac,*]'"I "'1,'r,
(?\-7)
6jjl ,pt iLt y hb 7r fy ,F &cr jl ,j-V ,h cj,,,l ,Jsl it-+ ilr) d
cjr;l .c*l kb Gb..t ccr* ;l ,;l; u.' i+
,r,:..+ ,s[.:;l Ltr \ *. gL. JS e
d*-.c-t+h! ;l
r
sSjts.
ir,
.5'-
,r
(v.-P)
i=l
cjjl,s::-.tO e O;l L*lt (?\-?l liut; t uc, u;bd.- .,J-
6tj\) ,*
*t tH ,1rtl ), tfi
k(o, o) =
rt-t-4 grv .* j-*
|o'u1o)o
o.'
;+
tsj-;l
*4tU_t
(Y
\-P)
d ,:.-l n x n Fp ,r-tL M(@);I;.r .5
br,;rT \:l J-;JtS-l iJrb. bjuu,E,g [O] l.p '92t cts,o!, (Y\-t) itl,
,,sjtl bn r,;;ir-.r.c*l pr L.,rr :l 6; + t+T,r**:ls 3 t-fr-t JJ.';4b.r.1,.+ ;l
cr.'r
;4.rt
h-?
fL uItS. ct)\ 1r ,r.tl,c-l c*l. r.115..r }S ,:*
JlS..l d+S rJtts $T;9r 4tl. ;u:- 6.l;...r ,.*l*-.,-;t ,*l 0*. .l,.4*'-it .r:t{
.5'-,;; ci.il ,sE;T o.,V\;tlje t (Y\-t) ijrh. S t-*,1c{r..tr,-l c..rt
,J,,,t+ ,,sl"Lft 7r
Cr{,. L_f_JU +lr
- !*o'
(YY-2)
.t-S
nV,JK-I 7-e issj' cJ.
ui
u,et;
t ,li \1,
7-e
ft;tS.
\ t ljc E b t:\ tr *-jV issg & ir:e
a)j; 0?? bljd | .u; ,li LI ,]4lu.,6;l
o;l.e..r
-n1,;
'gT ' Pc, * ur"!,
e.ur.1Li.;;lrr2 'Pc.
(vr-r)
t ,G$ I x \ ,ltt'g ;T;, .5
www.mohandesyar.com
/t, stJti. strri! rlrQr
c'.-i
J5
J[-;b,
6jjl t.]i C
EiJ -b t5 u; ,'^..:. yl.ri. ;.lr.i tc-t+b, jl .5.'-,r J,n.;li, g]$,Jr, L*
6b d c^..1 ,r:11;
\ tb ::\.1) rJ.i
-iu,
Yf
(vr-r)
d=\
JtS-l
,tl rtr+ b|;,f
.|r
lt,1 ,[-.;E,
cjtl,lr...A
j A);
(Yf-t)
'
Pc, it,t?
,W
.$ .)=-;,r(O)
itS,;l
,*b;l ,*f u;tralrL" ;rrel c--,r + 6bl, ,srlil 6$1.r5,.,1,-r ,l1;
f
i-t; uSJtS. p.S,-':;r,I*Q
,s!-:;l uH j)h;l Js,.aa;d,4;.lFi
b
qJlS*l
.up ;.,4 g-,rSJtS.
15tq ra
U-j$^!,L g;-,ljfrL; t atL
.ttsT,.-/
pF ,.:*l ou
)91
L(O,O) = k(O, O)
(vo-r)
"(O)
o-T.r cdrdJ *
,J
a\ eSr
6t^dJs[r. u-,
dOL AL
dr;p- as-'
aJrL. U-l
(Y?-?)
*L,rSJtS, ,stt\ st-r;: .c-l;l.[f Kcrlnr3$:ln x \ ctlst r
t-t'.ct
dAk 0kL_-r0u
.iL et-:;l
c.,-l-',
0-t Jllr r
,J*ts. tgr.itr rgkh!
J::...4
,=li ,fl
ft't' i,,,
o
L.
i! of
tb a,u(.): f(.) 6ha-L-i;lyr.5
,stor b g;tlr ,.:*l ori orlr 6l'a Y'7 ,[5*i .lr d,RP ,"t
ctlt
rt 3
(vY-P)
dt\o ao'ao-'
..rlo.ri
;lT
* d
t
1,, ,]
;.irl /U .,S-b-: gtrrJrL,
..:*l ,!Jr F er Lbrl f c-,* Jr-tt, Ln-;l'L-*\.bV-
rt_l
.t.t.bli grF;l
www.mohandesyar.com
Yff ,riJ& .JtrnU rSorQr grtre,trbr
3141 c.-rq.1 t
]1fr ,-iu
l"
.6'? Jlt,RPreL ,r$15"
g;gt1
V-tJfu
llr* o o I
c,Ir= . Iyvr
|
L' " I"')
(YA-r)
J-* ,t-*,1o-\,r V-P .,f5;.1r d.;U" .u-l m1 ) Ir\ \ .rD i W.b ,f f-a
,\ sJ--i. t9..;l d, .*'^I-l;.rt Y !f p-o. ft3 ,\ .,J"oi. .t-tnil 11 3LoLi.1r \
.j-rrl csrq b ::\ U-l rSf iJrb, 4sj$'t.S.,ti-r;l orlr- "l ! .r.2lr;!ri
* lJ \ !1, ,* 6iil 'l?\-2) iJ:t'. 6;164\
\b
7-a
1*-ie
*,
kr =
- |,,,,lf rif + ir,,,nl
|*,6i,l + ill + |r,,,a1
t*
.\\
k(O,O) =
7(nzrl[
(v,\-P)
* I,,t *
1,,,
(A" -P)
rr -lf tlt,f ,k,sjtl
mrdl)el
+ Tmrdl
,r,
(A\-P)
www.mohandesyar.com
tt
n-T,C
c-,)4 ir:+ \ -hl
Jx..;b,
,,dlit(, utrtti
.$rQr Yff
6jil .(Vl-tl :l orlj-'*l
u\ = mJ$ sin(01) + mJ$
t-*,C
'trr
rrurgdr sin(01)
(AY-r)
et t-: r12,.o*
*
ak
ao
,:
^S
I$ *'tr\9dr,no, (AY-7)
mrdr
'l
_llryd10ll
ao
-l
(h?-?)
lg@J, * mrdr) cos(01)l
L g*y sin(01) J
(^v-P)
t-.;.
;1T
a*l',n!l (VV-t) cU:V
-L
0u
11
d1^o,
\-f Gfr 6l'0r-""i, JL
_ f(-rrl * I,,t * I,,r + *rdl)lr]
(Ao-P)
C.,
ao
rnr
(Ar-P)
mrgdr^o,
g(mJt + mtdt) sin(d1) *
ak
_=-
J#b, citl
Y.L1I
e*l ;.,r4 Jt JrJl:,, ,sjtl *,.c*l I ul-L Jt*S .SIJu(O)
t1
s. a.*; ,(VV- ?l;
pV u-l atf u-&-q ! ,;$!
tl + I,,t * I,,r * rydl)dr
* (rn1l,' + rudt)g cos(d1)
(rn1
rt = rhd4 -
m1daTl
* lmrdr|d+
(^^-P)
+ mrl sin(91)
3
*1""t*1""r*rn
M(O) = f(rnrl{
t
m,a,era,]
v(o, o) = lr
L
c(o)
-*rdr|l
+ nud)s cos(Or)l
- f(-rlr
| *rs sin(01)
,*.n
,dl)
(AA-P)
a-.,
tl
"I
*r)
(Ar-r)
www.mohandesyar.com
YlO
J)
.1161
6Lli.1r sdrll(, (J'bri! uf.rqr grlrdrhr ;r-pl c.-ro
J,it5" gtlr;t{ .f.rQr
6b)
.rtaallh" ,,rrli '*,)a., \ o-l
,?- $\ ;t-L,rt-|, rJLi ulS-.' ,r
siJK)
.rlS.
pr
f-)lrT c-,r4/
M(@)6 + Y(o, o) +
LsL.ai
l, ufut!-l 6lr.JrL.
t-: ,-# Jfu
t LJ.a;s'
G(o)
(t'-P)
,quljr-l o--bu-alt:,p# LsJ-rG,;LL 6l)i;: | .JrL ir-l U
6b"Jrb" ;:,J c*r, n"--b .&u-lrr .,*5.rti-l 1itS" c-d:.-gL..;l ,tralrL.
a. t lz;r5r 6tn2eh;5r t"ri a b GrSt g,|j r) cttf, 6-p,-b-i aS rS-,l--t
.t rArcf t$ c^^' 2y )Sut Lt-,
gleT c-:a.,-2r
;.1T
.,iJK) sJb (.JlL' ijrh,
\ \ : \ o 6t{L-i tt
^|1};;6
. r+b4 c-l irS-, CK ,t,J.,C 'rlr gir
,[?]f-** ,-{ Jy..aat gr5, ctt^;:- r:*; It tU
il:t
a1
sSJtS. (J;tq
T = M,(O)i + %(O,O) + c"(O)
.5.,-
,ri,L,-r
(r
\-r)
c-* 2 ^S c-l 6rrl:;3-r; itr2 f ;lvr '5
,;t-L gj.;i,sl'+#P..:*l [V] at+ 6Jys;+r itS, ul-l-; Glr,,-tu
g,l^zi 15 &e2* I d-,b 6trd^- ,l.E j;r1V,(@,O) ,,,jr6, It f-Jlt Mr(O)
.J +J a>j .c.*l.tr5r glj'. rt G$ { ,;*1b 6taaL-- ,!Li-,l:r1 G,(O) r ,j;sr
,t+Lolrt tb c;t^;li!6 L-; ci:i- 1s t:'liu.,dt+ 6-p t rls F ,ft tsb:,*
.116,
11t2.
X :,s-.J.c./ t-rb c,!l ,gW
J\;t JL'l u:'r.l1.b r-r:r5l:
r=Jr(o)r
(r Y-P)
,c-l {T} j2l ,xrfir.'.. 6,X: f vx.,V lLr.r)t J(O) o:f,rt
.(#l
l.lil
{r:.1
o.js U!
ti ru-t ! (tt-2) r (1.-P) iJrh. .,t^al...- e Ab tlirl
puIn c-,)dJ t d'l w-* g-fl: ert+li bylsf c-.> c^r..,;l | (1"-P)
.pr,,-,^.
J-r r -- 1-r M(O)6 + J-r v(O, O) + J-r G(O)
F = J-r M(O)6 + J-r v(O, O) + J-r G(@)
(4\f-2)
(tr-2)
www.mohandesyar.com
rat, .,SJtfu qrt{jti
:l
vS
U_l
clt .d,g
LsJ-J,j, .,;J5)
.:t* r ;I-L
g]-bi -r,
.t rQr
lY?
.:t* U. ,slL.lr ttr
Ce Qi ef ti 4.r;
X_JQ
:-*g
aa-,: ,r99
L,t J Uj;*t
i - is + /6
g?-?)
J-L,s[' I =t*: dc* ,F
6 - J-ti1 -.r-t-ro
t-tsio C*)4 t
p_rl,
f -
J-r M(O)J-\r
ro-P)
,(1f-t)1: (tV-2)
1.,
(\7-?) iJ:L
(1V-2)
i'; uf--q \
- J-r M(O)/-\"/O + J-r I/(O, O) + J-rG@)
(
r^_r)
ltsTO cer^ GtSt ,;.lzi-2: ,ri,L,-: ilrt^, g;bal,.- ,slt ,g-WtV ,&b
: J-r (O) M(o)/-'(O)
v,(o,o) = J-"(o) (rr".o) - M(o)J-\(o) /(o) o)
U-l
:l
M,(O)
(1
1-r)
- J-r (O) c(O)
,r;lor.l jt., (t \-?)"^\, tt X s f 6 ,g.g'r
G"(O)
rL-or: (tt-P) 4b tt ,s-f l:
\.r-:[
.5'-:; t
o-r-i.-t-eilop:r, xll,g,-,. aL66 U-l \ Jl;;g *j
^t+5a-.;
.-u,lu, J* ,.-,_t+* { .,S:"b-) g;t-oalrL yr [4:J ;J ,OSJ g'l^L; t tt: jri
9-? Jt:n
1l ?-7 F I hb er L 6la^.L a 6r)\ 6lr.lJ GtS' 6l;i ,ri"t--: (J;t^aJ:L',.
.+*,-91 pt Llt,sQ.| q J.-.' ,*rV { +
! taalrb, g2l .t-12T,>-sa;,Y-?
;:;-.
lr ((??-6\ eJ:L)
e-f l: :
(Y-?
,:;e -2r) .,fub-)
6t.o.J:L"
ljib y\ ul ,slt
)Sv";;r;l , d,t-t-, .,rV ,s4*r[i .fr ,-Etrl .\
www.mohandesyar.com
YfV
,_J:6t 61"^:i 9,r$&
dtr1;t{
sf.rqr 6bdslu;r-ple*,se1
.uT
c-:a .H vt;lj
j]
r(o) =
[,,
,, ;]
[-,,r',-,,
\' '-P)
: ltr.c,|r. "l.l
l-'"rl
(\'\-t)
,,r,]
fisTn c#)ar L AT ,;U: ,*
/(o)
. fl&t-i
^*l-u b ,-tf l: irb
dr;
/-'(o):
,g-+: dS;L"
e t
(\"y_p)
l_/,,",0,,
o-T,g
c-:a,
'l
M,(o)-l*'+?
mrJ
'
,Y-?
u4 eb: (11-t);l ,:ti:-l
v,(o, o)
G,(o)
cr
[-t-'l'
*
+ mrl)01 - m,fl,el - (Ym{1 * mrlte * rntr':i)d,,d'l
mrlrsl|l + lrmrs,,6r0,
I
rnrsslll
-l*'nfl
I m'gc"
\. r-t)
{ iT d..L,-r 6l.ra[-- :l ,it s t],g tll t S ,sl,Lft r) rr! r.e1 = ' .t u,t(:^
,taL*,(.:*l o-Li o.lJ b u-rT -rrt ) 0t = o d.f fu ,)b .$.f J., .-,-k+
.-sl,4-l * J.-z' ,nr$ :l *, c^tr- J) ,e.4 ,s-* t? G$t lfi ,tydJtL:.;l d
o$.-e ,,l; a, g,*. ,k,g^(;,5r-&J=:,-rr,15lt.JL f 'fi,l c--tg ,Y !.|,
,c^X>
* Er aT-2: d r.1l: :5'-.9
2 <4..c; 6L.oi tj ts ,-{ 6r Ll ,o*l
"S-,
.[A] c-lr-{r&l
r
t-
;s,-l
1l orlr-""1
t ! Jrt
.,iJtt) (J'+;ir 6Lzi rtwf ilrh"
;L-L,sla:'ul;-S
"!:,(lY-t),r
(*tt gr4
(t\-l) ubalrL:#
t*
uySs 6l-hi-1r oJ.i ;! .S.rL,-l
r-
Jr (@l
(u,tol i
+ v,(o, o) +
G"(o))
\. r-t)
www.mohandesyar.com
JAU
,; $lF
sfJK. (J;tatt{.{.rQr
YfA
uj Jt-t', "JrL U-l t*_t
Jr (O)M,(O)i + B,(O)[OO] + C,(O)[O'J + C1O) ( \. o-P)
J.-rr3-,
,-l:-tf *-lr;lnxn(n- \)/Yrt l+,e-t| B,(O);.1T,'.3
cs)de U'&b;l c*l ;LL cs$r ,-'F)-; ;l n(n - \ )/ Y x \ ,hl t ,stlss.
[OO] 5o*l
aS
+l.r
too] = [d, 0,oro,
.Sc*l n x \ ctltt
[Ot]
..
. o^-r0^)'
: ,]-,":lr-Jn"V;l
| ;I-L g.'5
nxn,e-t|C,(O)
JS;."-.
s-licf o:lr y_; Jt-t' *
( \. v-P)
liiii ... eil"
,r-2lr
(\" ?-7)
iJ:|,' -2: o.uT d*ra, ,I.lL ;La G(O) ,(\' O-t)
.C"(o)
Ir d +5 -.y
C(o): B,(o) + B(o) Jt.Jt.2:
Y-? Jtu
I,
Ll
C"(O) r B"(O) ,Y-?
u41> ?-? r[..:-2: or..i o:lr i[*i;r"L .,s.itS, ca\ clt
.t-.,sT c*)d, ((\ " 0-t) iJrL.;l)
8 ..L-,tJ) .ra) J5 i; lu Jr(O)V,(O, O) ,-,PJe; Jl
B"(o) =
c,(o)=
l-"'*rli""']
-rnrlr/rsr]
\'A-t)
(\"1-P)
[-,,1,,r,
.r:
deri ffi
g;halrL.
eltJ|
&J \\-t
Jr,
f{ ,r;J*; r. 15 ! }U J*K. ,s:r[. .i- y.
6 ,s-6ti ? U-ry .x_ie Je; ,* f t--"1
JLc\ rr\j\'15 ,iJl5L- o.uT c*:a,
.SJ[S. ;l a5 .x*r, .r_hr. .J,ti t.3;
,ri,t-r
Jt.(l.-l ,r,\or,L, gJ -b ,t
jl $ ,j-f .st+l :., -1r
Jt; ;StSL-l
..rJ-11.l
,st.lr*
jb
a5r.2lr
-^.^al
c-"; t+";tS"
alc*, u-l
4.tt ,.cJl .c:*l
www.mohandesyar.com
Yf
t vL-* r-,: /!illtj-l
)eJ>;!
.J:.rr g.eLabl
b
dS* JtISL-l6tali isv. oru-,"1 oJjJig
614:-'j'51t ! -ritr ;rJ, LSr* cb, 7:'t ;rl;S ;l'/.Y 6
-l-l ,c-;1, y rS.-ti-: 6llbh. 3ry5 OrL'- selv
*b r ,-\jL sri,Q o-l
,f * J*
;lSJ"-l st"r*
;fu1.f1(h.rl
,.*yU*
.(-:*l
y-l
;l
jt
,JlSL.,l 6!r, orLrt.*, J. .-iJ.b tLt:-f t*+, t'-t)
-Li W ,*f osr-, lJ ,Jts.t o l;l )''; Dl":'(;l-1r t5c*l
|'-'rlr
Tyriction
;21g
jS4
\'-t)
-&t 6rL J.u .c*,1;3S*,-J Jt(t -l .-^,tt a iT p 3
c^,)lr Ll ,c,*l c.ti .S:; Jt(!,-l-rl.ri. .c-l *fu; .ftSt rl
CK S,JtSt -l
W u-*;l
(\
- a0
,slt
r-1l'
TTri"tion
p*,
(\\\-P)
c sgn(0)
Jtg,-l ?--p ,c.*l 0 = " d.r"tK:" c.rltL .r>*l.Si; JtSt"-l c^:8 c ;T.2: t5
,ib; (,rfut--r) ,k Jt(t-l ?-'e,ory;&,;S,r:tr, # " 6GU:J 'u.(ib*'l
'lt*,tt ,rJ=;tS, csu\:l u.lt vl,-L f tt JtSt'-l ;r; .-S:; t ;-5-'-: 't-.'i.,g
c-l g;lola-'
U s, i ^S c,*,1 ,*,li f -r. .-r-2lr 'fu ,>lll ,3.-s 9 616;i21 1 5
r;U'ir,,. -)l * f lr-:,tj t;r I Jt5.t ."l
(\\Y-P)
rj,iction - c sgn(6)+ rit
&
y J-t
il-;l;rT
'*?t',
rtS" q JtS.t -lJl.l;- ,r.oL ,rSJlS, ,sto:;t, 614-Lil tsrL*: -rr
-;lJ.rJc;lr [.rcsJi.,,'- 64. u;lc17-|,>1"6 ili,rb -,.1 u-l;b\,,[Jr 'r-1lr
b# JJ. ,r,
.JSv. x-;s J-L r[5- ,yLl
Tyrietion
nl^bt
s-J.
ul ial ]t' il
c.*l ;r.:a SISJ"-I
(
- f (0re)
cly.
\ \r-P)
4- r.q J.r.;l o.ulc*)4, -s--t ,&,ti-r 6traLa., ! Jt(!--l g;Qr.
{ +*:a * -rLS J-r. b ,J::Su,
gr_l
r!+h!
J SISL-I t
,rr 4-
cirf ,-gr[
6f
M(@)6 + Y(o,o) + G(o) +
r(o,o)
(\\r-P)
,-ht>U.Jlo-r.'i ciJ,'r,:b J.r, g,l-r: aS'lrlr )rs; 6J"-s '>lll
ilrL tr (iFd .1,.r,i,; rta.,-l c^c! .S) ,:; '>l]l aS c*ti- ;l.l
www.mohandesyar.com
/U s*itn .lbt! .dorQr
c-l
-,15g,-l ere.t^.;l 6.lE
4l ,r.r"e.$ylr
f a4T sL ,r5..,1i-r J.u ;l +! ,,rt
,((Of-P)
ijrt*.) d*. .,!.b-r 6LralrL,
,slr
u;4
Yf "
olll ,JlLl ..tb.r;
.(+*r !, [\',tJ et!r.)
o*?4.2L*.: q;t+J.u
,5."q) sriL{-i
Y-t
s$K, ul! ,SrU,-r qr-iL.- 'i
d-:b L .F{.rli:-f ,CJ Frr #
q5!,1
C J- I .rh.: .,S.,b-i iJrb, r,-1 6;Lr.-l
6
ca)a,e,.-,b-i;l
- M-'(o) [, - y(o, o) - c(o) - r(o, o)]
\ \o-p)
g)Jr .rrSFJf 19lt;,:.,;l.S-,.l relj,g ,tr
.y-$ t6+,6J', uiq;tJ,-: Lee !r.r:l
s-*e orlry-; JS- *'1r ', d:.,t, ,Sf [tl L-t;g,*ilr tr
FJ
JtJ";l ,sbb
o(.) - o.
o(') = '
(\
\P-r)
qQ 6py .ciJ Jlji;l6rrs
r12.euAt Gl:6taaL-Lirr (\ \O-P) :l ;tlj,C
*,6r.rr
,-)a U-t,rL tai-l.rr.[\\] .srl: )5>..1 rgi)]c u].lltJ;l ul"
1b
"At&|
,,H,1
: vGT t = o '^l;A ;l ,{r-l atlrl
U Jt:-+ d ! .}.j ,rr3tF\ ;rl
'}u.
dC a*l-^.,F ,j:,
o(t+At) = o(t)+61t;lr
o(r + ar)
o(r) + o(r)ar+
il,st+rt,
(\\Y-t)
)61r;ar,
.-h-i 5 tu2-
ils. et'/ tr-4.t;.,c J- 6 i*L, ,sb(\ \o-t) iJrh. vl$ t r,
..\j J:^F a*l^.ts)Jr Jg,o*.,ilo$:ta.-l iJ,.. ,gt212:.uJ:,:SEb Jtrljll E,::\
,slt S stry srr*?:1
rslds, Ll ,r.1b orL ,r,r4i. -l-:l ,jy + Jl
".&l&l
;s,, ssl*.-,u ArJlJi. .rba;l
.[\ \] l-,r. +--i1! ,r;! ! Oar, tshlrt I)JJI c*r&
(c*l
,L-;.,.J),rL.i
ry_l *
d--fu S r; vBtil .(-,r5rs;T +! t At.c*l c-".r
d'u'' (""'s ;'t
* :*f;: ; ;:
";jf
* :ttt"i, X[
www.mohandesyar.com
Yf
\ d.t..:rtb'f,r
dt -t-, ,,U.'), \ V-t
d!t-, Jbt-. 'fJ -b.r) ,.lL .,Sit5. slrltr ,t-L,-r 6btJrb. lrr .*+:,, +.b
cft .tS F+F +j J'.aL UtUi 6rrq.r * l+ ,Jb,. ct-l.ts.c.-l c---rljlL tdl
.iLri tf,JJ [A ,V] e:b.1r ,,r,.26r .Sr,ti-r d!t^, ,rj! ,1. ,]U :l
o>ib. 61b.1r
.ri.1;b
g;l{.*
'A*l^' O$l .Su,t3ir (Of-P) b (fO-P) 6tral:b.J,
F t ?'e Jtrl rl.u; rr:rL;
:Jer,rr a4a-J 0?a ,itf &tJ -b I i Gat 6rL L-t^.. U-.,-T ) ,g5ls1a. tsL
- tt ze2-b 6[Lc:l.u;
\" ?n - t Y :g-- ut6l^c :l.u;
jjb ,s)iJ/t U-l \ Jl .c^-t (!f :, ,.pl.r-) taL!2 :lu n ;11:,) ^S
.S.,[i-r 6U (* t,ui:l+.r.,,, c\-ilyt:l ,it t
Ll
--b..1:
\l?n
,c*l
oJ.a,-,,
(J;b
,rnt
Y] ,ot uSJtS. cU\ cb u(..t!-r 6balrt.. ,st:Jyt 4*;.r.2lr-2!4 .iltJ
,[\f,\"$tS..sl"r;!
[\f] :; ,lt u-l:lV-* alc,f-t^. rl.u;e ciJ p$l ,rL t:,;.;$l dtt:lorti:-l I
Ylnt * h?nr + \V\zr + Oln - \YA ztt2..b 6t4t r rl.u;
Y0nr | ??nt + \Ylnr + lln - \? :g.- 6$-r rl.u;
j$\ ,-)y:.b \. " tn-y' -[-:l-Ui 6r$ ur,, .:j! = ? L*^cJL -2r
.5.,- 't+, ; g;)tr nt-t^. J ,J;3.3 ,r;ii;t..(,- 6tealrL t {! uia :s rn 4l
a5c^4 L^. ul+ o;l .L*l c,:til UtS aJ; Jr.rr te.JrL ,BL ll ,t;-ru.
^a;
-r: d stc/ ;ti; e*,-ti, .1,-l a5{ ru
5> or;! ! 6b.Jrt,. rh-l a..:l; ylfi ;2.,
rt{[", ,}a
a,
')jt..#a-..9i o:;! r,-[,alc.... i/-l J- uA jQA pb 6$ft
lob, ,r- e'#rls -S--t h! \ ,hlr;l o!""h, ;Trr'lel E ,,*e.-U f+l;l ,or-i
.[\0] ll,.u: ,l-,- u.tt ulrf { ..rlr) i6ES tstrJ
,l+hl r' ln
eit ,5& ,stJ-rt tr!r: ,[\V] ,;;rt(^a J 'l-JJ t,[\P]t-i,
6baa+L 6jU! i'JtL fK:" .t5 -r: [\A]te-:yDf::r tFt"-l .ll'f ;t=, ,sJA
B.r!r, ,;i,,,,i ,jtJl uL, 3 o*r
lLiI lr Otfi ;,? Gy c4+ ,rAsl-u:r,D
'iy
tV);l,oJ17 of .st+l y tstaL,-r) ,-)y U-l rra;6.2: [\t] u,l;llS^r :o,ttsl..r;f
yr tr.2eh;fr br* Fj o):l .|,
.st-|.h *.r+ ,r;l:
";1,, tn"^^ d..;rlS- ) Lt-Dl
c-^..rL t4;T ..srlr &-Vltrrlb b ,(,,:il ph
,st+q & g:." Lb,shr,rl+t
a 111lr.i-;l ! c.,t-,|-, u;lall;r
l\>-l
.TL
a1
,-,.
,-.
l. Renaud
2.
Liegois
3. Stepanenko 4. Vukobratovic S. Orin
www.mohandesyar.com
JtL s$t5.. trbJt?
.l.rQr
Yf
aVr I IY] tJt,: ,'f lr,toltJ IY " ]\.(!:..-JT .-sr; u.r, t 1t, 'r;t \ 6t$ rst;J-rt
6lf .-:;i .r-t$le Jrilrr o5;l''
t-rfJl ;.,;l .c*l o(") L.-2r;l J*.i
r, t+h! .rh* s Wr,.rTr) r c*l o.uT cd)d'si$ Gtr,. c,t-t- FL5il
GQacA-t-fi|; It 6l'r'/'-: [\r]ott Jb.rl'u iti !I ,b,.tt+r.rtlr
u.V g;[-ra-.r:,r ulr.$.s:lr;LJ IY\]YJ^-:1trJt"..[lorlr ,ll ,]:S t -rl, G;U;
.t-.;. e c-K r,-r&t ;r,-l u$-4*.;l ,L...- e
,stl-SJ
,-ist5
ory! L--6"
'iu
dJ*uS.,,t.:,-) 'r*l^. att,F da't-r +,,r[-i ct-ltr r.u clrl ,stl$,ta + Jl
d-t! ult 'ui c*)4 i:..r .stooJ:t^ Ll ,r.71: ,r1io ,:-;! 9L 1-55jtfu ,sr;!
-b t, Y-? ui-L2 1: Lb :, I 6la-i--rot ,-J=1tS" 6a1! .srl: ,s:+. o';L'le "
b rslt,,stl.$ ,-iy.tr r5-r,-: F"lF ,\f-t u4 \1, 15 TL_ Y ,r)l: tlt\ '.l,"ri
51 J- \Y'l =-e J^t \Of * JcJL tt,bltr, ! C:r!,ri-'L,-: u;taal:L"
c*l 6la^i- l2-;**l o:L-2t*, tail-2r ,* "i; -br) rl:.r! Ll ..-l: f+ti;!
,-h t, olT c*:a, i:..1 gt".J tt' Jt r*, .Jlo.ui ,ft ,slr&.jd I ;tI ,siq}..b lr )
Y-?
J,^c f ' :lJ- { ,cJL ,l-l rr uS.rL,-) ;t-L, o5 .l-r f+lF , j--& -b tt t
-r[-: o.'i ilJ.btt Gst\lr,-;*>*l^,]-].,Jl y-l .c*l '['iti g'" J- \Y )'-'u-b
i:*: st".J:b" rJJorc/ rL:; JL,r-l I tl 'c*l o:L
-2: !,:;! U-r+t;;lt,g i/-)L;
aillo:lr it-I t$T-2:e c*l o)J r.i.:l ctQ,6t^Jt-i".-u,[, c-:l:,r(-.U"-r .5x{rj
o:;[ il ,,rE 6J\ ,sU. c+,gi'L.,-r ]a 'r\
-""yt ; ,g-t' 6Wa u-*..;
,uoV
1.,
.IYV-Y Y]
.c*l
,gV.:L ,r!.t.:,-r 9 ,r5*;l ;=," J;lA ;lroL. ,,S=;ti ,st"r;t, Jl ,4tup
I ,#t t -, -blr -11 o:L ,rfuti ,sU\ .c^:ls .u!'- g;lo:L 'fuL,-: 6t-roJrL
,1o o,o' t r! (t+t I i].5t ) \|
u-r*,-4,L;\ p S .iJ -br,,-5::i! il-iL/
!t"J orL ututS. .5r! ..l-q ;"- \ *5-tjt:l ,aQ .ilFl : # r ,-1"'
.-r.:t .tJ {C},-,. nQ1 r, ,rT bb * GbJ.)rl; c.*l G-rl.; ,rirQ:
tsst L.rKu-l ,;V JL-rr ric*l ;T ,,u*, Jfu t;1:L;t-,,eTc*r{ \.f
g;taoJrl., {:b o5y-:L; ct-rS 6t'4a..! ,-&-t u-11 .:;b tV ,tei
;L;l
"J"b
;J,s-J.{U ,-!.t., ,-rt+.rfr;l.r5rF t}+,.t;.,peTc*r{ ptS" } 6lr,b cSr):-""t
,x-r
;.1T
L-
-11
oS
t-.,
.[f " - YA, Y0].llo,ul
Armstrong 2. Luh
7. Sahar 8. extreme
1.
3. Walker
a:-ie;
4.
;..i,JLar f t+.;l !1 ;U,ll..,st*,:6"t+
Paul
5. Hollerbach
6. Silver
www.mohandesyar.com
Yfr g:!r
6;1"a.; .Jlt lli ,)jt{ t{ .(yQr
fu
,s;.*,1 ,F ,;rUsSrtS.(J;t! .i- (J)Jt 6;l^1uh:-a, ,S.,Qr U;b.Jrh. d.f
.c...,g[ ..g.tj,t 6try3bil9 tc82*,;t(. lllr It t{t-t.rb-i irJ c-re1 j.u
;r rri dtL uS-tl, 6bJrh. ,b ,slt 1! ,ryt1 t, ;t-; .-it .5--;l +tr U-D\
rsltbl! 'r;! l, .ttt-, i,.+ s ,tf n:t.i;-l J; U-l
"-&lJ;l
\]
t
')j! ,-):t u-\ [f f.yyr .rl: tF +-i ryy (tal-i. ,-b-i bst:T c*r a .s!l
.c*l o$ ctl ,r"t ,.JrtS, ,rto1,! uS.,q) 6;l^=a 15!, Itl
c,lrL, J- r .sr*
iLrit' j I orG:-rl .rt*n"r.,
crll-"*lr c,!-t^. l* U* 6lt;,;ly i,l-iLr.,,jt-t-, uist f f
J,_J, iJ*r6iliiL;l
tF .,*n,((Ot-2) iJrL) tt,-JrtS. 151;q .i-,rS..L,-r iJrL J- f fu ;.r ..r-2iT
.!ti 6e,6,O,st4J;l tierve aL;-.r t*+,r jV s12,, jtLl af c*l ,;-;.,it
g;lahiL ;l 11Qb- #.* rS ,t-l1t+l t-sttt elj,t,J-ti rtt'rr .c*l a*l-.
;l-2r,llo.ui ar-t-.,i,i d! 6r,6 ,O tS^,y-rb S t C,:ti- .l . (,i .rUl.;ei
t-r-li 'ri JJ.-:J Jr.It :lb +l1.'.,'S.,Qr;tritl + jtr 1t3.;a tr ct+.f-.,-ti c/.r
ls*6
'f-UT
C-')d"d'LtiL
dr 1S $ ,rt .ul ,L-;rt * ,c,JL u-l cb jV s.t-r ihiL.rl&
;; hb-i s Wr $ *l dt cE r { .c*l r.r.i ,..*i,- *- i'Li or a d,.aL
rl.u;,aLoL ,-,*,tU .,SjtS.6t!.i- g;!r..l;loi.i ('r,t;|t') Fn.t '#rr r1 .5'-.rr
,hlrt"y-l;|.5..,- ;l f.c*l (\. x \" x \")'L.12b(O,O,6teappgeL;irrt+U:V ct-*6ni-5r .5,- 1 ,rl: * rl;f-/ d{l et \.r.1lr re-.e rtl::S j.tL
"i;
3r.i a.-L',.. J+-ily_tb .u,-:rr-.r !r.1 .ulr'! ,JS ? x \" \A tlt ML i;l.r;l ,.uL ,r;;lr
'45 ,t'J .b f 6lt bljLr. t-) s5': a*l,- o-rlrr v\
,dt J:.Ir
7-e .z-' cl:l+ {ti
.ltiJ -b y ui'l;l (ir;L-:) .4 .S.,- ,oS^, ,stor!
ql5. *>[-Q t-L,
s4-y qQ ,;V ,tr c$a
"hiL 0:t.i)*' o) + ^S
r Jr.h i/-l .r;t t*l^. J+;l (?Y-?) iJrb, f tft.stf*,-;t Jt>ta, ..x;Sg )tt
-* Jr,rt rr O elr .*T jl ,y,.c-ib .up (.q- cstt*) .u1 .S,- l{J O !....'
t 64 ols)tll rJ clt .l*e pt+l ((Pf-P) iJrh. ell ) +V- u;rl&; ,i-Li
..** bl{,' [f] ,ste.r,r,k-. Ul j5; rs-r-bL,,st+.::,,r_Lt i.lu3 t:^il
L-* I
gel2
sv
[1] I. Shames, Engineering Mechanics,2nd edition, Prentice-Hall, 1967.
www.mohandesyar.com
/t, s*ttS,
,rbJtr
.d.rQr
Yf
I2l J.Y.S. Luh, M.W. Walker, and R.P. Paul, "On-Line Computational
Scheme for Mechanical Manipulators," Tmnsactions of the ASME
Journal of Dynarnic Systerns, Measurement, ond Control, 1g80.
[3] M. Raibert,"Mechanical Arm Control Using a State Space Memory," SME paper MS77-750,7977.
t4] K.R. Symon, Mechanics, 3rd edition, Addison-Wesley, Reading,
Mass., 1977.
t5] B. Noble, Applied Linear Algebm, Prentice-Hall,
1969.
t6] o. Khatib, "Commande Dynamique dans L'Espace operationnel
des Robots Manipulateurs en Presence d'obstacles," These de
Docteur-Ingenieur. Ecole Nationale Superieure de I'Aeronautique
et de L'Espace (ENSAtr). Toulouse.
[7]
o. Khatib, "Dynamic
Control of Manipulators
Space," Sixth IFTOMM Congress on Theory
Mechanisms, New Delhi, December 15-20, 1983.
18]
in
operational
of Machines and
o. Khatib, "The operational
Space Formulation in Robot Manipulator Control," 15th ISIR, Tokyo, September 11-19, 198b.
t9] E. Schmitz, "Experiments on the End-Point Position Control of a
very Flexible one-Link Manipulator," unpublished Ph.D. Thesis,
Department of Aeronautics and Astronautics, Stanford University,
SUDAAR No. 547, June 1985.
[10] W. Book,"Recursive Lagrangian Dynamics of Flexible Manipulator
Arms," International Journal of Robotics Research, vol. B, No. 3,
1984.
[11] S. Conte and C. DeBoor, Elementary Numerical Analysis: An Algorithmic Approach, 2nd edition, McGraw-Hill, 7972.
ll2) J. Uicker, "on the Dynamic Analysis of Spatial
Linkages Using
4x4 Matrices," Unpublished Ph.D dissertation, Northwestern University, Evanston,
III.,
1965.
www.mohandesyar.com
Yf0 g:!,,.
[13] J. Uicker, "Dynamic Behaviour of Spatial Linkages," ASME Mechanisms, Vol. 5, No. 68, pp. 1-15.
[14] J. M. Hollerbach, "A Recursive Lagrangian Formulation of Manipulator Dynamics and a Comparative Study of Dynamics Formulation Complexity," in Robot Motion, M. Brady et al., Editors, MIT
Press, 1983.
[15] W. Silver, "On the Equivalence of Lagrangian and Newton-Euler
Dynamics for Manipulators r" International Journal of Robotics Research, Vol. 1, No.2rpp.60-70.
[16] M. Renaud,"Contribution
I'Etude de la Moddlisation et de la
Articul6s" Thdse de Docteur
Commande des Systdmes M6caniques
Ing6nieur. Universitd Paul Sabatier, Toulouse, December 1975.
[17] A. Liegois, W. Khalil, J.M. Dumas, and M. Renaud, "Mathernatical
and Models of Interconnected Mechanical Systems, "Symposium
on the Theory and Practice of Robots and Manipulators, Poland,
1976.
[18]
Y.
Stepanenko and M. Vukobratovic,"Dynamics of Articulated
Open-Chain Active Mechanisms,"Moth-Biosciences Vol. 28, 1976,
pp.137-170.
[19] D.E. Orin et al, "Kinematic and Kinetic Analysis of Open-Chain
Linkages Utilizing Newton-Euler Methods," Math-BiosciencesYol.
43, 1979, pp. 107-130.
[20] W.W. Armstrong, "Recursive Solution to the Equations of Motion
of an N-Link Manipulator," Machines and Mechanisms, Montreal,
July 1979.
l2Il J.M.
Hollerbach and G. Sahar, "Wrist-Partitioned Inverse Accelerations and Manipulator Dynamics," MIT AI Memo No. 717, April
1983.
l22l T.K. Kanade, P.K. Khosla, and N. Tanaka, "Real-Time Control of
the CMU Direct Drive Arm II Using Customized Inverse Dynam-
www.mohandesyar.com
/t, s(lijKr6btq .lrrQ:
lY?
ics, " Proceedings of the 23rd IEEE Conference on Decision and
Control, Las Vegas, Nevada, December 1984.
[23] A. Izaguirre and R.P. Paul,"Computation of the Inertial and Gravitational Coefficients of the Dynamic Equations for a Robot Manipulator with a Load," Proceedings of the 1985 International Conference on Robotics and Automation, pp.1024-1032, st. Louis, March
1985.
l24l B. Armstrong, O. Khatib, and J. Burdick, "The Explicit Dynamic
Model and Inertial Parameters of the PUMA 560 Arm," Proceedings of the 1986 IEEE International Conference on Robotics and
Automation, San Francisco, April 1983, p. 510-518.
[25] J.W. Burdick,"An Algorithm for Generation of Efficient Manipulator Dynamic Equations," Proceedings of the 1986 IEEE International Conference on Robotics and Automation, San Francisco,
April 7 -I1, 1986, pp. 272-218.
[26] T.R. Kane, and D.A. Levinson, "The use of Kane's Dynamical
Equations in Robotics," The International Journal of Robotics Research,Yol. 2, No. 3, Fall 1983, pp. 3-20.
l27l M. Renaud, "An Efficient Iterative Analytical Procedure for Obtaining a Robot Manipulator Dynamic Model," First International
Symposium of Robotics Research, N.H., August 1983.
[28] W. Schiehlen, "Computer Generation of Equations of Motion" in
Computer Aided Analysis and Optimization of Mechanical System
Dynamics, E.J. Ilaug, Editor, Springer-Verlag, 1984.
[29]
G.
F. Nicolo and S. Nicosia, "DYMIR: A
Code for
Generating Dynamic Model of Robots," in Aduanced Software in
Robotics, Elsevier Science Publishers, North-Holland, 1984.
Cesareo,
[30] J. Murray, and C. Neuman, "ARM: An Algebraic Robot Dynamic
Modelling Program,"IEEE International Conference on Robotics,
Atlanta, March 1984.
www.mohandesyar.com
Yrv
qei
[31] M. Walker and D. Orin, "Efficient Dynamic Computer Simulation of Robotic Mechanisms," ASME Journal of Dynamic Systems,
Measurement, and Control, Vol. 104, 1982.
t{ar-
r*j (.;l;i- Jq
,f^", dii 6lcl;-l 6lr. lr F trb [\Y] \-t
.{-r:T c*)de ,o*l clr:-16 }t-r, .rTiV d g.e'r$
uJt 1t,lY-? ",2,\rt kb''t t,,.lt .,S*;tS, 6t\ &-1,-:6t.l.Jr[. [f Y] l-,
;-ic/,siU! c;lA JtJy \ * ,,'LJa:* "-^f, r12.-al". kb * S
..:*l m; jT # f- s.h, s,'tt);,1; k|*:Ll .4JCr+
f J.i;l l-f LJ-r I L|Y t ,"t sSrt5" (J;t! us/t:,-r u;t^.JrL [f f] Y,
a,
!)
tlt;e -r-uT r-*,ra, t
.{,.( -b tt *, ,f (t s ,h;
a5,rJL ,sltb (Of-P) b (f0-t);Irt*. \-bU 6taoJ:[.. a'J ^,. [\f] l-,
.J:*,-i ,.1:L c.'il: G-F csl+L-;- c-l irs^, l;itS,
,[5*iyr S t }1.lt 2: I sela^i-o -t ]U,rttS" q,t! ;..[:,-: (Jta.J:t'. [f '] 6-,
J12,a*;)lidlt .r,.a ln Jt+5'hJ.# d'=...;,c*l ori orb;t*i; A-P
l, s I, 4I # e rrll ) rrlt Wb p* .-iJ -b t k| uT ,st+-l 9 ,,elrL,"
,ft.L-l f-f ctr u5*;t5. csr;! Jrl Lb:t J:';t .,ttS, rsr,i!.-11l .c*l
),'tli,/; :lr,l .f-" st-i;IJ:*.-t(,
t.1
.L.t,
ut12,a4,
sl+:.;l.rt 6l'Lz sV-e
\ltr: tr cst! A- t Jfu
www.mohandesyar.com
,1, stniK,
13trtt/
.t rQl
YFA
.t-*e Jttl or ) ar c\--r- !;f*,-e JKt -l W;.1r 45
61.;i Jfu [f Y] ,-,
r5 S ,lt h! 3: L 6la.*i.o 15ttt sfuti-r 6tralrt,.
";61
Jti :.gL:rl .t-rsT c-r4, ".1 i_t, ?frJV pJ ,* ,J* Y-? jb,,.
.4,5 ork-l n-\ **/16.r, rri ir:.i.z; ,J.;lj;l Ll ,4; l, 6-?
,Jr.rt .5'--2: d-f kb - t, r;! .i-,rfuL,-r 6Lralrt'. aFi (J'!r [\A] Y-,
'F,ri[.i + b J-f -ra .:ti 3 .c-;-st,;lS. tc-l f-iI ahiL i;E .r:.3
.+.& -b l,4ylrc/ ljl di lr ,sJJ.,r r *J cJ;+Fi
u[SJ, yr cJ.i, o.rl: itJ !!1 :, ! lL .,!tS. c!'tq (*.li-: u;trdj:L. [f Y] h-,
c*l gg \ !I 6A.,r;l;.+.rrT c-)4r !, f -?
c,r=li
;,,:l
Ir"r)
'
,,F.mr $,*t
j)E I G$
,.,.1-[, c* +t 2, c-auS=;tt (.!'t! (,s.,L,-r c'tral:L [f V]
6)t ) r-2lr-2!ri eW cs-*J eb 6l.L::.2),Y Lb
.c*l
vt-L &-: !! .- tr lL
c*l 6.:1 \ !t 6A ,r;E .tttT cd). ,c*l
6
e-f
,,-o.
cJ.i orlr
;t-i; t-f
+,
.,$*:.1:
C,I=LT
Icc
6;J ,r;E.r-2b
-2!ri
L! ;rT *al.3;
i+,
r,
;]
6l^Lz o12,-aat,Y!!,
c-l ,.;-
lf
'J
.rnr
1",1,
ool
c'r
=Lt:' Icyr '
"
I""rl
g9t,, +S,f-e
21c^p j)E I
'i$
.r5s. J,s. a; JlSt -l ?_-p !;5*,-r
c*ral ,.tr6, 6Lbi p I h-? U_; t!,rfut5" 15t!;="Q:6taal:L" [f 0]
.Jr*.,i {Y} ,.rr,r[43rr l taal:L ;r2l ,r-;.aT
Jt(t.-l W / tt s;.*,t
t1l5
-l
www.mohandesyar.com
Yft
W-r-
c*l ;r;a .t'.!, .S.- ,rt usili .5t!
t,.
.S,-
,r:;J
,r;b [Y'] \ \-t
fl"r o oI
Cr,= | . /yvr
I"')
L' '
, ,I^ tiy -*tT
CbJ
Jl
r-rnJ.gbrtU.l-r;l ,f
rn
= \ \tD en,t-P
.St.c*l
\\ 'r GA Lti u-l 6 +S ,rt
,FF,u., \" Lrlr'r:tf yr:#
J'fu,2r 6rlTL.-2r.5.,-
t,*t,*lS,
,>*l,;; iti;.2:
,p.
;rT
,se;!
[Y']
ln f-,. s trlt
=lrl
L.l
c,*l ;t:a rrt
,r,=fl
y-l
6*J.,t;l;
; :l
L' 'l
.( \
Y-P
u-rl
!! 4 ft
1,,
,FlS- ,srjl, q-tJfu
\Y-t
www.mohandesyar.com
/t,
*J
J-i GUi eU &t
,.:*l ;r5.- JL l) t = " rt
0t(t)
aJ-t'a {\},-,. aS
r"...-r
tt;.tT
.'S,:itl,,Jb1;Ll
.d.rQt
Y0"
S '0\ ;LL LJli
)Su.r..a,- aL-:t
=bt+ctl
fn f-" 'F,-t* : Lb Lslo"-tli.,L-i
.xtsT car4 t il
u*l;
g;t.aal:t', [f '] \f-t
rot ,,S=;tS, tsa\
";.15s,r5.-,1,-:
t }1l, f lt Jt +5 ,-ht .# i:::r; ,c*l o-r; orlr ;L:; A-2 ,[5.-i .r: .5
/, r /r t+l Jrt e rn1 e m1 LaL.l 6 .*f -b tt rT ,st+-l p 3S;, il-;,g
.-;J -b-2r \'-\' LJ-r tsul. tt Jrl tlt.er I JrL, ilt,f b Al. u-l 'c*l
,lt
tt
2> L. 6la^i-or=i
Jt(t--l +-V !;-5---, JtS.t--l hb :t f t5 # ,it.u.-:.,h-a
.r, irr d,{l} -. r,rt.33 + c*; b GrSt uS.,q) g;tr"JrL .Sa ,F
,.:*l ;15- t Y) !I -. :trh c^6- t ;T c^a2 e ,:.21: rli .f.;e ,&)\ Si
ar
)'ut
,.rT
.J:*r-i
;l 6sl;T L.-2r er t, .s-r"t ,r5*;t(, c:tl. ,slty-i qrt^alrt [ \ A]
! .*y:[ 6t.lal,-- ..[lc*-2r[ lt5..iT tad^- :l ,it Ll ..:*l '-uT
ca)d., RP Li
4S
"4h*
r\ =
f
rt =
TrL\
(dl
dr)0,
e cos(0,)
TTttrtrl,
;l o:tt-l \ t
6-?
mrd,
RP
d,,,lr)
rrlldrd,
rrL
.r-rsT
l,
\'-P
r[S-i-2r o.l..i o:lr;|;;
,1,,1 ,fys\
-t
+ ryd,!,0t + lmrdtdrTr
[-,(d, *
Jb.r,
+ mt(& + it)]
mrdrTt +
mt(il+
\)gsin(d1)
.,SJIS, (J;tt: (Js:,ti-: 6teal:t'.
[YA] \0-t
cdr4, 5$1 ,-)a ,s4+ -*-:l-di ,-itt
PRr"t,.JitS. oa\cSr 6balrL [Y0] \r-,
,1"\ ,J 6brfJ t4s.F qbL
csto.r-#b .(c*1[ u-b+
"#
:c*l ..u3 rrlr 6;:3 ,\lt t 7n ft.J;:....r lrrl ,Iyyllxxt )
\nr
rCr-
[.,]
www.mohandesyar.com
Y0
|9'.r-
.\?-? tt--t-
tt PR 1L ,rS;ti 6lj!
\"-
t Jfu
'1Pc'=[.]
,"t,-JrtS. (J;tti (Fli-.r iJrL J5 8,l ,zs- + Lt-,. ('lral...- [f'] \V-t
lj Jt-tet tlr1..S'--1r ,-,-,--iU &- v*kV '-,ts,e* bl-rLr. ,t-n
lY.
l*tt
Y(O, O) = Y-(O, O)O
6b 0- ^S {e.l iLi;.,:*l
K,1-JU
r.21.l r3,-.e
Jye>,? +,m,e-tti,1T;t.5
t-:'&bV^(.): u\ 7n
U(g) = YV-(O, O) .o*l
,-,-'-JU L;Ui
,5
;rrltz, rt,
.*yL ^9 ;T-2r .5
iJrL.1: f'(O,O) 1l^" ,;-;l Jfu u5tSt-l J.u,r 6b Jtt3: [\0] \A-t
.+5;to ,.1-:L tlr -l,-q (( \ \ f-t)
.+:SrlF j$lt15t^.JrL.;l orti:-l L.l!) 6-7 y-t IYA] \1-t
\ltY-? uii+;;(J;)bT L..;:;r tt r"t us*;tS, .st\ .*1,-r 6Lralr[', [YA] l"-2
.I--r:T a-:a1,71J"! G:t :l orbl
www.mohandesyar.com
JlL sfrlls,
(?
qtt
nt{
5.rQr
s,.*;) .,,*Jya"V
YdY
U*
cd)1 I (f-f JL, -2:) tlY t *t u!tS, cUt cSr,rS-,t--: .5t^alr[*. .\
,J.-: otV+.{,-,:l
6)Jr -r-rb .r+) f..'; ,!!f [, ts:,itr cJL *. I Y-?
";';1
)Sv. J: j L A\ v:
It=lr-ol0m,
- 117 Kg
TTLI - Y7l Kg
TiLT= \f'Kg
TrLl
g
,-h-p ,Y
6;J
L!.o.c*l
,r;U.r-21: -2!
f* !l
o.ri
,!l
,sl+
CrT
t-
;l
- \rA tn/rt
,-st+-l
.)t
lfi Ce ,rt
t, ,-*-,{l} -. r,-,t4i iV rt (t f, {O
c*l ;.,4 f !t
"l Kg -t
l''"0 "rr
',o',
"
"rtl
L
,L1., * ?frJ l'63*c*;
f-*fta [i
.slc,-rL-'
,J:l Lb st tt
tPt,
,
e.ua: ;L-l; 6[.r-2 l:r,1
= /tf,',
p", = Irt,
YPcr="
o{L,9-3.5--,!, r !rt ,rSrti" tsri! tsL
.l/-rl
erL ,-)a:l rgi)Jc ,;t+t!,S-t 'a*l-',s! ..r.*,-r:
\ Y-2 u:i:) .!5ortrt) LEtt-j ,J;L: cf ! blr.u) ,|I..- .sLn.ulr J,1',.aat a'.bra a5;-l (J;!Ji .(Jn=.. .|/
(6;La-:
,slt,st-*561a.1.;-;)
+5;-r.
Procedure UPDATE (VAR tau: vec3; VAR period: real; VAR
theta, thetadot: vec3);
rr) c*t! { or; o:lr -2.9LJJ t*t "ta,u" ;T y, o5
"period"
4-e, &, lt ;tl: r+lFcr 3 c*l ;1"; ;t
,(c*l .rt-- ,J2*
r ,(+b ,*J)
L2.i-l
.Y
www.mohandesyar.com
YOf
k:zi
ir;Fli ,\l
tr.-urnt uSJtS",rrit
.JL
6.u.u;t-tj "thetadot"e"theta"
2,xSu.1* g;ti "period" lyllla thetadot 3 theta 6|o,j:' ,UPDATE
'At-li :l't:*"period" d +5 +j .slg r.9> { s*-rt y-tb
A,t
"1V;
'>L. .c-l
iGp (cir 16* u.$l&l il-U)
\ -rlt l, Lt 'Ll; c*l i/S-,
I tt In I 2;l c.,cr-: ,tl, .plicr dJt.rt ,t-.1 -b.tt g;l; '/o o \
'+5vh a.',B 'r\
! y!r, ,c,tli-.J ff ,sl.,' l r5l:-S o[*t ,s2z ,s;l^,-) c?tt 6Gt lyL:-a
t-r5T ],oa b n iy:I d- 3 J.n: tU -p
S ,-bt ,h lrr;tr +lrl it(, ( -llt
[0', 0t 0r)=
,bl
^S
c*l dr iLr e;! ,Sf
tT
[-1" "
"]
.+rt l;2| lt ge;*a; Ltjr
aJU
+ c\
t4.1lr
# ,.ht *
10,
,hl
rJ c*,1
"/r
iL^ r;L: 6f
0, 0rl =
L-T
lrrr! *J:l utS, (
[r" f " \']
.+tt lfrl t
6;L4 Ll;t el; q
tsh
!l-;lr
llrL,r ,$-t orV"..r-tK.-b.tti.5.1-s!, JISL-I ,uiitS. 6211. J--Ll-r)
-;--Ui a - 6/" !T.r) ^S,ry - o0 Jfu t ++ ctJtr ,J-Lrr,ri,L,-r
,hl t, J-s ,5? t,-l .+5rlF.r!9r | (v) tty:I ur.+-!*,c-l a;li
"il
!c*l
,r5'- ,4ylr
www.mohandesyar.com
www.mohandesyar.com
14
+1,
r.n-rL \ -V
cS7 tt5 ';r-;3,|t,s,t*. r+ ,sEi f t*.5.,- 4-,t-, ,s,#:.t,P ,t-l i
5 *zr,-,;tS, t2;'d;l #;.l+i-lrt .dg tf,JJ,c-lrrL,rl;t(. 6r\ ?jL
*
"ii':ir'
:X;,? Xt
e $e t! i ,- r L-; ^
G\a P;l .r:5orll-l LP^r ,sltb .,SitS. ,sa\ cSr Jtci ''p,l.';1. +?'';l+
:l;l +t d{ ,f.,il c-:lr ! uLir L:i;l g;bJ.a,-,, eli 6:irkl ,rr;l +t, ,p{.rL
t'p
t ,f-F ,b*,lr -b t,y 611l 'rL ,sV-'; \ lt
'6lrrr-'- +U +lb
"';iK, f# ,r:J.rli'. "l c-l oS-.'>U. .n-.r16 ,c\:t P 3.rf + !rJ6lt+.;l tVr
,.r....t,jrls rJ5; tlLrr
LP*tlt ,gV c* 4.r.1.rb t1.9n j.u
"Jgr^^9,-r:5
G\a P s.tr+ It aVn -S-t t tL&1-, ,il*;; ,-?,.ilr t i4p ulr g';1 iL;
.
s.*
't-r14
g!- (frt b i-r-,,6 rt
J"e
"ilt
'at,*
i,intJr[-lr.1r iI d,-L; ,;'k
,*. $;
:
t+I
,t-S
'Lrr:"" t ..; il
*. ,F ii f
+iLyr-.'a*l^..'^lu g+
,.:JL ;r;rlS g s ,t-Jd ,,.al,| 6,*SLl;J,-s\rt\[. iL:- ,- !-i.-u r"l,; J'
ct'.t ,s6.*,,6i!-9a, 6*'a*1.-.t t+;T :l .t-;.,g ^*lr.u.-t:-i 5 t42-,,;15.
(Jtir+-r)
^*l-- Ft btf -tni)u.fui 1t; a, ir"-. u1"T \ -* LE; ;j7 J.'t",.a
'.r).S.L.rp
'.>*lY""Hz sl" U.fuT s,-l ,j2-r. ufutS,,sri!,-sb; .
t_
www.mohandesyar.com
*- 4i
16?
+.|, 2 tioa;6.r!t) ,lS c,'t!-)" Y-Y
c*; {T} .rbl,-. r,rttt eSy r12et I, tU uS=:t5" ,s:r\ tSr ,lCL .;.i r .1r
t.u:f .rlr..l rf c*l cet iL. gl, f ul .r*jrs -b I t.s) .t*,-l rr,rtrt +
J-*-c
,r,
$-i
tt2-aj
fu
&-
.r5v. &-b.r
y ipl i b p;l
.r.2lr,,y
,-ct+
q;,.
.l:3
Jse* b l^# d.ffu
-b I u-lL JIS ^'Lt ,,-"t+ 6-#,&!r.r *-f t ;l Jit-.- b $r Jlej ,d,g
! it.S,- 6* i:aj il-lLr.:,*lJ_u,. &]il p rr_*ikl ,r-3y-,7_-r, .f-$rS
jlt.o.:'r.r^ .tr 16{,c,3l.i:,l1l e;lxl t it-{ .st+!r,,sb L-.s-ilii{sv\:r rslt
d,;l+ vSu-l.rjit" jJ (.Jti; a; x;L) Sy;..tfr-,-l *-nr[.S.,- c*i bVSr
-*';,fJ-bl L3,.lK:-,_l **rV 1.:*;ll"b .i: t L,.ui oS u_l;l;1,
.c*ly-i,;t+l +,Et ,sl*l L ;[^r ,!Lj t c*; {^9}
:l tL uSjtS. 61;L 3rlr ,5f ,.,..Ll tk , , ,t-.',i. cl or,r \-V Jg,.rr &h
,k-:t b.,br rXrV eVC,F-r ortre, .c-l -b t -r c*l+ itJ- + +lrf ilS"
,cS2- u-l 6 # +j.f.r! 6? ,{?7;not} .F tt-r at+ J^, *,{T;n;rio,} ,3l,rt ;
eG .t$r; 2; p t(i*;l r, c*; b rli ,s;J+a -,*, e: utS.. -* e,rl5 cJL 1r
;!
't3-*,-l -. f,rl+t
a1
.:*j
'fb
.rli.l
v*rttr; .lf
L_
11
tl-* Gt* +! rL
.,ttl-
ast\ ,vlL .i.rr (J'r ". 4:l alS. ;l
6r ,t
- Y JfJ
..l5
Jti,
www.mohandesyar.com
Y0Y
JtaL csbi
csWu
LP^t-&tQaVr tt clf c*l 1;1J,c^-dj6,;t+- t Ct+ U;&JS:i, d,::rd
\"Jj ! si.{t+ Lll; 3$ t1l5,.,1.-. J?-jr).ii* oVr3tl skr! jl ,S..t,;
;l +lr 5f -r* !::ti,.,rr vhl **t!p^,qr*yu_* .-l Ct+r +Jrl ,-rt+e U.,(fE
,sr:Li
U-l;l.S-l .r.16 ,d.ll+ tEu'!-1.*9r ori sjr,,-;,r, ,sl+-;a+"r t+&
lL,.-: g2l;l .tSu.;L.t-3!-,-l a, r.:*i lrrltlc:-*r itS, rJc*l .-*At43gb
)l;^..*r.L/,5t,.tt+ :4sl lti; &t:,,,j=rq lh l5a1 o.2t-il ,sltb:*,u Lltt
s.*.,V aLi; 9 Cl:r, Ll ,"5.t o:lr- .l <!ti;u ql2;l UG t Jl S lpLc-llr
c*l irS^, oJi o:Li- .l ..ur,r.. jt.i; t 0=,. ,s;J4-: utS.
y-l y oltc .r,.3!
"1,-t
i{-r clt S:^t ;;L,: alt,g,)U, .-uJ ui^L I b 6r GV, J,V,L;I5 .sto.p
.2:
LIJ;
1,,
,9;t -* ryj ,t b -&-t d*Q "oL,. ^, d.1l+ eli .5,_;l
,e.E vl;."a Cbrl #t t+i-|.r, .$tr r\-r- +! ,nt uSJtS" ,sUL. cSr ir -"
:,F6b't- ..1i."?! +-.,,:,lieb pt r* r-t .*6.e*la:-r;{tl J-.:.- L c--.
j-*.r:Tut,-; c,[L;rl ;l-2r,.r,-.r-t; c,JL ,h-l tr s:--;.,g
fitS. J+-; c^r!,,it.gft;
.tti;,-. lb Gl: ),.511ai S ,C; aT;r.r,-! yy.t isrsrl-*;l ;[tl ,slr..t s\d
.-;J .br, ,r*Uo
,-i^-t ;tJV6'sW:t a \6-,- al-ige,r-1lr r-9.e s;rJdr .rhhl ,aL-;,u-l-rr
-,* ,Fs JS- c.=- ,slt xl-re,r-,.r! d*U=.. LIJ;;l 6 aU::l ,a|* eb,,l .rJ
r ,[Y] ,[\] ,s\**.r" tt .Cg d^.', orL Cly y-l;l 6:lJ'J t-rlrr ,tra; ci ts.rr.r -r6t
.c-it- !, u-&-',st+.rh-, ll-ie [\ r- \ t]
.sf
,lai
c-*r {r} rbt-,r., kt,sb.*.b
o:lr--,1 !,""ot+ L6; Uljl .A- f
Lsbi,a f-V
,slt b s-t+^i:; ,,-h. cl f
o sg';.s.
(iL;: L'i -r) \ b -,* Jtu ai r-j,r -h r .* 4j
El;; :{:',!f;T'
ut.s-*g Ld^t,{.t}.t*-,_l:_nr$ *.
i.t*tl nr[,-.pu ,-b tty ;IA-,st-l,u il 6la.ca.'-a,bals,,5=;t-+ qgtaal.:L;l
4,&K d.r.t+ LI;;l 6 tf l-1x,rlr.r.*b r-! ,W n;l .S-* rslt,Jr, iLrr
,c*l ;[5_ qJ,-t '+-S rsll ,-,* jl "r] ; ] jrJ.:r, ,slt 7:"! aU: .t-*;; j.u aLi
.prr b {f} rsD-h yy rsl6t rlS,: bt./ d"t+'^L}; ^, iL;-a t+T'.- 6rsr}^
trt+*b + 1fE ;LL ,slt J-dt ;LL Lb gb i,rrr; ..lbr ut c)-sa L,idU.,: Ui;
.c*l il*.d Jd. f 6lJ. o$ uai,,.i.t;L; c,.r, [g;9 ,rrll
J.2t 6[al,-;.
'fu
tty
,;bL
,qdrtr-*
,s;+:
lE
6l;i,st+-r,
,lS,
eli ,*U.t t b -h
www.mohandesyar.com
.E-.-
4i
YoA
,c*l ,:L ,rL-.L 6Lhi )r + Jt 1AQ !ti; ,',1x t5 *;[5; ..rrel,r,
J;I-J il ,;L-L ,,gLai c!"J1tif..-ui J^li '{:#, ,t2^i ,J=-ai
uL;i.rr
^il+
's'-
Ll
t's-'t'' "fer
?,:
";6r
ffi fr ;5Js#,Ii" :;";,'ffi.
"+tt.st+l'L:.t+
l-rl .f-- .;t+ ;tt u ts.&tia ;l; ot -2, ,al 4ll itS" ;l \ ial *-ntlle* lf ,l
! .i.u 6;r1*1t(, \ jV-- d-L,st-b, al;,g,ials,,5=;t+.- crtrdJrL .,1.fh ,ul,-;.sU:, ;l 6las2.'-, e)te6 d *l,rfutS, .gr,itl U:lj-u;tS' 'tJ ^*l^'
ta;-l ,: .c*l
4rl ;tS, \ )t t" ,: ;11 rbL ^S c^-l J-". t ,slt.*b c"rtj.\.4
o,r,-r Y-V ,$ -1: 4tJt+ ..ut J--i ,slt -h s.,er
it5, tl tD tr 1> 5 1pL
.rJ o:Li-. ,l fQ) aJUj tt:-,sk*b ;l ,)-L L-el; iti- ci!:;, ,slt al-i,t ,s,*,g
$ :r ..r;.,l: :3-e 0(D ,sA va E,,t.3a $lo ,.;6 r ,l-* d- rh-l .s!
ll6b ,;t+ r qlly-:U, +, L-ty
0(")
- 0.
o(tl) - 01
oer
;ss1..,i*.a
f:y
+ t+--l tr 3,s,l,.>c- Cb urr
.r!-j-.t-
c-c!,
O5'-,
r.- r*
&t,+
Y-YJfu
L-r,-n,F-,
\-v)
.li:tr
www.mohandesyar.com
YAt JL-'.gl.ti
,,tlv,ar
c-l
d(" )
"
01t,7
"
cittr;
tJtr s 4:l
(
Y-V)
4t > )l Ji l-r- 6 lal,-- s C U .A_ if-rt :-,lj,g I +i, L6; al
iT I b (Y-V) r (\-V) rslo$ bljd ,sj> c-;ri,1kt f- a1-2: 6laJ.^'* * d-:l
, ,{ Ji*, .r-5s, LF,& !., A-t{ t (fV ir- +r5-c;laL-.r= t"-1i u-l .s.,5 yL^'
) ;.,;1 11 4ts U;lal^-J,a+
i \ :j l;j 1 r
.
0(t)-a.*aJ+artt +art'
-* U-l:l.r,l ; J.oL,-,t* 2 u2t
e1t7-at*lartlYaltl
;l .ll;rt+
t J:+ryrL61l* al:b, t9=*,-b )rr" rprh:
tsk*b
.r,
(r-v)
0(t)-la1 l?a1t
JS-
(r-v)
(f-V)r (r-V) 6tralrh, q$
+lcf Odll" J-i
t',
0.-a"
0t = a.
atty
" -(l\
o
- (z\ | Yalty
1*g
artt,
* art]
(0-v)
tYaytt,
J^.l.- a; ,s4.lilir1:l'. ot-3!-, i/-l
J-
tr
a"-0"
o\=o
at=|o,-,..)
(2-v)
ay=-q9r-0")
Y
a-.-2r 6la[.- t4 llic/ ,(t-V)
,ti 2 ^S t-S *--* b
^L.b ;rtl^r5q
'lcs) t'JL u!,gb y-l .r;L L"-n;tI ,sbrb ut+ itS, f alr 4rl;bL
t_rb
www.mohandesyar.com
J* 4i l?"
..:*l j'- J-L a,l4 c.s-:
otr;T;s .f c*l
+J:l
'-r.l
\-Y Jllr
g
W lrr-l.c*l JL +rt -
\6
c*,;tr,
,,rr)rl
,P
s,Lb.S,- ti G\tt
6-* y: ,a.iti t' Cr.l, t, ,f il
,SW-*.t onr df i=.tl 0 - VO ,J!-rit *. 112*
.i.u iLi; .rt ! rr! 9 ,JAr f t+jl t 6f U-l 6l-.131 c-: *. b ,gy a-.Jr UilaL-J:;$::l ctt-C.:b J12,-ea' 5 J-L,-,li-i 9 t*2-,;[5, 6t':-'l 's12T I i5- cJL t
.+Jr.,
t-S
+L*.
* lr4"-* blid,(t-V) r.st".l+!, ;
a.
15L--r-rb
arlr.lf I
\07"
a\=olo
Qt : l" l"
(Y-Y)
aY: -ltlf
g-.rlr
0(t)
* \47. *
lo
,(f-V): (f-V);l orli:-l L
/"tt - f tYf{
(^-v)
- l" /"t - \lTlltY
61t1
- lo to - t?t??t
e1t1
lL dI Ef u-l .rb"i 2 tsst,llS. uL6n-L f-Y JSi
.s-t{ r[5": r, 114ts ebf cl1 ce- c,!.*d ,P.5+5o..ei .Jr:,r.r ;l-:; c*l
.c*l o-l .L; JS-t + vLi ,>l-; ,-ie :
I
..r^i 6.;111.;t
F'Hz
t1
c,i#l+ Ltd \ 6;;u ,sll ly L.;r (JlklaL?J.?
;r rl.Li,rr J:aj t-*l+ .i.u :L:: , =b ;L; cr.L i!-rt d ! .;t+-$ AiSb
) oat-r,rLJ d.1U* -tti &l.i Slr G]^f 116.,.16.JL p.plerrKp
b roli,c,tfil ,4l.rt .rF JL q L#q zLi; i;: ptS'. ,st:\ -Sl 'C n,t
i:* dc*l ;T j.u'1r ', Ll .g-r ,6+;rT ,sb.b f-Y ,:4;r ,.t i c-)de ,614ts
clr L.-1r 6t+-l.l^"q UL- rsblt.;!S,-i:r r-L: ,r* .f-t& d..:q !b;l -'"U
.C
nltt
,,x-f cl,J.t.i
lr
r".-. 6tr4P
af
www.mohandesyar.com
75
70
65
60
55
50
45
40
35
30
25
20
15
4rL
-
3.0
30
25
20
15
10
5
0
40
35
30
25
20
l5
1.8
ver
2.4
+ttl4E )tJ+
10
5
0
-5
-10
-15
-20
-25
30
35
40
:L;l
;t&.-JL;l 6 l-'a-rt ,--;l
\l uli
1.8
6l+L: tslt
3.0
+* e,ur-,a15. 6t4-:.'i- f-VJfu
'+!cr ,iL! F ':JL 1r ) t.r-(t
www.mohandesyar.com
l7l
.,# 4j
;.,qi'Lz 9,.i.ll iti .r:;L
v*jp ,-,JL ,s;4-: iti
6jr6+ ! ,dol+ -Lbi irr-l il .5.,- t -rI;fi,g ,'arh ,rt(:-,-l **tV a1 c*;
'Ac.^.,. ,iT jl ,r, .t-J. g,,.,!-.!,u *b
;Lr..st-lr; ;l 6l^-ca.r- q ,ir.rb .SJLJ.,** l! J-L r" d=.:L=i Llft ^S dc tgrJ b ,gr 4rt ts|.+-l^t-rq 'a*l-.
,bl
6t9-lal^-
ir*
olj r-lotf;l,*L fJ-, .,inlr* !Li; .1r ef#
,,r4tt
-L-Wl;^-r) c.sr,rt"+ t+.:lrt Ul .VtsT c*ia # Jiit b
l;;Sv. -* t-j Js,.a* (Y-V) ,st".l+!.2r oJ^i nb' 6'.x4.-, .rllF ,stltu
aS.f ,.u..=;
o(") =
e1t,7
o'
- i,
r-v)
0"
&.
* afiy * artt, + artl
0t
6"
-(/"1
0,
= or * lalty tYaTttt
o-T.f
a.
c*)4 ,H
a;
frb
\'-Y)
,tealrL, t-l
&
t?
-0"
at=0.
at:
o.)- t,." ]et
irt, -
ar =
-|0,
- o.) +
\ \-v)
+ ().)
]r,.t
.;t+ iti r !, qll jtS, db,g-r a-.-2:6lal*-r+ itd,(\\-V) 4b:l orU'*l
.tj +V-,op: u'-Q --y: drl ue4s\,tild [-"
( t t-v1 < ,sA6..1 ! ,15;l ,p,,l+
.*to '"L"; 9; "2IL ;bL uW-.Sl
1,,
tliql2,* il *L'f rslt
:J-21: :1,--e d=rU* lti.;.,1r ,-b 6Wr 3>j ,p;*:- <5t ur:J",:.
,str-:, .f-tT c-)4, lt -b tty f-r +r5tst+-l^l^tq
,slr-slt
t ;L, c,-cr J12,.aa; !., .*t+
'^Lt
g tt -h l2t c's;-
o-t::.J
or['*'l
www.mohandesyar.com
l?Y Jtar.6Wi 6951
)Su. L,;^-l ^L) .,s (;.25, 6Lbi tt) -rlil ?fJt33
Kj-',Tr3- uian.i-;l crtj;.l t !r.,..1Q tti;-2r c.srr6rr t*+;..=,-.Y
;1T
.J\:,Ss,
,-fu*,?.*
vBu;l
,;bL gel;i t_ ;.rtS,
rsv..rLru;l u.,-* l, .*t+ tLi;.2r
,sfl; ;l ,:tl-l
6L.zi.1r
,r.*,LlstgS
(Jtrr6rr ,$+,;.-- .r
.ri
.tE
c.r_l.rr
.-,[*
tti; ;: -b 2,y .tr5, r.s[,r, . ,Jsl Gst f
.5,--2r
.x-*,g <.r:-:t(;u -b tt-r P,glerr". t,LW aT-2r ,rS*;ti .,sr.itr
^?.;t+
q,)bl o-I!5 orlr-.." L\S;;T ,t-J ,lt a$ LJt -rr :^L ,rSrts. ca\ ,,rV d=.:U* Ui,;
Jrprr -* 4j da ,!l-i \ Jl.c*ilr .up; , ^L;; ct-l t: opr ,Fr.rEe;l
Ll ;y,lrbt 4t ,j+ti ,or:5 ort-L:. 'l -b t -r \>tr
iJr-l .,( i"-^ ;;$
",;.*
,Jr[.i +t,,*L- P.5.,- a4p.r).r-1: up tl-..''i,t 15-rK oJ,l.l5 o:lf -l,J;lJ .Jl?ot o;rals
t, ,",=,Q
..r":ti (:,
,a
t-) Y
,-itt [
,Y
.,,:,
c&*ct2-S ciyTt- ,Cl:lo:tl- 'l [r5'r tt+ ;...'-'l ,-]att
;l*L ,sb ,*Q -tLi; il=,,y{ F-V ,$,,i -2: 6 b 6.* r5,. vt a;l ! J1,,; .l ti
.-r'-j,1 -b tt,C*l o-ul, ,-4"-, <<0n if
d.'rt+
.f-l.rJ.rB;;l d.1t+ tti;.2r J-r. cs$ysDb J;p ,,Ltir-rb,f-V rfS..i-2r
gr-l ..[lo.lJ orlr !t-i.J d*U.,: Z'L"; p rt e;r4L. t nL 'bt' t5tab o1l.l L4rr'
"s'-l
rgat .c>-l (;!t-, ) r/ty -b :ll otJ y.T4z,yr,, .i- ur3t6+ J-;,-kil
L$; y-l e-l Jt.xS* kt-{_S_r Ftu 6t4b'.,[ i!-:r d*t+ lti; dt+:S
,4 Jl: ,+J.rEi;l -b \ )tb d.iU* \>;.yJar.r.. c-)l.c -*-, ,Aq i.Li;-r:
d=':q car \ * b *-; r, ,iStv ,Jar.'.; c-)l' -* ,lQ ili.; -2: L-F u-l
.Jlor-i orlr ;tli
(? t oL Lp;
L.6
-b >y
,s$r tr aL* tn f-VJfu
www.mohandesyar.com
.# 4t l?f
p,x,ljl d*:q !b c.,t;.1;l ,rUf .l ! t*;..*.T;"j.J
aLir.r
frj:
y.,t:i S $'-vt c;l ur* b 4'-;.-- ,l ,-}tt f
" :lr3 dnf+
{p rr ,++ (P t-l f .r;el c-r+ gl-.b ,-ist + ly ,;^.. t! yK ir,-l TUil ,SU
Ce u-$-q u.,-b-&r +i:, ! ,! pr 4ts crlaL-r+:t (;.r.) u.l; J^.9 csr
.l..:L c-r-, .-L-l qC , ,-t-'frl .S
..$lr {
'iLji
Y-V
(aS;t L;aiD.5,-.1r Sb
,P-&rS-- t
t ,;:Q. iLz: ,Q. 4:l
,JJlori
'^Lft
,0,
L-:l: .t-rsT
fy
L.-;r qglal^-Jt>3r
0r.
,sW-*
,-,ti d=:t+ '^L); 1; 5
.t--J.c;. ttJ .brr d, j.u
c-)d,, ,J.2lr &-p,
C*l g.q 1f '+tt
0(t)
Jl:.t
orrt
q5;la[--
':* 0:*;
* atrtt * alrtt
( \ Y-v)
glnj,.f
ty)s,
(\f-V)
- ar.*ar!*arrtt Iarrtr
t+.rl.r, .s-j.,g ,sL-:tl t = tt; b t - " ,y Glj iL-U tt ,V L.Jr (J'lal--.Iq J^
.t--j:etj'J.grri= Y [-i- \
-;l .slc,rLc ,p'5 Jt^rt ...lr,g d.;-t"$
eQ)
0. = at.
0u
= at * arltyr *
orrt'r1
* orrtlr
0' = ar'
- arJ!' l alrtlr a alrtlr
tn"
(\
-':t
o
@rr
U-l
b ! .lor.f
r-v)
= 0r\ | la11ty, lYarrttlr
f falyllr : orr
Yorr l' ?a,,1tyr = Yorr
la11t11
cry)dJ L
J:++
c^-la 9 aJ:L.. c^-!A
uli 't*-r
.5.,-
,to+'i
1,-l
www.mohandesyar.com
l?6 JL-'.,51'l,;krr
t11
= f1r cJL-2, ,t(:-,
o\r = -hflu*Y?n+0d.
t{t
al- =
0r\ =
0u
Yqs
(\0-Y)
Ye.
Itt
all = -\Ye,+?0s+70"
Yti
&lY =
A0,-60s-Y0"
Yfr
(7r 4tt +L; nl (r +J5 6lal.--Jc,-- n u.t(:a,,rlf cJL-2r
^S
tt1,-aa ;)ltd ,t--;.,l k;
u,-.,t+ tti; -2: tux,,-,b..:, +5'b \ 6 b c,lrL
,l ,r_tV.r-,eT,*ra, b ,*4 Lti; .s$*e-;| iJrL & !: ,oij) L*-JL
.[f] c*l J5,6]i a* ;IrL
"Lti JtL+
ot**,
,,r-rlr
jtiti
L.-r) g;|4Jld.?r+
Jl>U. .s,i,C o:Lo'-..1-r1! L.-r, .st+-1.1^+t jl 2,* g;b.,'Li itj +--* ,sb ,*6
.5'- a1 ,d
jl 6l^'Li (J;t#l J l+ltt t .rtr 5 *1^s.,-, ,its, f,"li
"*,* -rc*ilr f+lf ;tr f+-, L.-1r U;lal'-r.-
0(t)
a.
* att * artt + artr + attr + aoto
;i;1g"9 ;rT,
0. -4"
0l
a. * afty
* a1tt, * artl * artr, + a5tj
6. -O1
0t
ar * Yalty
Yartt,
Yart[
6a6tt,
(\
r-v)
{;.st"+'i d
www.mohandesyar.com
-L-.,.,
4i
0. = lar
6r
U-l
= la, + ?a7ty *
\Yo1l)
l7?
( \ v-v)
Y"a5tl
b tr.r5.l LF^db J:+ry r-F: eJ:b, F rts ot^(;*r.S.- J! tJ;b+,
:f
CS
a-;;
,ot^(;*:
a"-0"
at:0.
'Y
At=-
ar=
&f=
r.0
6.
Y"or
- t"o. - (Aol + \Yd.)r/ - (r;;" - 6il't
ttl
y"0. -y"0t + (\r(i/ + \?o.)tt *
\Yol
6rsre*r;l 6.1t-
(r0.- ti)t)4
- \Y0. - (?0t + rc.)t, - @. - i)t)+
2,*l-^ rsU. G;E; .l.la;.!;Jl
tdT ,J"6 tdrJ..s,[f-f] :-2lr :-e-e ,r:* LI"; j c;l^ct
;l ,xrK (-9-t U; t- .s1.1^t+) ,l:*t5,r-l
( \ A-Y)
,Jt41b
'-
.c*l
Ltt +)
6bi-f tl r.bn gb
atL ,jl.r) oJ,c*l ;Lt 6F ,-iJ -h i jlt,g ^S 6J--: r.-,.'
Jt S.ri;[,*lr ]V+.s*e crtil: ,l ct+ itS" t c.*l t;.5"- t ,J--L uti
F{..- ,F ,rS .:JLr, g-t+ 6* fe,c*l 'b ;, t-r-lf ,W } cSr u
.r,s; JL;r tji -1r !
a. *l[ ,5r-,st+rl9l.t:,1-2r \>srr' 6 t-*,g r*, orL ;Lt p.i- q;Ll17r Ul
f tt s ,u,L; l;iilr: b -* r[S.^: ,r;-, &tr plS, t rl:- 6-,* rh-l .slr .rr
c*i rr c^:b .-ll'i;l ortr-.."| .eiJ F+lf -b tt rlu.5,'^4-r ,(""oQ Lli;\ p'^Lfr
c;L 'itU-l + 3 lr orL 6r:-..'. 2-V Jfu .$rc,/ -# ,Ct 7 | c.-c- ,-* c,*
;tS, ,0-Y JL
a5.tlcit-
JtilJ"-S"-
+6t*
;tT
,st+,st+.,I 2t 2 u,L;6b..rer,r, ;Li.i,c*l o.li
.I:...A
&y, -,*
,F
i Ctr r ,[S,
www.mohandesyar.com
l?Y
'p
qrt.a;
6t+r,
.c-l
-t+; .-,ti #-
.6-*
cS:-,.
'flt
^S
;Lt ctlr.rr 6-VJfu
1,,,F."-. -L: t-VJfu
Cr; tf| ,p;l .uli ;r2l ,Jr-; uL:.,o,
I 6 * jL^ .(.l5.,, r..o vt:.l c-)[c Le) {1, ;15- -b ..:t:'i aar:J 1s J ,.,1*5y
,hb" i/-l 45Ll ,:-1lr rf.e (J;r[;U;[.6.A!/ ,-# .r-lJ:4j,sb,\*d 0.r,-: V-V r[5.i
r) tj.sr.ll;.1tii ,(0n) ujts, eL-u L)'^Lz: (tn) ;1.; zl-b }*t'^Li dr c-*i
prl: a+:r -r, .$! ttt
4: [ -,') c.sr q r,-q ,u;J 0- r.'[ it-1,
,1V;'aL-l;
,;.,T
,st+ c*i
Jr J^
'b
iit^=on-oo
"
(\
tn-ta
.c*l (sr+ i:U-rt
'-u, JLtl
.-t* A :,cs-t+ i-t;
.stx-l
+Ie
ou=0.+|ar;
rt 0 rbL 0b;l-2, .5
c*:a.,
,"}..b;l
06
|tI -
ottu
+ (ot
o")
,ltL
(Y"-Y)
ltn di-l q .-.r q:,(Y'-V)r (\1-V)
g-)t,t
r-v)
:.
qJr
(Y
t,
\-v)
www.mohandesyar.com
.* 4i
t?A
01
01
0e
'Lsr+
gela-s2..*,
glt 1,,ts r.. 'tnl: V-VJfu
cs:-e
J*l> t .c-l 3f clt eb;L; ;.r. t ;11 .p 3
.rJ.rtxl .L*- il:ea ,x54 oro (Y \-V) iJrl-. J) d b to s 0 a-J'. il
f iljL/
t s,0. ,01
l.rillr ',
c*)4 (Y \-V) iJrb, jl jT ! plb t6 1l;;a. L,? ) t-*d,./k;l 0 =Ee 6lJ. cjtu
t, .r,T r^lt j c*)4 g)r iJ,,s:l.Sri jS,st +! ,o-t.; ..-L.:!l g ,-,l:.i .n-Trl
tb rbL,(Y \-Y) iJ:L ;f*l.r cs)4 * 1b clto,irt, -&t t.-,ti
-r
ta: I
c-*l ;,,;1
t0
,t:: atJ -b-rr
.l,-!
Y-Y)
6r+ i:|.; vh-i .:bcil ,sU 6 cE
h>Y(ot-0")
tt
Yr-v)
c*i $ I c-l ,$t,r"K:" {Yf-V) '^\b l15JL;
il ,.-..t J r:t1 .b
'b
,i-'L ;u Ai\.).9; .,!S"il ,r,i,-/ PJ--rS"- 7 65|*- # q S 6t+ +E
,(c*l c.-l,a; ,-ti d.,,U.;) L r, S,st*, ,t-J. dj"bt ct+ +E $,.:l--;
.t-;.,g J-;,.l; 0.2l.il iT t >{p 6 ,;Lt d!:.rr BsL ,-JL
2:
t'-v Jt:-l r
il*,.:s. ts.1'g (J;tly t
,ts -,* jldl:r
-2r.c-l o.li-2t-:-l J:i.,lO
;rT
,si r5rt!. \-V Jb.-2: 6,s-,*
1t a5.u:,r,
itJ | 6*
"\
,{-l:I
(._i.Jl) A-V Jifu,
www.mohandesyar.com
Ytt
dLd,.6L^:,i
se$21
70
70
65
60
55
65
60
55
50
50
45
45
40
40
35
35
30
25
20
30
25
20
15
4-U
15
r.2 1.8 2.4
3.0
3.0
;t5*
+ttl*E
35
30
25
20
15
l0
5
2.4
aJU
4rU
3.0
allirsta-
t2
25
20
15
10
36
a71>f
24
'-+t>/48
-5
-t2
-24
-36
il
2.4
-10
-15
-20
-25
Ia-[
3.0
"
1.8
i;'l
,* 6t4:.i.
.P.c9s-#
(v)
.?l: L. ;L, ,s;Vrs gLr vE 9,C*1*,;t5.. 61.6:ri. A-VJfu
.c*l ;:.r c-f c* ts[4'-l:l cy+ i.-lj .-rt:J ,,.-.-
fq; ) ,5fi,1c-[i c-.c- tx-,c-l J,-ri iaa cc- ,]-lil lll ,cJL g,-l
c*; ;l y: af $)c/ ib *-f vly+./b-, t1 G-# (v) A-Y JS- .+t-.r
.c*l o.r.i .iL l--j; ,;;-,-.
r
")";
uiAg
!.1
.i:iL* Iti
tl
6y
611
Lst+ ,-"li ! ,rb
gU
-tti;;l op5 g;rl.u 3,b,ss+,s:-,.,;lj tr,Li /l-*il ,rJL,c^*.i r-r-lrr
6Vi d.1ti1 Ll,,; ;l 61"4.'- 1-V Jtfu' .tfe -b tt ,t-.J.,g J.b !, d=':q
www.mohandesyar.com
-* 4i
l-rarz----rl*
.lan'Li
J,-rF-ri-
a'b
(h
rr,
YV.
*l
l-VJfu
6t+ lj \.S; -r= F .*
glr iL-* .#q tE; .,rer,r, ig 0 in .P,slrlr ;l-L
.ilo-u n2l 6r+ ,flj,d:?l+ 'r,Lz g jbl.2r e ,JloJ.i
o{,l; / s,k,j 8b *
c^^-.i ;',J. &: ,tr
{l
,.,r '^Li;
"-.Cg or1r' "l 2;61lKtL;;l lau"-|.2r
tr ):. k :L;: .r: 6t+ i,--b o.l, # ."-.5
-b tt,Jlo.l,i
j
tjkl.r.U
k:i
LIi;
+'Li
LWSu-,-;l
c,r.Jt.c*l
aT al:
o:;Lt
bk:
(>,sr
.c-l
t6i1,
e1r
c*i
\ )t,S,g k: t'+
+E $rr r:lli 5 ,rL;
$ I
.(+;=.: ! t-v Js-t) c*l i)1 )t j i'Lt; e Gr+
.r[* jtL r-.'.'-r, c*l gS^. ,6la'Li .1,- r.- cJL $U i t+i-lrt
"iJ -bt)
!Ui;)
ltr 45 a;-:l: t .+l c-)dr ,j;U;(J'hb" .!ir t4 4:b ,o -2) o-u
"it*
ax 3l;g ,16rl * jl &/ rr ..,[* ;;l.ule ,tai1, e3p. Gl, ,s},x ,01, l*
,(.;t+-lr qr:l.x,l lb;a) ,Fl, d=iq LE; ,sb,.r.2el c*:a, Lt* ct+ i-br" ;b
tsr.r
L.
.]d.t'.,g
a*\r.. ,*
Ol g;trJ
n -00-0i
vjk
rtajt
dr = SGN (|kt
- 0,r) ld*
,.
uE -0r'-|ir
(ir
\\
tip=tai*- fti-ltr
r-v)
www.mohandesyar.com
YV
JtaL. 6Wi 6$51
I lil ,tS f,u;rtl+ ,/ "-t ,dLF.;lr 4l.ql ubtl I ,r1,
.tf ai.S -b rs ^'Li r 4.r) .s-r+ 4.t; f L; *t
c?;l 'r"l i ,]sl:;.
1) Lc2t 611. ruT cdr,tu JtVer a:l:.1[ 65|..'!(att
:- ili,f ,.Li ;l ,tL; c-*i
,"Ji .,t J5;b 'a*l-.
;tT
#fr=ii,r,
,0r, .-,?.o-l,g c*,rt (4lril
0t
'tLL;
Yo-v)
p 6r+ i=-[ o-r. #) tt ,aJrL. i/-l # l:
xyrl a*l^. G;l+i trr
SGN(0,
- til
rr
fr = tart -
l0'l
Y(0r
'arr-n-
0\ )
drr=ffi
YP-v)
trr=fart-tr-ir,
IS,-
4 lr n 5 n
- \ -bti; d6la'ln) *,-;-*
ill.'L; u--pT cD,\4JiE,r4
,trlt
|n-t - 0n
ta,.-ly' - |t' =
6ntn
$e
6n
= SGN(0^-,
(.xSur
- 0n) lr"
J-r
(YY-v)
c-)4'
vlr
t+T;lr
tn = tdi-\).
01"-
r;"
l1n-r;n
o:-- o"-+
- Ld(n-\)n
- lcrt
'
= ta@-\)'
r"
(YA-v)
- i,"-'
Wr t ,s'* i-[ ,'l ;L; ;.r, n1.li,r,(YA-v) U (Yf -V) ,s6.byl o:[:,'l
;L; ;.r, J c#t+ lti; t4; oi.Jort'i;-lL.', .d nA Lsla'Li \ -*.5.,- ,-s!
www.mohandesyar.com
rp 4i
YvY
,a,r:JL "l rt .JSu. LP^-r lt ,'Lt ,sb *b
&J. f:.,r-,rJ::5orlj-.,1 '^*: ar,f .rL 6b r;K JSs. orll-l J-L' t LtU.rtll
i5.1r .JSv. t-L^.,.ig.,S;". rr3 g..r,- ,fa,;l gWr u"*,,U,;i-lJ.b )Jy u.WL,i
c.^*i t j{:-.r cb ;$i b rJ o.rU' .l 3.,1 jg.r.rit chb.:;l *lr ,u.e 1-, ,-flt
..l.it* jK ,s2,2;liT g,4, 6t+-, i--[ r5;l;l Ji ,ut;
(3Ju', O.:d
'fo,
;,ly-rlirl 3l
f-V JEr
\' jt +.rt pJ. .* Lll;:c-l o.*,.sa)-i, ;r;a AV ,!,-;- *
ryl.ll ..rcL rr[ l':,\ ,Y .41; { t! i.'Li u Lr-ljl 4 I ll: c,r. .,1:....r \'e
L5-1r c,cr.c*l O'deg/sr .s-r+ 4.l; tli; '"--S ,sb eJu! g;r; ,,:a, il .rt:-i
.+J*L, I, F g;q;^ ,i c,x, $ t,6t* qstaa'Li au J*,b+Li
n-T,g c*ro (Yt-V) L.la J:l iJrl',;l ,r^Li d:l ,slt
,YO
,fO
l,1
0t=6"t"
s-fe J-;
(Yt-V)
r-v)
h[ pt iJrL;l ,4l.tcl 2'L1;y 6t+ i.-'[;-r. $
6"
t--J.,g
drr =
Y(ro
fr=Y-
I-
0w=
\.
./YV
(r. -v)
/"
t*l^. o+ (l?-Y) klt, ly il:L :l 0r, t>tr
r0
n-T,l
t--J.rl
\.
o/0(./YY)
ca)4,
g+
YA_TA
# .d,g
(r \-v)
l'ro"
(Yf-V)
!19 J:l iJrl'. jl
(f f-V1
!1, ;r, iJrh. :l ,AI jl ,r,
(rr-v)
0t = -6" lo
l-i,/ a*l'u tt ,(Yf-V) !1, fr
\\'t0' _
tt= -\ol'-_6"
"lrY
/"
,r,sr
(rY-v)
= -\oro
o)[-"""1
0w
iJ:h.
j2ts\\ ,e
(rr-v)
www.mohandesyar.com
YVf J..i.
c-i.,
gtLbi
g.gt)
d,:+ (Yt-V)
!,, U,* iJr[.1] orl,-*"1 L.;tl-irl I \ t.Li ,!; c-*l $
tlrT
rrr =
- rlY -i,.rfY) o
(ro-v)
116"
prl'(YA-V) hly J:l iJrL :l
0r=6"/"
rr ,(YA-V)
Cg ^*l-- *t
tr=Y-
!1,
(rP-Y)
prr iJ:L"11
Y(\" eI -r, --;--
t-;.,t a*l'-
or$:.."1
Y0)
(YA-V)
o7\.
\2,*'^'Li
s-J.,c
4.dc
612
L)a ly ilr[,, :l 6r, isr
(rA-v)
o:ii- "l (Yf-V)
\ltt pt iJ:h" il e
(rr-v)
0r=d"/"
o-T,g
;r;yT
(rv-v)'
\'- Y0
'
0rr=
oro f. --0t\"
f
-
,e
c#)de (Yf-V)
hly ly ilrLll
or[-*,1 [: tt,ry
(r" -v)
t.p,-t J-;,(YF-V)
trr
trr
LU alnl f fu
up
orl+',,"1
1s
,-,*
I,,
Ul-63
ibL;l
o:t.i;-l
- \ - ]t",tt)- |r'2.1A) - "/Y\?
- r- i,'r'14) -'l\oY = Y/AFI
1*
.rJ3,o
..lar,r, c-rd,
i-t$ yl:a.fuT
t,ffu
t ,1$!":
(r \-v)
(
r Y-v)
.* :l n,g)r,crl.-t-., y-l e-b
,e ,0
,0'a*t-.6!r,:l.rl
,i,-l;l ,6.r,2,*,6
.tf
& ,nrn.,,*t+ .tti; t )l^r .Sc,.-?b o-.-? {t, ,c2,y-u,L; 6la;'--. ct-lt:
Sri jS a* +.-,bi;;l.rl a5.r,t(" t^El.ri ii;. !ti; ;T-,,r u5;t(. .5tt{ dJI
www.mohandesyar.com
.f 4i
YYr
Jt..t.up.i-ry ,h tty d*t+'oLz *,sr[ L bJ*.,c*l
;.*g rlS -*;, ,r*Uo '^Lo 'pr& t'Li;
.uf -.iir; d;T;r+ ,r;l', -lr+ .-r5,:L;-*'lJl
blid,rr.r(
^[i; {;lh+r
",*q
e :ril t+T + lt U tt l{i .t ,rf ;r*,; ,*^:,;S !11, t, ;tL lt.* ;,l-a;t
,,sjUy
:, tr,r.1.i( rl;l -rit, 1r,g.5!1 d"t+ i^Li;;T;6r-e- t*+
"io\-,'.t};
:ta--l ,.- .(+;-.: !, \'-v Jt.:) )su. u-&-q ,x-Je rlri J*l't"}; i* 3:,2: "5
6* ,F +u 1t ,u!.ol d"t+'"li; JL $J.up ;42.a # ,st+JL xl *
'aL," y
t+-i lly.f o;5 o:lr'- .l .tle ,lt ,Sd ,Ft e t !1 c:Q
"#q
c--1221t I .*Q 'aLi;;l w G+ *, t,:;t #jJaS{ ,""ot+ '^L;i;lr;t, ,ir, 6;K
t-i ir,T4L qa t, ;T ,ltL ty6.xt u4,4 \ c.s- y-l .-r5o:tr---'i Jt .S
("*Q zLz 6laa\ tS"ALi- C),L-l;l 3l;u".rJ-lF
6loL; ;;$
",.;.*,s!,.:J o:l;'. .l ,,'|,*l:le;T;l
;;:K t I .,5=;e ,s;L oS,--.^;l
;l .zzi t r.+li
.-5.,-
oS
1,,
siJK) 6l,,.as gWst f-V
rg- ,)-t 6lziy: o.r.i ^*l'*u rslo-*,t, dS (f-V) rrii--;6t*;ttcdrde lj LE 0,-l )rV'.; ,lloli LQ^-r.frl5t ,>Lo-,- r: j.u : c+t+ lti
S,gUr
.rK& 6
rl+l cltcs:Q
At+ ili;er tt.t$ \.-VJfu
www.mohandesyar.com
YYO
;j$
ssL-zi
,sWu
,f5..i d{ ,c^-+ c-\
.,-h, ,t-l,tt.r.7l, J;-,
Ll ..u:
.Jc*l
!{#,
\-r '.l,l,FtS, ca\ ,eV.SJt^+
J:4 ,-*lt *J;..- g;ta15-:t+Tr, S thr+lf drJ.r--, :t-.,-l ,sblr 6,9-J:t
,sr^:rcr-* .-u.tu, a*l'.' alt :l ,e.E Jt:n+ b
,s;+: ,K. E s-iC
"1$t
E * J*' u-|t' C 6;* * b ,*Q LE ,x r--- 1-1i-L'l Jf- r*ly.r
.rr5':ti."l al-i,-l r o-* ),,g-*,15loJ,lr crt+J*';l Ll ,c*l c--l
+3
.b
,31i 6-*'^J..-sa.,$
} *
o:ll.- "l
u,_1".
r$;
a,
,-ul";. .;16r -'lui,- t 3 c-*
+Jy cst+ir,, t> .5_*,1 Lfi,e
.tl";6: 6b-:,-" L. Gi:,_/-t+rb )Ssn 1l tt ,f * .? s s-;.,g kt S-5,Iti ;"; jl ,t-': ,F ;rrlt .5.;t+ l.l;l "5;i ;e-r, ,.L-i-.., alte b t"-* i/-l +
1s.t15T c*)du )Svn il=,t {,9} t +
t {T} Ja'&, oJ,o-r:-.Jo:1"- ,l ' .t r*6s-*S L';t ,slnl f fu + lt:,iy,;-;a ,. GQA -b J G$' tsWy ,Js.-a 2
.rJ J- (* ,:t-S vl:u.fub \ )t ,*r \ It aal:,#Lt"- c;taalrl,', -\,-ti ,t+l
i-rrl: .f=,ti.- qrtaajrL, J- ! ,r: $ .tr6 d5 tt -*.5;T;l ,-,,4o atV+
.xfg a*|..u -b tt-f ;I-L ,sl-lA ,al'rn cr-fi tt
,S-l1,1['
c*l o.t*i rt+';= ,ty
.sto-, 4; ,slt
'b.tt.[Y,\]
",,_\,;r5r
j*
ar ilp+L G:t
p iL";l tljr-s,Ga rt-lt'.'-S F+li
's2'g--vbL
.p5'rtL-l ,;)*L gljj cJL 6!r, '.ul cd)4,
.S_ ,.r1
L; -c."^,tl-, 6f
;LL ,$r tlil ,sWl,;T ;r/ J!, t, s rS LF^L b ,s.* r+lr.r qJtil
3,b4 I .t-+ : l+ g57*E:-tti; 6r[-; rl;v;Jl rJc*l da .tS 6f L:l.r:
t'-L
,sJ-* Cb;l -bj-* ylil,st+-l 6r ,6;ti ,y--5,-b t',;ulgl: c.*lt !; .5..,- s:r
c.*l ;.-E-rt=*, Ll .*-r $lF -h * L;-:*ly,rJJt'L/ F-rS"" a b Aq -tU; d
a-S u-1..r5 J!, I, ul,,
*,Lt*t+ Ll;;'at-li irr rL-j ,ry*a i t? ,li.l Jl
'b
rt-t-\ df .-e'-Js.L[.] siJK) b*>-\ 6y b ,ltl 6f ,slnl s ryj
c*l slJF) cSyjJSJfu :l ef cJL *>-\ L9;
,sl.cab ll-i,t,;T il*rr,
t5a -*.5-- ;rJ Lfi"L ,sltb *5r url^.,r:-.;l (it;;l .;_k+b Jt-t-^.)
"*lr^Jt
6f u,;.-=*,
tgi* l- ,*" xl-ig."- Jfu ,c*l oli ,-r,-f;
"5,:,-r5,
*ri
,sij-rt ,F gln'Li ,stSab-rl irlr-.,"| ,.lrtl, L;.:*| rslo-,*+tyr C* ub
,.r-11:
jl -Lr ro
+U-2: .c-l .*,ti ,6-r*
,l- cl*; itS, 'oi& as f
',*
'b
i
t
l.rj
6;+ Jt
-F 4r c.*l E ,si-b-2r L' f E eV ,s-* ae,.t 1t 2
giJl,t)
oS
aS
www.mohandesyar.com
lY?
t,,t l;
,r-tl ;r2l ,-96r.-:-c r*l;,-* ,{ ,;,* bb1o rr-tt .5.,- t, AQ '^Li; i g I
.up -ro c?ts t;bss *-tt tfJL i-.r-2r ,J.s U-llr-:,d cJl=r:.rt ,F t*+
,r-tl 66r-:,-c ^iq Li U-l:,ri! r.k q ,s\-t* 6!lr r,-! ibss tr-tL.:l:
.r:: sl:x ,$1.,rl2..t,li-l c-x -&-t ,--tL 3s 1gla,a- 0: ;Lt cl!r.r: :l ibs,^
.rJ,.."li o:[-*.1 jlt,s ,r-tl;a. u-&-t
,g! ,#, ir:-a{
6;+
')y:l
"i-L;
u \ qJl)-tp ri-L;;l orlc-l L ,s;;.4- f il-i,r ,* dS Y J,-i -,, &h
2 x \ ctltt,d 4; I x \ G$t.1t(,.21:ri \b,s;r4-;-L; ulJl.rlr aLi.i r.rc
a, r*j S b ,aQ. et,i; .S,- ..uT .up c*rdr p5r ,s;:+- r ,lS, il
=*rV
{A} v;6r[.6,3 d-1,. ;l+ U-l .t-A.b tt,c*l ori Lixt 1,T or-t-" o6;-,-l
(in: t Pooo",=es+) g-46*,slt es-p 6*+:..,K, t I At+ it-t.S,.$u- cF^d
,ROT(S K.a ,05s)
urt-a;:ll,g l, 3L:t
^-sl: -t*
',--tt a-l
b
g-,,1,
txo
,.*tu_* .p+r,rl
(
Ii;:;"]
;t..iJ
rr-v)
c*)a ,0se ,abss JbJ-'ar*,)r. s ko if---2lrr1 ,alS,-r| il s I( 4 g ^S
J; y-l aS fS .-e'-f; ,|* c,1knb r,-! ,,'-:l: "i-L; 4J U-+ t -,* :l aL": g.5;T;l
'^L; d=1q iti;.S,- ;lly r-r-S
Jl ..u", Er lL::l ctt64b i-ts..aat,,.!t
^,
",*t+
,ua.t+
lti;
orl.i"-,|
,s\i-,.
6t+
\ ,); tl-t' 6ta":^.,;l
G.-#
Jt:,rr:
,rL;
Lll;
jl
,r, dl+ 6-* ,sln-sli , ;U; ,s$r.::: sl:i
,gJ+,,d=?Ud
;l iI tf
,r,
.n-Tr-/
;1T
.tr6, L;-:*lu 6f
,s4r.i)Ey
S; 0*2;
uJtL ,2zt,,>.S,- Jrt+fr, 2&-t'Mt o, g91^L,.:l cSr ftfu t, S"t#|O
,4tur. , ,Sd *; 6ja; 6;+;l -r, .5 c*l orL .ia o2l .r;v. l4l
,;t-L 6L;ri ,slo.,* CI 8, ,6a alr;L-t iL";l bl-id
.:J orlr'"""1';tT
'sl:.
"1,
l5'*-51;-19^. Jy^a*.6;J+" u!-tJ al-,,, o5c*l ;T ,-)a ul g;- JtS:t
J ...^.,,
Ga
U-l,ori rlt'""t:i
-S-,
f"rlr
(tfio ,oro): (tKo,oso{
nY?"o)
(ff-v)
fu* .c*l t,rrt c^i) f 6rrr n ,> ,S
c't-t<* {A} ,s;rp- ui-t-.; &l ,-ht q .r.5i e;!3r r[5-11.li. {L: ,{B} ,j.1tii
:L:: a
{a}
aQ
i'L};
il csy
u-
;11
www.mohandesyar.com
YVV p]16t
6Vi
tsWu
K" - t Kol ;T,-sbl+ aS ,,:S vt u;l ct* b ,rtr t Kn -r-L ,c-l cr-i orb s Kn
s
K e ,r:* 6h;lr; f, f+T d"!, r ,oS-. t K 1lt2 i'q \ \ -V JS.l )lt .rt f+.,
"
*f sKa jsr;;1T s,r-f,s. r-,-b,J,-rS,- q (Ll:.1,I;) J;li; g;b.rl:Ji .stc/ ib !,
.t-f.,g rrE.:;l (s Knert t+i-l yl s.12Tu..l,-+ I ily2> 4;S1S
It
,s;+: itS" ,l.tu ;x a5.;T;l ,*,,
,F ,;;q--;L]; g Lslr.lJ X
";$t
,fl-i l ,F slar'Li;l JS.*" * cW rh-l tslr ^S ;Ql-t;La-rl relj,;
c*l;r,-l : d ditil I lt -5,,-t .lp .S,- {! t+-l-2r Ll .r:J'rti:-l .nif $, 6-}+
iljd,+i ,r-l &-b, tt.-uq ;l.5- 6tliT'^-rt t c|,-r,-! tsrt- ,fl-i'E$b c,.u a5
in.tt.rap L;i-2: c*\ uh; orr,-1 ,(J;)blc,L.-2r Udr 6 t-515,;[tl
f g\,Jfu Lr+ 4:[.r) tir rsa.-b*i ,.1.:[ ;t-,.!.!-q u;J +- l-i'+S ou J*
,d,g
t Jfu 6+ i2[; ;"i, J* ,q;y-* .re: -ulr; ,>^li,u 6iiT Lrs
'i^L
iJ:L;l o:l,-*'l L-1
a(r-l .sbt)
V-t:Ig cd)a b:Q tt-r,-t:;,(Yf-V) kla fy
.-b-i $ tJ.:B;il q* iliL/b rst+ i---[ c,-r. l}.(rt+, ft+jl !, ,k u-l
"-ft
.s2,:; ;-:* ;-*. L ,l
r9.e j,5: :* tr 6;+ c*i dl*l: r g!-f cb i -S-t uW, ctQ,
,slt h-Y ub,.-.,, d r,1 lL u-&-t l x \ 6t^-rl),: :l ;;l-irl,L3j1, cr-l ;t,.-,: .r-1lr
,g-rt'
aT
-.3
- tKo
\t
\
lK",o,
t\ tr,
o\
..r!:: 4#,^:... tslt qsU-:-t*
\ \-VJifu
'-L; Ga
www.mohandesyar.com
.,#
4i
YVA
\2"oTu$Li-lrt ,JotS. tsrit,'>li .r;u j-* ,s;J+. ui-t
+ A# r;-t;;l orti:-l \l4I ,s;r+. dl*lt 6 Srl ,>Sf ,-.*1lr LAt cLbl
,\Y-Y ,fS*i.2r
.;
..:*l
fiJ
rqj,l
z-Y-z-{rl ut l,
LSIAJ'.',A,,-r'JUI g')S"fu 0-V
&y, u-b| ,;bL.st+e J q5r-26: 6L;i .1r oJ-i Jrej * J*' 0:. ^S t+l-il
,o,.l; -[ti; s rsrs 6l;i t !l"rl tt GjE-f c.,X.i, Gt6tclo-*rt,4igt|t
Gl6t
.rr.,,
th_l
si#t+ IUi; ,J:l Lt .;')r15,.L.
qS ggli 3:9Ja... -r) J) ra ,rAU ,rttS. rsr;! c;t+ .i.ra eli; t 4:l &:.-4 + Jl
tlJ,srS ull^bi.,r,ati.;r: cr-l ,h r)--lt Lt r gb .ttr u22 ylt;til tl ,-u:--.-n;T
-b.tt \f-V ,$;y.: l, ;rT ,srS 6l;i : L.L 5s L.6la,u-a;1r,, ,6r; il1.tct.r;,.S
\ ,sby 615 s5L2i ,t 6rsrla, ,c-l -;^Ef \ !l il Y tb..f,tr:.r cr-l t'.{ri
,,[-lr -1r B .i.u'^Lft ) A ;GI :L;: .g*l o-i-i :h-l,Lb st l} .i)t!l \ tlt gEe
Jt t l ;1j1u; {-r,, tslals..- .;LL LsL;; f B a; A ;l Ef .rrls ,l} qS 6l;i
o.-;*,),Ltt ,or
\ Y-vJSr
1. Intelledex 6057
www.mohandesyar.com
YVt ,j.r6t,rlrro" - (./J;r er)f"l
.G.,6'-*
Jtt
A Jg. \r-VJK,r
tr*: ot3;T ,r-, ,,t+l c-f ;L; g.L*,l; "s1S> 6tji I L 4r p+l'4
;T.2: .5 $rc/ iL..i; !1 uJt ,Jb. ,r-l .rr: rlF tf-. ,r=..u 6l:-.1, 7t .;Q !ti;
tS^,,.tr5r L;-z-\rr- 4.;l o:Lt-l Ll ,:,1 iS^r GLTa bliL/lr;l-L 6l;i
rlt
\.c--;
CrtJ !U;
.,!+ r5 W ,lj
cu-,-:,,rr f3l c.,)15;"
rrt:.t-t+&,-r"t,;,tS. uajL.,aS g...5;r d,',-.r,-r 0 J.-iy
rL+"| .s! ;l-L trl6:r.*
.c*l a<-,* ,GtSt 6Lzi r, g-t+ 6-p
=-b ocr
r;
.ulri;
JF
6lzi tt\ ,rf g-6*.r,
,r5.jtS, ,sUl. Jl
,#* 6t-- a-; -2:
,6- ,s-*.-e ,r5 Jt,, I ctJl5, l.-ri I c*\
A\ Jt >Y, .S .Sr (;6t
'b
r ,*L- ,;-;l1.l J-L J+ 5_ c^c- c*l ;S-, ,tu
o=(i tst+-+-$,
JLr|
t+1.,, a5l-,l:
11
c^r! Uti
'h,fitS,
g,_l ,.t-21: &_)-eJ:u l! -;l ,f;;tS, ,s$r
if
*:
_rl
..l5 .1. ,-,-t++ q
.r_*,g -h t.,y -*:lt!
.ilr"dl
jtJ
\f-V
.u:,r,
hb:tL,gla^;--;!:,,.5-! cJL ;t2l;l )ll
J"fu'
(rs:t-.B
a.
)s6.
A
c.-l iT
cJL
6r
jl 6* ,sE-b.r:
!I ,st+l:t t*)
=,b
T
$ll rt 1 ,r:rJ .,r c52 ". b :rl..r5.r
dT-/r af
-!
+l
.f
r.l:l
.1
r.;i,r, iVI ,--
r^,
clt t; Ll ,r;r, .rlr
SiL. s,r-r r.1r .rL ili; + J-;.
,>l.y ,zS7.Jrt g;i.6":",=-
"tl ')r -nf
,r!tS.
www.mohandesyar.com
JP 4J
.G:6t
:* tt pt t! Jg.
YA"
\f -VJfu
'r:; ,fS*i;r .tS 6r L;->-| .* Lst*,t t, ,*:ti t); c-"s- rrtr .rt+-l d
'r.S
L>{.-bt
.$l tF ,)B ,fb+ asf b ,c*l o$ p-.r ltr
^'. tr.)-t + Jl
"r.it+
J-L ,J,er ;1Ku. -,-- GV c*i ;l ,>L.2, d.'.fu Ll ,c-l ,jS^, E- L6;
.up ;1 ce- i/-l ,-r.iq ;i-r; \ ul-.".i, J-rN a f + f .tFcl )t,-i JL*i $l
'+Scn- aic*l .sL L-.=.- Jir, otr !:.r:Ton-t,,Jig. g,-l J- a! c;rhr.rr:
GU: -b ;l ,...- c*l gS^" aSJI t ,\.r,/ U-+ .5rS JF t+T ,;-,ll-i 5:3Lar yr t4L-.L
.t: slF ,*,L, ,o-\.i i.;o p ?$ LVJ;l,,lrlo Ll ,.l.iL .r*ll b *b g-:
t,1
Jrlrt, skb?.rr j.u J UF LW
Ls.f4
L/-?t ,fy A c;')lS.a.
I ,l- JS.l,
,u:"-t+J,.-L I Cr &-)eJer,.o C;.ilr #r* ,g;et-...0 Llt 64* t II g L 6luLo
,su u.l(:^a o13a,,r[5-l'. cl .ut I 'ir: 0-.u;l^Ll; a' 6$,-.6hb" e^A L ili.l
.i.u ili 1 ,r-1lr dr- O; 'e i E ,f-* c:,it ita ! tli c,trz af .urr,
.sf.f ,st+lrt ilSt, i Ll ,.ur4 tF -* lti i5t xl-irl oll .\0-V,,[5.i;r..r-y
,Jar cJ.r.- -t*- g.i*,,blbtq.s.jT i:* rlrcf ,c,[:l ,*- L] e,-,cJl
t-r-l:;.
.JLr ori orlr- .l p{!l tb Jt{- .i_ 4,-:q s,t-'; \r b JS.:",A tr:
yii-a st+!:,' $561; .= " .:-L ,;-,6r sta*1: c,)tS.:" ul t3-s (# I
;!-u
.5'- tail-1:
.c*l
oJ.3
orlr at,,t.i \ 0-V
a,,
J'*'Jr
,Jar
621
c*l
OS-,
www.mohandesyar.com
YA
\ cslslf Lt;1,r!*'rS i -* Sj
.r;6: :*tt
V A Jg.
\O-VJKJ
,Jsra. o.l5 orli- .l .#'l $ .,,16 6tAi Jt t' ) tP srL:l J, t' b -*
J-L 6L;ri c6-*.r,-!,;16r ula-r*-1) oJ-i:[- c,)S.i r1,-.9 rlra d+[-cfi,
.r:5 o:ti' .l g16, ,s6-,* :l :V Js.al, t{5 , ,tj ,S+ b
cst*ts'atVJ Lslf I tfu r, r,.u
+Jt
,-Y
-*'U^', -n i, Lilt-i ,st-t-S LEt ,Sln I gb;.1r
;tc)tll t Srl
,.12. LL121i .r^)r/ ,ot ,J*tS. (U\ J;S fu- ,. It }-;
.$rc/ SF,l ,r*- at-S vl:y.(:."T \ )t,*- tr l, o!L,
a*l^., (i , ,0 .0 *2.b
L/-aiA LtL.bt 6taro.. r qJ;
6b! borl: ;l 6lo-ca.^.,1-V r;--2) o$ ,Jt,slSlail .i- f '^.s+-* eF
,rsts;,6 Ll;a 612l f tfu 1) t22'a ly o.''.+ laorlr y-l .rr:.r,..*:{ ,.,--;l a'Li
..:lyc/ t6+ 0 5 ,0 ,0 '+A ,sD
(f-Y) iJsb, u$s*,*. -* i, ,c--l 1r L.;r 6ln[.- \ * J'fu' di uJL -r,
.\,-.b gglas9..tt ,p Gbr;l atli J^ it-t, f .S'/ a*l-. t e.t4ljl-/-rh. Cl:l+b
+lj: ;p,l o:lr -2[ -b \ tA. t ;.*,1'J'ilili 1y 4ts u;lal^- \ +-l* :l
.+t-af a.l:1 .=n..
www.mohandesyar.com
.# ii
t-J.r.l rltt .P.;l +'Li
c^-.-i .2r .g-.21: ,lt Qs:+
YAY
f t5 t ;-tl: ,6,* ,rl-i 6ltlt uU;6t-6.:-i' rr
t ,ts c*i) LP;l tli 1l-rf -2: 6 t-."J" uar-r l;
t-*,g a*lt n ;1 uLo;- t ,SD r* ,;L;
0=0i*|i*t
0=6iu
ro-v)
d_'
,Lj ,,
,(Y
o.l,i a*t2..
F-V)
L.l:, J:l iJ:b, ;l
t) Jt-l-a j.-;. /
tinb
o
flj ,a.Q. zL"; ;l 3f aU: t ;T-1, '5
GlJ.-#,LSt +- 4:b-1, .t-.J.g a*l'u -* aP
g1r,.e
c*l
-t
(#l
:, - (ir, + ,i*)
*
oi
+ i,ikJ -
t;nt)
*i
r,otl^o
rr-v)
0=|jr*|rtno
6:0u
rt ,tirc 2 ,ti ,()1, ,01r iT.r, d
,*L-.f +olrl ,l-.r,p -Lt ro g;l;cilr: t - |t1;:11[ tr ;t -L, y-l .-slo-ul
'b .::-1, orLe-"",| ,22....g;t^drlri + Ll-* 6taorlr '$:l.trit" b
cdrde (YA-V) b (Yf-V) g;tral:L :l
* P
,s;+:
-,* $
lU:
i
.,lJK) g;L' clrt+i..., !;
J:at clt-* Jr";l ,* jr f-V ,:n tt $,d.rll, -* c)a i
ul(, ,,ja ,l-2.l o-u a*t-, y-tb i5; Ll d', ork-l 6#-Jht
(ut-L cJtt^f,;l, -/-rb, Lsttq) !, g16,
.l.r6t cl^bi p ,.gr$;-i-: utS, i:r2;l ,sl^iJ? il5 ,J-,^' a5 'e :L; ;l 0 .512a;
c*i;: aa-.-:i I .rS orU--*l ,d*l
,h X g.tl;,T 4t5 f 1P;l .ut i f
'P
t-J ,g
^*l^t
r=rj*-n1pt
( rv-v)
i = ijr,
il="
!19 Jl ilr[, t, qLl g;lrJ,,,.lrili1t 3,c-l fli ,*qi}.jl;31 ,S)-;-tl:t;1.2:.5
a*I^. ;r.:a 6iiT'gtr f r* ,cJ* 4+[-rt .r: irai l* gh bl':.r:) (Yf-V)
,(f P-V) J (f O-V) qrt^drL.2) rJlnr,r,o it-:.i
www.mohandesyar.com
YAI e,!n ceayatil *:\:*.;--;
s-*'g
/\
\
tinb= t- (rti *tir)
r = xj + iix (t -
i:iir*
L
{ ;;t:1t ,upL
J--,
c;Lai
gJ,^,j
t,^o)
+ |t*t;"6
r^-v)
i*t;nu
LK
cJt-
,*;r r
J.LJL
tir,
r, ,rl Jrt*. crt+Jt {tr lt (i ,,*
'^*I-- 6b b)b,f;t^+ g;taal:L;l
2,ti
,i1,
,i1* cQ-J ;l p
^S
..[loJ.i tW -*
,X\.t-r5,
-p
u-l
1q;
+1.:
slJ^;.J"6J- ,t-rr.rJ.J:-tr
'r*1.,' clt ;rst!' ,;.-f l: ;l ,u!-.L ,s|";J+-
J:-! 63)lca, aab ,g.-f lj :l : ,W-
,4k-... ir,-l
:ptd ,S+ b s-; 2o:0,1l uG .,f^s.lr tl .t o:bl [O] t+ti 'a*l-, ob,aT
.|,-+,3",rri J:L Glzr,- u:.-t-i Jf-* ,-* is;5 ;.,.Tra.fuT I tA F-l.b
SOLVE cst*6L1.,1 ;l,O uto tty ,P ,sL-la rltJ+G. cb, ur Ce
t ;; 6 t6 .de ork-l (-r;=.:.!2 A-f ,-JJ'r.\
,U)rq, t.o-T.r c#)du .5)rr 6;i*
e*l ;r"4 -b tt-r &tfJl
X
o(,) = SoLVtr(a")
o(r; =
61r; =
);Fc/
orl:
o(r)-o(r-6r)
6t
rr-v)
o(r)-o(r-dr)
6t
,rS*;ti ,st\ J;S
t ,6: ,O ,O ,slt ,uI c-ra., y-rb
V-V
crle.r c1./-tuUJ. JU.j U * i:ai
t+i-lr, .# r.+l- LrJys-& aQy t, I ol*r,, 6j2tvbtl gct+!; \' .,["oi y:
,l; t^^, t12. j.oi t-r-l i dt ! u,-t^Jr",., i;U; $l llie ^;$a o5 r.r:,r, oLJ
jl ,r-;.,g ,sl;l 6 d-l+U,r, .rJ L4,d;!l 6y-1uL2..-rt+!; jl ,.'5-- i{..:t ,.8;J
C', or[r"""1 ,[2] c-l '* Ll+l r.,lL-l ,tJ':;l: rr d,Al,itr.i
: @cs[; 6;a a;$ r.1 :lr ;t+l .u C) ,p;l ut^r.- s! itJlr- ,** ;rl1.,-t t ,slit- u-l .\
4l sU6 ^a+-rr.1 ,IrlJ .tl==|6
tsrr.r-r
,.,J.5
t-rt+;..n*
:l
.c^i[ c*r 6
.tf ,d r"-t-,
rs-rQ,.d,,:i.?-.r
www.mohandesyar.com
.,?,4i
YAf
;L; Al;trjr, b u=*r$, A:l g.l^f, vj cvf,r: D: ,C ,B ,A g;tar[^;
L-) .ll'u o:lr
,':.-=- + ,*-)+ 3 $cl Lp"d b c-* LW |9-nrh cr-l .rb:r,.
A c^r,;t r) ,-raL ,rSJtS, ,st:\ 61 4 e'.(.r;lo.;d .J:4 ;l ,sb, [ ,c;r"l;T
"
il-i L,/,,4,g-u,L;,stor.-,sLb p ]--L,;.L;,,ir) :.r! arl:Jr- g,12. .tt:, iGT
c;j
move ARM to C with duration - 3 * seconds;
c-:J; ;tl-icl c*l ub; 1s 6;+
r ,lS, ,Lo { 1;[ arl: cSls}
move ARM to C linearly with duration - 3 * seconds;
.rr5, L;-.:,*lt,Sf1l +! o5.u:,r, itJ (.,li t*+) "linearly" orV 1t oS
;Li ia),:- xlsg oJ:5 orl"--,l ,U! ,*ll ,r;"^al 6f ;L; o.r" Jt .tr: orl.p--""|
.iap -b I i-sys\l., oJ,.i g..r; Jprl ,srlfu P,Jy-ars,-l-2:.-uf .!L,
;1T
,.tJ
move ARM to C;
move ARM to C via B:
ni Aitil ;l + E "".1U".: ^L,; S"_ Jl )
$ ,9;.* (H iltL/ !
move
ARM to C via B, A, D;
"+Uo
LIL;l
6la.ca
^-,
L-
t*t tt $ +5 -.y
-6 * seconds;
J) c.r: It aU: Cr-l ,,.; ;"& )-;'- fu- e ,c*l ,5f [ ,slt or.3 osls ou J*
-p jl 6l^'Li cl2,-,t $ ;1tJr9;"*;tS"l AL rL,jr, .rJ*lr ,jr*; ,-,"^"1 i
ili .r-21, >_ns E
move ARM to C via B where duration - 3 * seconds;
+b o- \tb Gt Jt,tFg,,.,,iLa, B tli u aS,,gr,-.,u arL; grl-J-,,>12,-a;r,-l1t
move ARM to C via B with duration
.c.-ils
.tap
JJr -11 o:tc,-l [, .r..,0 Ls],-p-h A-V
[-) ,U i,.=J # ;l "5."q)
gelltL 6t+ 4E :l
g 1) ,s...a ,sir] f tfu ,, '13 ^.
^LZ
vL*JIJL ib tt.1*,1
r)-r,,li ,slJ J-e,;
"iJ.btr.:bi ult(f-fL 6.11.lL
"l*b
www.mohandesyar.com
YAd g:!.,"
.c*l ;l u;tr.rlJlrK dr 3:3J:,,. 3 1it1 .t .1"-r;l ,',b ,rt^l;r
Fn
..^,b
f-t'L vb-i L-JJU.fl i ,rr.f rrl: c.c.r,- :,...oJJIbJ.S g? 4"u+
r'-f U..b-i .5'- ,t-srbT '*i t .su-;lJ.1r t- J--L.i.r) e) *l L b c * Jl
.rBu;l iUL-, o-! ,r*-;SU.-b.i ir-l .J"i.up rrL.2L...: t6,{,st-f},r;lr r.1-.9
6i-rh ),y-!Q .t-2 6la.s,a,rTcbly;l 6rB csl.er! Jttl #rq ,ol*-, + b t.;i
orli-.""| ,lS t** st\ cnr.st+-lb il ,J.-i u-l l: ,.1"1 clrl tst+il l!s* .*
tr.;llf
tf
C,r
trti Cb lt ,-bt:, ir,-l c*l tf-,
(-ul.f .1,-+ ngt;-;K" *n q ! a.r& *l J-'i Sl lt GU:;t')ttl bl-id
r [V] .st+.-.r, 1s :s] ry.-a.rS^, ;L; $l.u -2r j'ta t i*t ^S s12T cdrd/ ut]
,;J1,.t$ 6* -b;tS, *
r='
L''r
"'''"
;;.J,l,
L,
\ j !,{; :,:';,f""##"i H',#J
rJ*J tl cstb g;Llr,.*t LSI-*
q-V
,f ,*e rpr: i[; ! .i.u ili; l+" otr, a rol*Jt c--t,.-*.,1i-1!*"
.itlrrfu- r.9- 6{ {,iU l',-it i:*,! .i-u { i*t cslr pI .*L* !U
t,6,f ,lt gt,. iJfe,6-,6e.--[, uSttS, s:;! cst+l.u +! t.,* ,6,s-l 1.l rsb
,s.t6'*E aLe-r: u-S-t,rtti crriq c*l ,L...r.iL ,r:-:lrrtn;l,r, I f=b u-lr:
.iJ -br, F-' ,sy\ rsA. S7z c*t +li It u\ t
1;: ,.lc!.164, J,i':-r, c;yF gt- -,,, ',rla ,15,r" l* b ttft :l 6tV U;[aJi*. d .gt+; .=
Cb S-e-! .-,,b, ,l,l; ,ja 3> a).4 ,t_ltr.J-i lt+;l ;tli-.;;r..slci$ it q-i-t
:r-rA ,x) -* c;tar'Li jl Ji("i;, tsrl:i &:l rll 6Ll l.r,il ,lel ,-iaf ..tjlo'li
,t-lts [t-\ \] ,rt jl rstG-r*. .S,- tH t,s-ict orlr F-LJ (r;:-t.S,-,:..- iti;
LsJrl-,; ert,-aL;!:,, 1;l4LL:l.u; L ,,ja
J*,.cL'L, .ttJ,; ra:,-a rls2;
"t-l
U_l .t-*e >la_l us;,-" Fb,.-st+lV ,tly illl1r ,13r ,jy i.+t-.f ,-;--lyl
Lfi*,;,r:,J,-,L ,=^t'i .5,- "^U:+ 6JV -2r ,5;ti ,sil\ S s-.-J.,g C^t! t+lfr,
(:-21:-2!ri .i.u iti;r: d)
:ut^, ;Ulrr
CF olll ,r),il ,\*r-/ '+5.i.u csrq
!ti; .2.l ,:*l a,,S^, s ;fe$J -b I ,P-r oll L?- ,Ga ,t-lJr d;ti*'b, .[\ Y]
.+T ++ i! tK-rr g-t+--:r.r^,. tucj.a,t J#ti, ;14. t*;..
rl.u;e
a-2,-:J
pla
tl]
L.J
R.P. Paul and H. Zong, "Robot Motion Trajectory Specification
www.mohandesyar.com
-*4i
IAP
and Generation," 2nd International Symposium on Robotics Research, Kyoto, Japan, August 1984.
[2] R. Taylor, "Planning and Execution of Straight Line Manipulator
Trajectories," in Robot Motion, Brady et al., Editors, MIT Press,
1983.
t3] C. DeBoor, A Practical Guide to Splines, Springer-Verlag, New
York, 1978.
t4] D. Rogers and J.A. Adams, Mathematical Elements for Computer
Graphics, McGraw-Hill, 1976.
t5]
B. Gorla and M.
Renaud, Robots Manipulateurs, Cepadues-
Editions, Toulouse, 1984.
t6] R. Goldman,, Design of an Interactiue Manipulator Programming
Enuironment, UMI Research Press, Ann Arbor, Mich., 1985.
t7l J. Bobrow, S. Dubowsky, and J. Gibson, "Or the Optimal Control
of Robotic Manipulators with Actuator Constraints," Proceedings
of the American Control Conference, June 1983.
18]
K. Shin and N. McKay,"Minimum-Time Control of Robotic
Ma-
nipulators with Geometric Path Constraints," IEEE Transactions
on Automatic Control, June 1985.
t9] T. Lozano-Perez, "spatial Planning: A Configuration Space Approach," AI Memo 605, MIT Artificial Intelligence Laboratory,
Cambridge, Mass., 1980.
[10] T. Lozano-Perez, "A Simple Motion Planning Algorithm for General Robot Manipulators," IEEE Journal of Robotics and Automation, Vol. RA-3, No. 3, June 1987.
[11] R. Brooks, "solving the Find-Path Problem by Good Representation of Free Space," IEEE Transactions on Systems, Man, and
Cybernetfcs, SMC-13:190- 197, 1 983.
www.mohandesyar.com
YAV
t{at
U2l O. Khatib, "Real-Time Obstacle Avoidance for Manipulators and
Mobile Robots," The Internationol Journal of Robotics Research,
Vol. 5, No. 1, Spring 1986.
[13] R.P. Paul, "Robot Manipulators: Mathematics, Programming, and
Control," MIT Press, Cambridge, Mass., 1981.
[14] R. Castain and R.P. Paul,"An Online Dynamic Trajectory Generator," The International Journal of Robotics Research, Vol. 3, 1984.
[15] C.S. Lin and P.R. Chang, "Joint Trajectory of Mechanical Manipulators for Cartesian Path Approximation," IEEE Transactions on
Systems, Man, and Cybernetics, Vol. SMC-13, 1983.
[16] S. Chand and K. Doty,"Online Polynomial Trajectories for Robot
Manipulators," The International Journal of Robotics Research,
Vol. 4, 1985.
[17] S. Thompson and R. Patel,"Formulation of Joint Trajectories for
Industrial Robots Using B-Splines," IEEE Tmnsactions on Industrial Electronics, Vol. IE-3 4, L987 .
[18] C.S. Lin, P.R. Chang, and J.Y.S. Luh, "Formulation and Optimization of Cubic Polynomial Joint Trajectories for Industrial Robots,"
IEEE Transactions on Automatic Control, Vol. AC-28, 1983.
[19] M. Vukobratovic and N. Kircanski, "Method for Optimal Synthesis
of Manipulation Robot Trajectories," ASME Journal of Dynamic
Systems, Measurements,and Control, Yol. I04, 1982.
tr+t
! G\:t.Su,tfu [A] \-V
-p 67 lr ,Jt^.L
",:;
E- ^tLi J:.- ,Ji-,l.rr .i.u iLi; 1s 5 ;1Kut d.1t+ :L;: ,r j ,pe ;o1s
\ 1r a-.;: 6[er.*. -Li y-l W 6\::Fcf a*l^. itfb- lr 4tt
).iJ .b-r) I-! c^,--; rl.ui
cP
Jfu
t 6)*
rl*,.1
www.mohandesyar.com
f,4i
gFe.c*l dsl- 0 = -0o i-rb.rr,,t19l J-L t !r.S,- tr crll [\f]
v|*.d, dr 0 = A"o r, y!.r 6-,*.r, I c,trl W a*;U f d,,Jr.1.!
JL + .i.u iti r, L -rr! e ,Jr) f t+;l !, ,k u_l +5 l+,b ,t.*, brr .#
YAA
Y-V
e5
;$::l
dt6'1t- J12,o* It J-L.-1:.i 3 turt,;lS, 6\.:-,,..r.19T.1:
Ats-
'+5r,
i,.r-tJ 'P L 4 ! ,rt',r, [\ f]
1el.; .r G*-,, t;l*l ,p,g;U F d.,Jr.2r
bt:\:,r-er cSr- 0 -(j'J t- -rF,:..., 1gl.rr-",!t, .p;L , 'ar:i-t gt + *s
cr-l.r:
1V;l ,sb pl
eVe.c*l ,f;0
= -0o
L-lli
f-V
A" o
;f ,;tt+b Jt-t-* t J-L,-,l:.l 3 rc.',-,;t5. 15k;-! 9 ,+*t-,. b .rS U-l
.45
-2r,(1".-Y)
(f0-Y) 6l.lal:t..;l ;T.2:
,x-fc/ J:Gj d*q ili; 'p:
^S
g;rl.u;
+-*-n
'a-:+
.r-t t6+ f-V J[:. b
^S
eb
g;12
,lL;
'.-.1 [1"]
6la.t;y
f-V
v2l^r?, ,stt r-# cJL
,sU b
-Q u-l .'-i o:[r'" ,l
9lrtLi )r t &-r,.-L-i L? ,sll b,-t* 5 tLcs-,;tS, 6ti-:--, [\A]
,0. = U"o aTts 6 S fr;LL.sDb q.:-r i/-l .+5gr Y-V JL,
-b.tt +li \1" lJ rP;l a'Li |;,,, Jt .00 = fo t"o t.0, - ,0,")
0-V
.+A
il irLi Jr d6la"Li tt L;t& 6bt,-,[:-i 9 tcel-t,;tS, cst+-:-:, Itl] ,-Y
fJ (\ \-V) '^\b I oJ-i orlr vlrll orl,'*l L ,c-l 7r 4tt,gleL-.1,0. = 0r' o d:l 'tLl; I ;.,T c. -",';e.5 +5 g" &
6b t{J..:,. i/-l .+5
i^Lo I
J* # ,fl .e*l0o = Yo t"o *i.u ili; 15 5,0u - \01" o
..(,-
1.,
";oLo
d.1l+ iL;:.rr \>ar J ,+U \1" ,pe Z'Li g ,>s.
orl;' .f l:),sr l-,-;U;'^'Uitr [.1*...5.,-,-t!t btr,',t, ,t1,ils,d11rr-rti, IY.]
,01 = 6r"o br-rti. ,P ul ,sb..+5.-t^, ((YA-Y) b (Yf-Y) 6tralrb.;l
farr = tarr = \7's J55 ,rl .t--& -b I 0r = Yo too 2 ,01 = \0r'o
..l*l A. deg/sr L Jb 6r. f ..?l-i Jt l,-t:.i ar; i/,=i ,h, ;,l-rl& :
.{5 t*, b 0 vE:' 5 t42*,;t(. g;t#^L
glrrli )t t Ly .-L-i (F ,sb lJ ,-L-i 5 t*r-, ,!K, .5t+.:* [\ A]
,0. = 0r.o iT.r, d # gu;Lj-,slJ.lJ l+:-r i/-l .+5gr Y-V JE
.x-r$-bl+li ll . Ita,Li;l.t J*.00 - -\otoo t,0o = \0r.0
.S.- iT z''Li j d6lr'Li tt d)r,&. g;blr,.,lli 2 {*.r-,;tt" 6ta;^.- [\A]
i/-l .+:t fJ (\ \-V) '&1.b I ori orl: +.-l*;l orll-,",1 L ,o*l lr +rt -,*
0o: \0r'0,(*ll 'rLr;\ 0" - 61.0 !T i 6 S r,r;)*L giblr t+.:d,
.c*l \V70deg/s
Y-V
A-V
q-V
www.mohandesyar.com
YA1
t{rt
ou $.(;.u'^Lr,\0s - -\oloo,,(,r-it+ eti)
.+S *l " " deg/s b ,*Q 2,LJ; 1t ocr
c*)4, 6rt--;Lt LLig: l r;-,-.5.,- cslr btr:,t1 .t1 ,ilrr,6n y-rLi. IY.] \o-V
,0, - 61'o .J.oL u-l cD.((fl-V1 b (Yf-V) u;taal:L1l orl,-.",1 t,) ,--,:T
tstatr = tdrr - l/'s t taa'L; u. Jt ),0, - -\o/oo ,01 - \0r"o
2. deg/sr )t 6s+ ,-fl-i J* I ! .:L: 'oJ,-: ir-i ,-fu, jl,l* .x-j,, j:
'{5f, L 0 =* 5,cs1-,ati 6t+.:r.:.. .+-&
,r.:Sl.p,,c*l J:t^" 3T\6b(X"),P x \;r5: ,s;r4-rrtS, j4f?l \\-V
J,+,U Yt" b *Lr.,o
rr
.SD
rGoRG:
- tto/o iro/o Y"t"f,,8R- ROT(Z,\'"o) 36liJ^,
ptsr Ls;q-: utS,.,l'r, t, S b Zf
tf]
"[,+
sX"-161"
-Y'/o \oro Ydt" olo "t"fT
\ y-V
c*)dr ,c--l Jr[*o
q,!tS" ('tq) Y-7 ub'.,ri,t"-r u;t^ajrL;l ort":-l t a'.+,-* g;la.[7 [1" ] \ f-V
a 6lJ jV ,y 6la;1l:.5 ;;l; tt ,(!! :, t: ,oU
-r) r,,! ar-2eT -2: 6f
.2r e .sl1l$ jV st-r f-f U g.a^Jrls.r:J +t ,. t A-V ctr .,*. (s:-lr
Sxar,r-. 6y r* U.i; llJt
,FtS.q'rt:) Y-? u4(Js."t!-) g;taalrL;lorl;;.lt, d+r*,-* srla.tjy [lY] \f-V
.r) :,,! a:-2el y: 8f
+ 6U jV tt-r 6t^./eU-:J ;L; c,.r. ,(!.,.|, :, ! /L
;LL 6la.12tc,-:311 srlittlr- .5ts*l^i ..,;.Jo-t^. ! A-V d-r -'-*.*5 f, G$ t *32t ,,P;'b c-".; b :V".U-l)
ty
.+5J- tt, I tyr c,J- 6blr Y-V Jt! [YY] \0-V
I S6t*t ,f.a: 6f 0y a; 0" jl ,tt ,Lj rr t ;bL r+tF.r [f O] \t-V
0r s 0" -/-)E .trr ,fL- i 0t _2: .e ,Jlf ;,CT l, 8r jts- c.JL j 0.
.st+-:Lb ,t ,,;li-'+$ ,sl:l+ 6 6liJ* c*l t7 'a*l^. .i.u Ll ,ilo.\.,.i o:l:
,sk .,b 6,,,o, , 0*o,(J;L|J .x-.j tltt ll0(r)ll 1 6,,,o,, llB(t) ll < 0^",
5ty cA GtV: +Jor|ji-*l f.r 4t> q- &lJ .S,- il .slrptl. c-.:.u.;1,l c*)al qglaL-'.lu-- U"l v_lP
C*l o.li oslrT-.1 !)Jtadu,6larLi &, f- a-.;rr*, [\"] \V-V
.t-rsT
0(t)-\.+\"tt-?"tr
,;[S" cr-l+ r lel y-rti,
.tud'6t +tj t - \ b t = " :l GL: iLoli -2: 3
www.mohandesyar.com
F,4i
.451.r,,,
c-l
0.t.3
crlr ,;rl3 ,ggl^Ji
0(t1
&, l-
Yt"
.rh.: 5 {42*
L..2: r...- [\ Y] \A-V
-\.+\"tt-?"tY
,ilS, .tt+ s 4:lr-rb .sadrSt +ti t
- Y I t_ -' :l GU: ll'ob ;
c*)al t .:t* g tu2x
orl:;=:;,61+rLi.S;
c*l o.r-i
)(y a-.-7rr*. [\f]
.{-,r:l
\l-V
0(t)-\.+or+v.rr-forr
cl+ r qll
I - \ b t -' jl uTli 1)-b r> 3
.I-r:l cs)de I vL: 2 *).s'*,,JtS,
c*l o$ o:l: ,i.:g ,6la'ti.(;9 (r 4t:' r...- [\0]
y-rE, .\ttl.26a1
a=;ti
Y"-V
0(t)-\"+or+v"tr-f0tr
,u& cl+ :
+lrl -/-)ti,
.tad_r5* +b t
- | b I = . GV, it-U clt s
.j--lrT
cd)dr
!,,
.:L:
(Vc,*-.;)
LE;tj;l;1Ty:
{:-,-r-r
;l-L 6l;i
J5
9 {-e1*,
g4jafix
(y4tt-*.S"- A}
ts12
r5
d_J.\
tsla.ti-r
o:[.t *ly-y
Procedure CUBCOEF(VAR thO, thf, thdot0 , thdotf: real;
VAR cc: vec4);
;i.2, o5
p.'bt i .5lr:,1-,r d glsl ;ti * thO
,P a'b,-st+-l-2: d,r,-ta; ;ti = thf
,p ^'Li A)l oor - thdot0
tp & .,1l+ ,r-cr - thdotf
uld.-.1,- ?-lp rb;l JS.::, 6l*-lT ,"cc" 5 ,+,121 6\D,cJJtC-,.
fJQ3
els.oat
I ,*t+ &tt i,
J5; t ,{^t} .t(:*,-l .-. fJL6;
t:lt.J:5 c.iL-_r) ,(t,U,d)
iJr-l
.I:...A e.lr' U-2r- ,ff *15
(rJ c*r) ,>la),:-,.1-! L; L[r1
a,
!*; {T} jil
www.mohandesyar.com
Yl\
w;
v-lr {! d....*" y-l .{5 u.a ;.,1...*- au J-b t Jrt
t6L-t
,Jtr
.(+5
5,+-,bv
+D
!r-[i
f-V
:-rTsr G:t
-il
,sbb
13t.ld,l'i
'?u;t+-|.L"+
o:[i-.*l \b y L..2r
Lli
1s
d"U.,,
":4r) ,ta +:,r,-L:.rl
'Ast'4-11 o:lr-*l \ ,;t-;. g;Lai tt b rs-r* d+*,-rr
-* $ g9l2.6la.l;r1
rl;:,;
a*l.u
.J:5
anli
+! f*.=- irl
,*
f 6b 1r 4ts +_V
-;l
L-; [.l,-Li ou J* ..l5 !,, ,-t eb ( \ iJe-.-) tr; 'al:* tt 3 ! 6l.uli .l;ctr !.r,-! ,a,[2 ,_t-lt5 =Er *]1-,;ti;tc)ttl.t-'J' ,g i.='; '-u,50:[- "l
!y,:,;.f L4,& o;5orl.p: .l L",' * aT 6,p asj ;,,J:y.fuT \)t
) J5r..+-
p:r
11
.Y
15;
: {T),st+r,rt-6- .t-r31-b.t' (Jr*,,itL)
t tt.- t, .$g
s_*C .a-r; dr+ ,[p
.5tq.i- .r
st;
{^9}
fr - lr y d] - [.7\ " ll \'"2"]
Brf
-lr a 0l=1"," olo "t"f
oLa)'L, Sb6r-*t,t-rrt-bl+ti
ll" b rg-..>;l +nli f rr, #
;l c*l rtV tq +!l uti .+5 lnl : ,fl),c*l or.l orlr 7y:,
["1 At dr] - [. /V0A " \ V\' . t"f
.rT
c*l ;.,;1d*t+
LW
aL-:.;
b, h 6rl-l'1? -o/Y fOr']
lrt Ur 6r]-l-"tY "/Y \Y.r.]
c*l ;rr4; (c*l #.
lr,
4tl'aLi;
J aJ:- r-r_lr: d) ;.u
;Lz: 3lu6,,u
Ur 6rl - ["/V0A "7\V\" "u.]
. tl,,t .,: tii I its" Ll ,l-J
-b t Y" Hz *.b r-,.. ;;tJ ;,ba &"1
;43,a.2: .$?1" dJ6, ,>l-oi^' gJ 6tfr, I g& y-tb .+5:f h
7.1 ,sb,srttrl Ul ,+5 v4 *:i I r b vE a 2 rJs-y-rb +lte,J-Li
.+rl.r; ,6 ,r-l
dJU
www.mohandesyar.com
www.mohandesyar.com
;at/
"strtfu
LsiU. ,-.;lfu
'?*
a.a.to.l \ -A
,ri;L;, . JJd t *L .,$t(, 6a\ ,rfrBL .5,r-{: ,rl*, 6LgJ,oi.2:
,fi 6lr a5JL -2: ,Jluf- Jti *b{ ,Ft^+- 6Q-+!, ;r. ,\r.rrb ,i'b uT
uS.,b-r u;t^.J:t " Jt;,qJ i,:-at.r;L; rf-fq J;9L+ J- *l 05,-.,rtt
'.ri-T 6tgt-i.2:.:,21r ,fu,kh!, rt 6 ,h,s,,S=;t.:.- gs.li!, q 15)U-j re.b ti
J JtSL-l t d{ *)- g..: 6=,1"-, t ta; c ,-$tS, ,sr)l J;:S d {, r+lf
.ri,l.:,-r
,fu ;tT
*;i}til;"ff"";il*'
ib,".6,1-j :3.b b,-:,,
U-lr.rSLc gl:.r, 1'l,f_la;j.J -b I,-fl;:l 65f-f
,,-'-s
::\
.1ig ,p
f
l, ;,\a,-rlt, u.9,Jb 2 Jl .t lt
,tsJi,rlJJ sxstS u/|jJ. iSlxl *>,-c- rt J* c^;j ;rX ,*V'^1-*s+
..llouJ ,J_-'; ,tV c'-;l s ,j2.o. jl: ,b1.s,tq ,/ ;;lsl ,uo * 6lasrljS 6112
.>Fc/ tdrJ,-*t uS-;tS, .sto:.;l b +, Lt-n JitL*, ;t ,J-; u-l-rr
tJ:Jb
rf.^. t
b a5.x...e
c,i-
GG*y,o.lui ,1.5 C!
dlt \ b ,rb6hkl ;l
rrj n+
2-1
'+
*s
,spa,,r$.JL
'fV
ilid JS:. e .trl: ,fu 'l,,.l -h +
I ,el-il ,?:
"r;*L
,V
,.
.rJ r9,l-.
jliL/ b G\:, e
;l (j;) ,,l;l, g;ta+"L.- ,J.ti ,ot,:,
lll
cstgrl 1l1l
f *w
uSJtS"
.5t!
I .,.l+ c*
.Y
www.mohandesyar.com
J!t, .,{itlSe
D-* t,arLi 6Lerlc,:f..,-ji; ,Ld,t+ g;tgi-.^.-
cn\ fi$ ri>t)a Ytf
.f
t LtJ;6bd-[...,.uJ
#5 .r
Cb t t+ Lc.,-l.1:
*r1lKg ch tlt ,sS;:c u--&. Sb *l* l.ril 9[ ,rS-jtS. c:tl. ,gl] f t1."
c.,!;- ! I ,i cl*t. tr , ,y-Je -b tt
,JL ro -2: Ll C', cb
"h
J- f fu .r, d s,kL- ,4ly i srL-r -2r .c*l ,stl$ (.J'x'-!,n' LrSJtS, cy\ ,;V
cb-2r oJ-t ^:iJ J = -; t, 6 x:L,l ,ltls l, c!,! ,+[; d e iL S"- aVr
C'l
cr:-,raL ,rSJtS,
cst:\
..rsp
gl*-r.l
jl
o.rr.i
,u'lf
crt l^e
i!
-*
r,_+;
'"*
,C*;tl.
Y-A
sr:--^ a;t=t--c-;l up).+t 1f+f cSD ctt*,[: ..|16o Lt t+t,, -;l
.sl+t :, ,.i.Li, ,sta.251t+ I 612., j-s3 6rL Tl Jst -" #, q Ll ,ur f t+;l .|2 GiEi
J^- t (.r*.r"-*\ ,f*,sto1t, J-2rti 6 Jti.st+t:., jl ,>{i .xf ed;L uili..
sju-t!:
x;l;g
.rJ orlr-.""lrb. c;; .5'-;r .-J":r$l ;tJi arl: .1!ri ,slt. ;tl-i,a.rtt.Jt .;r ,J*5
,6;lxl5 g1 ,Wi cAlt *i s 'L$t-t :l.u; aS.l ,-t r, ;.;l-ul ta:,; ai ,-r,-: f+l;n oS,st-h^
J-,Ja: rt-.;l -r,L ;!:r 3,stS A
l* *,-t,-r, J-5:,taa-L..- 1r;
-'s'u5.,
-t,sr[-,
Lfilji crtt;r rlrri
J- pL+t uL p) cJtrll .,L.r: rl-rJ t -u-t, ,,p L ,rttS,. 6r\ f .slljT;L.r: 'rh';
..t-,|.s;! ,srbT la-1s ,r2J , -h s.,y )l-sl e^" ..l:! tb ,F tty
\-A Jfu, .tr.:[ a-il: bG tfl ,g-Li c-*.5.u:,r, ul r"t(:r cJt- U-]sl5.
,cJL ,-r-1 tl.$rc/ ;t:;,.-irJra, ,t--h y + G**1l;l 6 tl.bl JLrt b ea\
J^rll' ,Jerl ut** Cfrlil,r.rl.l ,r:-^al ,2, ,;1T g^-, t # ii.l 6r3;a,t-r.t6,.t+l ts! llieb,stl:TL1t
! c,l1 u-l 3l+T;l )5,r.;ter RPM
"iJ
c,l,::,, S,o-f,-1,(.:*l sliT ct;t 2, Js-.r!rr):l:.2!ri.il:i., i:*tc^,-ta^:i tt-b
,,-$--;ill el\ g;.25;r- ;LJ^cJ).ca,l +l;,stLil L.-2: Gflr,J*c g,l ,!l rsb
,r
l.
,g-4 c-*il ULi ;=; g2lS\'z e ,g;-2tS,..-- ';111i uj4,
'61^L3; u;-r6JJo
.
1*.-/
o:lr-.""1
;.2tii
iti t'n 2 ;l ,r^' ,f jt J..oL {.,JJ ,?6 ,irLo, rlil c --';3 ,M ,sD
,|; q,0* up)lr c.t-if, tS:ryrr arl: tlt rslt.t: slF J:-.rr,c*l ,11:-.
u;g! c*l ,ri5,c*U
,P,(J')bT;L.-rr u-l:l ,f-ir.g-rlr;tr; u;rllL.rr
S
't'1
www.mohandesyar.com
It0
c.rtig
;l xti u'l|
e$.e
.c-l +b 6tl;l Lrs 4
\-A Jtfu' .5rbT L.r)
\\l ,e*
.s!1,
,brlltrl;l 5- )
L.)t
6tUT
6 ! ,-,!:,, ilJl..uL
L* ! .Jit5. ,sr;! \-AJfu
.r:-ib ur:!TL..r:
i,
t#
"r.ib,;!ts"
clt;l t, E etJ,-l:\ J:* .:JL ^1 ,13;rT,,.^50:l,'-,'l
etu '*:.1:1l2lrlp*l
.Jhb"-;l ,rah, :l-u;
2: 4.11i:, ,s6rli.l:t-; h-; ,tt_6#rl .irf.l..ig,
1fV
.J.21:
4rt
u;:!T
t, ;ry
ib-r.st+t,:, J
Jti
r'-a)s
;rlr.1f .:Jl:g;:tl L1: ,r:.);l;J ^S x;r-/ f.l4;lo>|2.u1r,.5,!:.r )l-sl;l u-t
a*; .c>*l ..:Jl ;.,21 ;l s5la3;,tarl.t. a:,-i,u.rs.$:rSJl ;tJi
-1r ,,15-;91531 6ta.2l.u
+- 4 6)r J;tJi tl.tul..ll;3tj:, L6tl t .;b., ,; j,f, r ,6la^)u,-/ttJ[-8f; otJi j)jt" s itj $ .s! s,(0 :,y ,r\:-rlr;t=; g;rbT Lrs a- a;,6lai'-o
.s-;. e nl-bl (z) a^;- t l-t' tsL-l r, ,rnrkt
jl t+T tr 6.liar,,t+ll.;b,6 t;"|:,g; rrlr 6:!iL.rr u;;lF 3 c-t+t':-r,'
vL
U-l
; I qsf u,-fu,yr.r-.f
o:tp-,"1c.,,t$
.S,g airs 6jS-i,2. 6lrr,--r>
Zsl.rl
c-a-b915l,
rsU.,JL;
.,tJi
c='it c.i
,Y-A
J.fu;:
'^Ut
,;-i
o:l:
,;L-iJ
oJ^.3
(h l9.-f g;r!i .-L.-r:;l u;rbl L.-2r e: ,5Su.l--.l r.1- t ! .,,.t+ ts-*:
pta.l .rrti. tlil \ ri c*l ,rf^t .;i-.r91 nt [ 6.25.-i.1- d;-l + o-.i ! .$rc,/
q'rbT L2sa-t .r-rt ;l r-ti ,S
,slt ,6-h blA ;l S ris ili,g ,t-*,g
"r-l 1F,1
t .tt :r;l +! rh[t vS ^'Lt l trrt :l ,s.J*.r4 ,rl-1: t ,.F.r: Ll .:.,5 ':Lf "l
bd:J
ili .*r,r, ui^s b::\ clt pl ,J;rlji,-..r.L rl.u; ,t;ffit'i[q"
*{ ,clj-l iub t'n a, r.:.-,-.i t\ i-S ,s;:4- a +_; as+ bl-itl | ,slal;-l;t'L;
;T 6f.a-,rJ EiJ &!,.i.SJT )l e,.5+:5 +-;Ul.:lr;f -h tty,F tt s tj
www.mohandesyar.com
/1, sint6. cll ,.ij6< ,i,t)
r='
6sl;l
o-lr'prlu { 6rbi L..,p:-1r,t--[r)ti,
cr-:;J-
oSr !,sF
6r3a- !r-;,-r.:tr a:,ilr c^.-al +t"6+;LJ^.ctr.uh
Y-AJS,J
;l;l
,uslu
J-rtu
as*.;
..:*l
.15u.
DJ.I bj,-b;;tT
Ytt
6rg 6L'i
l+, ,gF) c*,
t +! ,ri .j,-UJ S.l ,slt,.r"t ,;rtS, a-ritt
.:l:.2f ,t\,stS 6l;i -b:|.*,Li c#:f
il-id .|, c.,tJi y-l ,sj2. irr.r, .15
,.^'-a,
t
.sf
.-,U
L* 616 6lzi
sgVi
;L-'r: -!r,, c*l irS-, f,-> y|2,, ;
[- 16 .rnli c;rl$
.bi,t
lt.ttJg U--;,t-*1l+l
! c*l
-r,-!
oS
re ,Cg b ,s$
,,S;tS" rgl!;ti t12",s15 g.'j.d.
.ttr ,l* t qtS 6Lzi JS- c,!.,1 ,sj7. u|.r;
rstS,-rt*
U Lrg ,-iel-,rsrY
tr
E ai r-t
d*i .-ut? 6 U-l tE t> ,6+ J.G sl;u"
..r:;L c
-^.-al
oS^,
qstS 6l;itr:.r! t* cSr .*6
c-l tf^, ,uoV ,ssrljSp ,rt:t 6-3* ,slt,a\.,(.;tt"- eP *
s.\4, vli:;l t xljg o.l.i, :eJ.",r 6l4L-,' .utr ;! 43t cfu t -;J 61,;i
t-t*
ilrtl-2r
.-r;rtji-;'b rL,
.,S;t+-
*,b4p
i-- ,,slojL ul-b,l;;l-r;la, ,r"t ,-J=ytS" Lsr\ f rtl J- '4.b
,d,t,2 gE+4,;l ,eE ,,-;;b
- =; ta',;l.l!5 6)) J,sJSr\.r-2lr p-, ;l urt";t-'Jrtt
,stor* t dcrto,,* il J-; u5=,ti"-r ,sJSt\ s ,r-J. c/,,l*; .r! E ,-sU,i r-ar'
.C*l C.sf ar. a:*'.15
9 ,d,,-2Ji
JE:;l
www.mohandesyar.com
YtV
"Sr,t
*.r"f.Srl
+cy
ts:L-:
lr 1! t>cr..:*l .:;
t4;l;.-
r */:JLc
, l+lrr,
s,a9r
c.,$-c
b.1r
.25;T ,ri.rr
;tr-L;l6l+-i. ** L 6rLo:il .b J {! ,,,!-u P 3 6y12,,;l
)3Jar-e b cnrdc*l o$-c
tj ,t.rl-f ,flJ5 Ll.:.11: c)-).,-ric^:ti, tJt6l
,jt-;l t- ,-i[;lkl
,-uf,r,
.(.,.it *.,
st)
,,S=;tS, ,sr;tr
GU:Ln t,lWrs-- f-f\ t>sr u,-Lj,d,i-L; ,ftil (A
,.t t+l.f ,rl^.r, t+l ;rlr.2!ri.1 ;tJi irj -\:{ a1 a5,r,,-tarr1.r6-r, ..:*l u)L ,k
,.-[:.i1(itt'*l* ffu a1) '.lri-ljl ,-,b-i g;fl:,;ti c^ir 6:3ra,-rr *lr .,5=;t5",rrrt
U--&,,0r.e6..,t* 3 o.lu,-!il .-t* bV ,slrl Uti .-uq (;:11[ f ti" a,) o-u.a6
,t-f U Ler; o3)r ,r!: g,-a a .Jlar,rr u.l-:j-1r:.;- { b GU: Lfi;l c^*.;
.r-21: g;:L; c
i; il ,sjr* cJb
1t+l ,s!r: ,f
-^"^.rl
t;^!r
I cl4iF
,t.; */t ,r$tS, ,-st"r,it, ,-?l);,-2)L ,cVl:,:L; c-ir ) 6;r-.\,-,lj$' + Jl
L-;.r* ,iF, +V -b Jl>U-.r,1r;! 15)L-j \y + t+l q dF-, Ll ,.qlr,
c-ir tr9la,r,c,[:r.r u-l r;brr rrl.! ./rj,s! A in* Y it trrlr ,r-i6r;!:,'4
o, o o \ i"
)t b
a ,G:t>;!:,, .i-;l ,J.l;,rJ.u c;: ,r-rl:, tstL*:.r) .f .& -h tt
,st"r-lrt, jl j.6 1->lll [ lL c;r .c*l c*lr ;tT e$.;l :-+ ii c;L tf ;,!;
t .;pr o-., ti ,c;L jl ,r, r*t ,5|-j,:lli;l [ .:p', J-; (t";lU,-&t l) !!,
.c.i[- c:*r 1[ .:;r ;r,-l ^'.;11;u.,crlrr,,c;L E tr t+*,1#
L-
,#t-t* (JlJi* f-A
,ff ts.!J=:, -r,-q ,-u 6J*-; jV ,-f carbT ;t-.-2r :l-u; trLrr .S;T;l ,-,,
,s-d:,*t * ul.+-.r.l1f l -1: .r5 rta"-l I (J;rbl c,L.r: U tJ vB;;l It l+LL
:t
tb:V ,-r ,stl;,T c,L..2r rl.u;',-lL t+t-t rl.b; ,(u;2-lL
t r, 6r-$rr ! ct+ c-p *T J-L n - Yt+Tr, 6 x-.J.rl ,r$ ,st* *l
uS^;tS.
,st"rit,.;ir: .c*l
itS, .rl5 C.t !, JrS"" ,gl itrij tr i t{l^.I y-l 66.12"- e rJl,ar ,V -h
,r-fl) A u-l ! rot uttS. ,st"lt, ^S,.tS iljd.JuSu, ct"-; Jtl ,P - E lr
.1r a.(;L- .x-;.c #,ir gr U- r5,.S-+a Oi#J 6;L 4 r ;tS,.o Cop 6;b .5'-;l
t,
'^LZ
Jt.a;tt.urp a*.-shl:t o.,ls a,torrt A u-l,F-t^r=- u;t^alr[',,g-{r Y J-t
Q--A Ul ,x-;.d J-; c* ,shlrt t+T .,sbl* ^S x4-y -* ,sAt.rl++4, t
l rtS,. i,*;t;L,"r-lt
olc..s-2b
6-^151+
fi&
,rii,--a,rSrtS,.-st"ritl
q1t5
www.mohandesyar.com
r't, s5-,tt/ ,s:r6. f.*9 'l*
ctQ,
[ "o ! *lr1J,.l,,,-+, )Su. ,-fb
#:,tt"o
1A
o:L,L,ji*.1;r:+l-*
Wb:l
*- )tL Wt*t:'i--'
;-r-51+
,rL
.$t^+
u
! 6"
P iL oLlT |
Lr il uttS" .sto:.,!
(;e ,i-; e;L) l+i Jrl
.)Sun
gJlL
a+4
rr
Jrlegr[-+.+l U--*,sre
.! $lF ,S.o u5': K" ,st"-r;!
x-Je -b t,
.,jJK) rat ptfu ,s:;tl
f - A Jtfu, r, & Q ;,-iL z*l: !,-srr J:, o- t tL {E, Gt6 trat" .r5;1,fu r.s-r; tl
,sV-br, t+T 6f .r^:rr^-a .J:3 r t't ::a,9: t g-,# f b \ 614"-; ,:J.-3,r-o oJ,-:
o
crf,-+
'r;!
cr-l
;:rl:
c:5j[*
g;t'o'J:L
+lr t-Jg
1.1 2 r'Y"
'X ;16:
uUr:,
.(.*1
j-id
ts xls" ,h-l I ir- -rt=* .stor;L t .,,-t+!r.r ,t-s&A U u-l
gLgrtr-l'X--. ! t+!L, A ul.r/+ly ,liK, ,.,,-l.,;l o:tc-t\b ,jt;rt* .st+!:.,
,Jir :b .st+!:, .-r;rlr cot*: 6lo;ly:-21-r,ti 6t-6Liir- ^.lt:,-r.-.tl.r-. J^iif -l.!
.ratfr5t ,,j.6.t-t^.,,Ig Llt') ,i.-t " [ ,,J"5 ,*;t Ga J;LJ*c 1Wl ,sD 46
c-Je J"_i"" t L$T Jrl J-L - ,sVr oi c*l il ,jr5, .st+t,:, -&-t ,-;,
4,=-t !tr ,bl J--L o- ,slt: r.:! rjo:L 4i ,rt) :*e e-\ Jl.e yl .c--*
ao-J.
.::":;
rta"-l
+ Ltt.-rt+* e [-aor::S "-ii; Llf 3 c*l il ,bt! U-l ;Ll #.
+ 4! tQ,;15: tst+!r,, ,slt cttts 6$ ,s!"J,* ra:q.1j ,t .8-J tlS t\a <tr[ l:rr
5iL ;ilJl .r: Jr."lF g;l^
,l,aa-L,.- r k=*
,;-;s-e 5lJl_2: ,-!,
r) {!
,t+T
"At;
"*q5';
.;rl
.G$'7L",rS;ti
6-2;L
f-AJfu
sL;
www.mohandesyar.com
Ytl
..t-r5,
.5=rt-t* .s+-fu.
st+!r,' .,!-+r ,stL:\
s-*'J.
,-l
c-!
Ct+--)3J:r.r
.:f jf
g"4 .;Sa
rt-.,-l c^,-r3.1^.'
t ,Q. ,t-tty,-s.r6,rt+J-J-
++ /t/
.,SJtfu ,-sbr;l*
u\ ul.c-l o-r-i o:l: ;t'i; q.rl.rat" .r$tS".s-l! .S-,f-A ,[5*:-2r
P er;li3^., t":rt .rl .![./ ii jt*,l qj t- ,,g.il) ,;Laiu r"t .J";K"
'A;tp { +
*" ^; rL.-,.,-l u! u-&-tJ ,db ,* Jf ,;!2;: :t^,-l ,-t!r ,F- ,ctlcL:
e: e ,cr*l tsjl-y ^,t: ,L- # J-L .,r L.if iT tr 3 ,-s-tl: .L^oL *! ,,$l
Itt-r t 6?" L:.,-!rr::-,a .JFc/ J=i:; ,rrtr cst+-lrt Cb e A;l j--L a-lcsa\
u+131,
..rr : 1 +rr b t+ t, 1, g,-i
,e.*l ;ST rS rL.r-z
lalF jr;-;"r
;r
.-ula:-: y-l;l ,-r;.U dJJ..,-1, ,gt+Loi -2r o5 ,L-\'
J :y l: 61 5g;L;iy :!1 F J,:- -J a\6i L,+.lt cst+ :,,-r,
.
L:
r, yr[5, 6r.;-.^a \l-,gF)
,-r::-r, u;S.-f atSc;toL:'i I !.iti oS u;ll.:r1rS ,sltrlr
Sr ts t+ ! r,, ; l t+
1,
;-;
)eJar,a,st"
"f
L:i
o=^a ,,9
lrtful ,rS.tt(". c.rtalt:
tltS-l ;!:,'t-e.li!,
.t), P - -,\a,7-l **l or.: o:l:;t-:0-A rfS.-:1r
P;l';Su^ o+ :ri ,sDt ^^b lt rsj:-g- t cSr a5r-21: cil-r 6l-42r-, I
.t-"J'r-f o:[,q: .l ,a.z,J,--a t 1t' ,SE-bt, c.l-tf cfr a:l: CJ.r- ,Sll ; fJq G-F
c+l
l.
SCARA(Selectively Compliant Assembly Robot Arm)
ul^;
www.mohandesyar.com
rAt,
s5,Jtt auQ 1VtS.t
g,t| l'" "
.bl(-l ,r5;t5,. 6;! 0-AJfu
.-r5; J*;tr! [rr! i::l:J;TJrl P ^- ^S c*l ;T a\a u-l;blis-).
q,t" )t" I b Jsl uluL e: g;t-gl.slts xl;u. G;T t ,-!.u
t-- L.5,o*'q'tq iL .r5.lr (r tQ rli ;t,:, b .-L 3rr. ,Q, ;tl-i,g ! t.|;l.u!r6..ur
t r;lt.f trt(-l ib+rlr"t",-J;1tS,
o) )3J>rr).r:5cJf 1.,b.r) c,i f. E F6lai'-- ;!^c -2: ,c.,!y al t:tS Ufulr .[t] (++ ,-st+t :., .;-:* ;l *-r tlt
"711
-t
6tf
,j5Jtfu
tslar;Ll
.:o[..i ++ .-ttS, .sr;t t c.,t-3; ,aQ, il ,7-A r[5*i .2: ,ssrS ,s;\,-*,
ult ,C) y-l .c*l ,fi u-6-4 g-F ;!-L L ;l; J-L ;1T ,,s
;l ,bry.26 jl
'rt
tfu r: L-: ,r:t, .,,,JS*[ J12,.aat sl-tg 6-F !!, ),5,Lr .c*l ,:=-l jli C]
f
.x-i ;;sx c,!:r,-$,.;l ,c".S;l
Ll
,r.11:
stld
,db ,st*t -r) :rlr
J ,du W
,*f
r-rN
1. Adept One SCARA
;LL;l
,slt ,a.,#
5-f rst-t*, \ 's-{-t
lPl,j$tfu
t-sla-r,iti
(V-A JS-i)
d-F W
Gl^ili-'l .,SrtS, .st"ril
.fB 6ry-, t, g-yrJ ;t-L
.s-iA J-L: ,t rf,
www.mohandesyar.com
l'"
,fr,t
i*
,s*.fo.
.s:J tL ,r5=;t5. u;rr! t- A Jfu
,rl
.6lr,l;;l1L ,r5;t5. g;g! V-AJfu
Cttil t't tf 6612^.! a-1rJ P a- L- 9: il ,e 6t+-+J=i, u-jt*
.c*l ,ritS" (sr\ f iJt^-: JuLif ,t ,P ,|:l .x*,u, Ji-(.i; ,4ti;
6;J*.,A t Ct-- 5 ,ylb xltg.ot Ju-\ "l,;-;2* ],-L tpu *!;
,ri 4J Y J*i f $,s.t*q .[Y] st (.rt-.i .st-l:, 4:3r.i re.rer.. ,f-e \l op5
,a.ti;.S,-Jr
*tt, : Jl*tv u t,'lr^Jrrot,-$l(, q)L.t.J*t^+ 6balrL'.
.S,-.1r
www.mohandesyar.com
JfL
sfJtlr
csub.
f;;9 el* l'"
,s;ap.l.rr ilid b e" tss t-tn u L. uzu,.*,rcr-* .c*i,lr Jrp c*2 9197
Jfu.1, ..r-l r,1 ,rl5.l-. .*l ,r+ ,rlr .1f r;lr tst+-|.2r rps
W :l
'r-h.A-A
J"-'; I13tS- ,rb rslt,*t* u;lrrigJ'- il e3.^-. ir-q ;1.2, .5 s-'J.C.*r g.
'\)tg $'1 ';l;lrer 6le;l'l.f6
uL.
rrt7
r) 6t,; srttir5l^r.Sc;L t':
v4' bl-i.-/,alF> a,,,f-.syr
4;'^b:+,r.: +lr ,st+t :, :l qQ t' 3;t" C) .*U c-ll.l ;LL.st-l1;
,o.l'i 8J t6+ (f-\ Jfu) \i:r$[., GQit*
L.
.5.,--2r
C,lrc, 66s'- v?- rf.Li
slyf e W a4,.l,rrlr pb <tistJ- E.D ^S ib cl;'r.c*l r.tc, r.r-l'l,aLir.
lJ url+-;Jp- .J,-S,- t or:* i1ryqt 4:-s .15 ;t3: &-)9Jer,r ,lr* : t*.y.1*+
J?aj,tjrV;T ,[-lr;, Jlycl t rr ty-r
S ,-!t-"-, i{.-rt,y--L,ti,r-;r
u-l }rlriiL. aS :J J.-z Ytlr +,st* il-iL/ ! q. tl .(+-i t \ \-A u-,--l t-/. ,t
;ta il tp5)J) (J;la'":.I t-A Jfu, .r-:[ tJ;dF) JL ] 4 s -r,tJu-il It Lr*,
.[Yf] .rar,r, ;j.:;1., ua'
.ti;
,up6t+t
.5"-J) g. 66yn
..:*Lr. il+ i/-l .-\::-J
-r, rlt tt
Ctlf,
rf-f ,slrt*, vl*,;!;t i.. 6tral:b, ,sU. rlt;tS.l a5
c:l-r l3 Y 6tal,.^L cbt* t f J--t rt^. 3 4) v,^z; ut* && JAU ,r5itS.
ca\
cst
J e' Jtt t..r-iti
c>
A6
c.
.fte t* u ,t-b :l vss ob 6trylslrl5 iJ*2u.6 et ty
1. Cincinatti Milacron
,slur:* ! e*r
e. A-AJfu
.rFcf rJ!
www.mohandesyar.com
l'"1' 6;66Lai
crt-air.Lr
uS
cbtp
06
+
+
06
.[Yf]
.utirr
,slaun \
*;l
1.,'o;
et l-AJfu
Jt ,*-; i,l..rt .c^.ilr rali q # #l^t - 6teal:L ,6;T,(\'-A JS-i) l.:tl
rr! il tsb ,s-f u.a; j;6r G\:t cy J.,r"ti .i- ,, *b ,=i c6t:* L. ,*
rlF J-; 4,F,lr
o:lr ;ti; )2N )r \ ,* 6!lr ,u;r!T 4rt 6.,, tr ,sr6J:t rgLe!-u ylsdr t*+
.*l:
iuti:,;tr:,, ,2-li2lJl S +5-.y.r:-..^ \\-A r[S-i-2r.-ti
,t1,-."-C-F 'S q i*t clt jtl,-&-t otV., ..l5 6st, t ,?l) dlt-rl +tr K.t't
,41
.,,t.1." ,cJL U-;+r) .s! 13 .c 0 ,P r-r' J;tT ;uV u* 6 t-* 9.; 6$
,f;132+.o *)el ,s:ly 0 J-.L Jtn l.ii.l6li; sn ^S
O,.f.,- ,s+J=:,-2: ,-21.9 .l P
.,r $l:;
J-Lr,
;,,.1
,l3;rT,.rc!
Lrg
,tStS
6l;i
;L.ar,2-t
,t qrr
61,.^bi
sL.e.fu ,tS gta-ll*- f -A
15! gJt?
tV U-\,r"t,
"$K,
,sl"r;tr
iVV
.Jl,rJ rb'.':i
www.mohandesyar.com
.D:
01
-i-t
6brlrL.- Ll ,-u,*;
.ti; .S,r, *ti:. q, 66r+ ;yT; S ,slL
.6rbi L..rr
q.1
rS=;tS.
tgr! \.-AJfu
! s.r5ir c,tLr g. ,lri* C) \ \-AJK,J
www.mohandesyar.com
t'"
gugsrL.ri ceLai"! uS
c$V
,J.i slall 6rg 6t ^zi gl^l
jl C* 05jt{
st"ai f+- ** .tr.i! lr .*:li..rr ,,r,-.1tfr dtlr ijLl- ,sb. S
blh tit
"Ji\ttq,;t-d
r,
,c..'il,
.c^..1
l.ril
616
;14 c;1srL
ul
J* ttq
'F../rJ.#,
dc 1r" ,* !) 1L d;tS- 6gt1
l,r
]v
r - l(rc,;-r * di)
\-A)
d=\
.iri .r,-r; f j.i rr dr;lul-L .j,!*;l s,\b $ *;+ di s oi-r .rT-rr d
ca)i, fil5- ,f uJ*r:l 4:l Lri-*,rot
.s$\, Jt
"$tS,6t{1,-i" .rr d a{U4.,q.t'/y-*
'al-.5a ,& ,_* '^I-E \ tb : rili 6r.re di ,dt^S
a-; .rlr .up
IrL.,{ttr Jt Z*o*;
\;.b,Q",selol-'Jt
,F-,C.,-l oI3
Qr.=
L1;U,fn;'r,f
sjr,-.;r,
LIW
qS 6lji 7u
(Y-^)
f- W : +Te c*rdJ (\-l)tl"tl ;l L ;11.rr d
,slt:V rrr. t#tS.
#\,;L u-;1l.ul;l 6la.o)i' i-t; Q" ,u-b\.c*,|
';
ra>r.iiy: .$rc/
,;.,.'. qS g:ta"-l.rl.h, q[ ,i);;..,st+-rnjo,
,r-h
,"t FlS.
.rr.itr
qS 6Vi
=f C*
^sll
.*\ 3ti,,gS sslzi fo- JL ,f
L*,rllt-ritr iT 9 ^S c*l
..:*l &,t,v-i t;t+.1 f Qr..rl&
tse ,..(-,35 Jt
.fi:.
Jlri- U-l ..u! itl- ,P a4 f 8f iilr aJ ;-*e p^r:. ot3a g
"
.,fS;y: ot-i crlr iL:; t-sgtr r.;L,Jb.1l .r.r.l"r g:;tr /t5,-&-t u-:l .c*l Qr, = Yt"
? "r?y p-rlr,f-A
J-ls rrlrr u-l:l &,^slr
ul .er.
r.rc ,.rrile,sl^r;Ltr a:*ll .JSv. +-'b,diJit.irf qlS 6Lzi-rr br7!
U U-l *,
rrb,cJ
,;LL
q't-C;,-rel^.
jl t
,aS
6l;i f
- frrlr
b-j,r.e1 .ul-e!
.Sri
,F Q " rr! ,.r-i o:lr
.+L-cf
uiatJ
\-A JEr
c4reJarr
t+L-t
,".e
Jt;
6la.
...*l d, \ )t -* Y ,g-# J-L c$- ;ult
www.mohandesyar.com
rfL
;r,-lrltL s \*c/ ,.^i-j{
s$K. a$\
d7;litL + cl:l+Qr,.*:I c*:a, !
l;;,lSt
nl)o
Y"7
s xtlx
u{r
t.:*lJq fit:-.
aT qV u;L:; F ),L = lll +lll * dr = l+ drL.)t:.;! cr-l J$ Lfr
rar..l,i.1r .c*l d7
L6rl s I LA t t'b Ul;-l g+ \ -rlt
l*dr
Qr =
.[f] .u:,r, cs)dr b d, :
lll
Qn
(r-^)
{are
'+e.rbL,dyf I c^*.; :l ,AE J12,e* Qr, i$
.c*l
\7
:!r
dy
'aL*,
rl& tr jlb
jtu
t fi-, '.-,
6I;i ,f*
;l+ cr-l .$rc/ c*r-;l b tr 6:l;iL1: q t_.i_r"t,FtS,c;t!,ir:S tti;;r
,tb,r .:l: ,,t+l ahu ;1T,t 3l;6 t br5 ,it 6,:*li.
,.-t !E
"f-U.^",r
.*,t:,
1iL :rSLc c*l i/S-, ,(,-sr5 6Vi cltay,,: g5; tE J.ti)
GtV+.riLi
:+, s,xSun 6f-i6ltf-,ri
-4r jl ts Ll"; iltti it-U + j S c^JS bl-i,f
6,,-q,d.k.., U-1 ,/ L/rJrslt.S rrle tet*t L5.2: c;ljS,- t*r., t"lt sltrl
6tU u!tS, ,sr\ a ,l),,t(:o -7, brt - y-l;l o:tl-l .c*l o.li rt4:-i.-,.21,
.c*l o.ri tiJ -brr_.*L L-t; ! ,.s-,6 6tii u-.$i;T.,: o5+,tdl .up
+ie c*)4, 2-; 'olslr' & t O$ ,st+-+ -r, oS L+T;l
.-*.r[;..n
det(/(o))
,[f] 61.r,ys.,-5o:[r- .ltq i,JtF
4t
a b. ,stS
- '
,Q +.-*,slt,afl:,rL:.y) J 6a1ltr-l'i;,*L
t-*g \A-f; j+ .w,Cr-lb lV
det(/(o)/'(o))
1ie
orL y-y t:1e,-a7
tu
r-^)
&b u-|,-uL c;l.l
ldet(J(o))l
(0-^)
+b .srbT +tt
t:\ Jl
(2-^)
3ri,-tj- ! .srS Lslii J Jri lj 6!lr ,.,1i ,rSJtS, ,$)\ t
;r$-zn5y,;l ,ftLl ,c*l o.ulc-r+ c-cr J^l';;l or['.""1 ! (t-A) &b + Jt
,[0] -r, \l:LT .-ul':J
t'r'-a; U )i Jtrl +J,ti vt- JJ-; ,-n!l t b or! ,V
.a-l
1. Asada
www.mohandesyar.com
l'" Y
,,t16 g."^};
c/t.ei& oS
,sl|tF
M,(@)
- /-"(O) M(O) /-'(O)
(v-^)
,ot g:t-2) .Ja:,rr |,A ;tfUi cr6t c;t^b-!rr, l:,,! c-&L ctlti 'lJ',:lt u-l
c-l o.ti o:lr.rr-1 iJrL, t .itJ ,l'r-.a*. Jt:-\,srK.* cJti e$ ui-t
.;
xr M,(o)x
c6.t-ln..:*l X
c\-t* Jt
g;t".l',1
:.r.21:
(^-^)
-\
:l.u n al-2, .5 )Ss. ,-,a;^* b c+ n Lrz!.S'- ,tJ:L
.2f M,(O)
616 65i.rr.-r-L L-l;
crtl:
s72 6la1l4
lti.c*l
,sLb.r:
((A-A)
o[-e-r-tb Sst'&-t
il:L) tlt*o
"-fu
tlt
y-l
;.,11
el2-o=1
6lajr4".'^.s+,rat ptS, g;1it
'# (J;tq .i,rlr , \ Y-A ,,[5*: -1:
.-J=;tS"
g;L:i f-n tt.c*l o-t j
,cstS
r5l11lr ;-j; tarlr;o.lr,-; ,c*1,*ti tl; tsf lr:,'!
af .ur,r, ut...i.J u-l 2 c*l
'+5 Jt3e*txttt*"6tL ,t5-25 GI5 ,s\)y1) .-r"J-*"a
.x-*,g LF^h 4ssj t"-.fi L- ctJ
38 ,#F ,*+ ,Lb :t L 6la;--rot
t-Jg o-tt'
cs.tlyt*
',P
r-,-6L!.r'
Al.
c-&EA
's \*,
WuFo.,
-.'{'-'S
\..
)*
4@'h,3\
+ Bg qe+
Wv
rJ ,glerlrao;lr: r5,15ibl L..2r-1r L.6l;o,;-- 6t! 4 ,qS 6L;i \Y-AJSJ
Ld,,t 6215 65i.;r ! (;t-! t,p .ell:) :,;eJ, tE u-r^ ,JlS.. o""t-i .[0] llol-: o:lr
;t-:;
.J:fu..
www.mohandesyar.com
/t
,.t-l :lC":3 ,tstS t5L '1.2r
.,trt[lr tsl\ 716- ,;,1)' l'.
r*t:, L-l;:ta.-l.r(-: 6Wy,[A] b [?) 6lar-y g
.c-l
4:*, J qD cS-dt 6taojLr 0-A
ut+-+;.rrl eJteu 3 x-J.,-l dttclU,,S11ti cstr:,,tr t+ ..rtiu-l-2r ,'JS.:JL-2:
6-r!.r) a"o)l- ,*+ o4u_l-r, ,JL r-l q .;u:.:q F L- J-L.ts ! ,drrd 6-dj
C,y
d^e.,
,r.i-11:
tF 6*4
y-l;l g1L tt 6
cf-|":,,t:
+\ cs>l:i .:,b..1r t 4b.a lt
# 6r cJti ,h_l g! + Jl
.:-2lr ,r,-tg- I J;S ti jUl J-t
"l
', y-l e:Li'..1
,.rr. 4
\r i:|lja.,*+ ;r1.,3,;oe1,,.,!.-r) S ,|i,l-bl(J;)bl c,L.r:
,i.,!t,.i-.r
.c*l+tl
,[\.,n\]
r-21:
atJ,ll
c--l
AJ).r,
i & U;la:j-l5 5
-2:
+j
q,t{:jl
$
c*l
(JrblL.-2:.u3;l
15tq.itt
;ir ) er
,r*tS,
JS*, .-J.Jt
: rrrc/ l+l Sti i:.lr L ,lW7J*,rSJtS, ts:;! ."urd * <,rlr *.1
: i-) 4r $:f,.trl: ,*; dr a,-b ,rlf c,JL -r, .rT st+L-L 6 ,c,\ai-t
u;rl&;
:5,-.9
Ll
,c*l;L; :1y
c>l;T
L1t .,i),1 :-i.rr
.:1b
os4s1
| 5;
,\\] .rer,r. cstl-i o,5;.sh+ -fu.:l isJ,stss_r, t fiK .j2l ,3laL-A^ip.5.--2: ;l-Lt*-g
aS,r"t(" ,g.tbTLr> a- !
6. pt(".pr),iU".1tf
,6tbT
L.-rr.rh
\ ,*rr Ll ,:Fd rt^,-l .;S ts+J=:, ,x-J rlt
* -il ;tl-i,-l
.[ \
t,*t
r- \ 0] rJ csts' y--!-+,S=.
)b'*':,,6+J:i,e:,\l-A rf5J_2r
.c*l ol3 orl: !1"i.! ,15rbl L.;: c^i.a
6laLe,- 1) )Fy J ,s-$*;r ,*-! 6r!T c,L._2, ! .;t+!:, ,rLc gt.lryrS;l A
xltg g;reJa,g;l-64, jlt4;,(J'rbl L1s ,,:.i t .l!r., .fJ-l,-) dit+ .c*lp!r.ilr, 6./6
b*t .slsnl :l.u; W,r, c^rL ,fi^ ,W 3sf nl;l .xt ,rs*c;+:
rlS, t
.#=Eu;l tr*t J,s-.3* ,sDlr v-Ir -* al;.aer..:i_2: s,5--j c^,_ta; i.ro q
uSrtS, csteritr 6U.l\Y,\\] -2r o-\i
*,.,*r UitnolL
.st"riq
,*
:l gt
Ul ,,' l,f
,grJ lt (rsr\ G))6 6-dj,st"r,it, t# irib + Jl
f 15L0I.oi.2s a5,L-\' ;tL-i-r;!:,, ,ti .:ulc*, g;lio;L J.L"i ,r$ti.
iT c*: gb';L &e-)4.c*l c*, tsta';L g;!lr,:3- f : l6Qf.^; Sf. fitS,.2:
,gtJ. f
www.mohandesyar.com
l'"
t c*rr "r:b $.#),.rbrL
.6rbl i-..2:,;ia
lr,rt,r.(il5.,st^r;! 6! 6rla.Q C* tt \f-AJfu
,rlt.JL Jr 4:*, sla.;L ,-$-t u-jl .[\P].urr, ,-;--|ul I ptS. 'fu aJc*l
.J:-rr,r.. u:r6 lt,S.$ 6[.ai a;l.Sl ,.*;; U-*: )5'. .leJ.ar ! t+t-t GSf Z;-lt
L.6rra;;,r5rtS, csr;! J:L s 4 L/itS. dl, t'>i5i-'l ljt'tlr \f-A Jfu'
'^U:+,litS, ts-l t5 eQ cs-* ,s;+: ulS, .$rc/ ;b ,&*l tsrbT L1s ,r:')
9l-u!5r.e .:-f e Jj5,s;L,r ,P;lr:,,e-t, q I '"T S ,.F;ll!r6r:; $ E;
2&-t;h l: fi& l-[, *,.srbl4rter L (;1r.25) 0.26a^.r ;l-L iJ:-,:q jrt.5..,-;l
h ,1ylS- y-l .c*l ,t-1 ,J.-2, ,g-V ,s-* I ,(J;)bl L1t a- L. ,s:f ;LL L-;
q5^,) c.r-.,Q.b aT ij,ge c*!lr b +.styi& '$ ut,!:.;., u$i-t
.,:*l 2seta., ,Q, ,s-*:,.tt+;ti t, --ti, .r, .rT ,/9L.b dr a:-.lr Ll ,c;L
;t" .Sr\ Jlt,t2z iul:: p,,-J"t i,- 6tral:h, ,shbt 1s ,Jji-lf tS,
cJL r, F1--. J- dJt -2: ,c*l orL 'll "' aI ;a1ls 6balrt'. r! :.ur,rr ;tJ t
.(+;-: ! \ Y-A : V-A ,gt+---*) c*l .,:-, .jtS; sU ,jG :,0J.2,-,, g;rtc
.rJ'.uLi .t;:t + il-;Lf lt + f;;ls. .5.,- crrbT c,L.;r rl.rr;,.rlfcJL;r
.-,1
1. Stewart
www.mohandesyar.com
/t stnttg ct:\ 7|$ ,;l1c l'\'
.c*l qr:!l L)t ux \ ,rfil-r)L66;ti
[\V] al,r, c-)d.,
,o.,1;>l
fit5. \f-AJK'J
'*tf Jyl
,il ,stliT c,L.-1r ,[5:l.u-
-?(t-n- \)+t/,
(r-^)
f=\
r[5rlu r,("-L,,J.tj) taLf rlu t1Zl* csrll .-L.rr r[5:l.u; F ;1T9 6
.ts,t.ft,f) .*tJ Jyj g;la-;- cJL .,>-l li ,P + Ltr U;.!bT;tt-r, rl-u; fi e
rrc a:lr ,ll \ iliLl ! (r-..." a;,e-2r g;r!l jts a- g;!11: ,rtl c,JL r, ,,t-+l {lf
.:-2jl c*:a, ,Jt '&, 1s ? ts csttt I
,tel.o.i..
Jhe
orl,-.',1
Y-A
Lrt
ux
r*.bu.(\f-A Jfu)
r$*l litS, d+5 G*2,; 2etJ Jyl:l
.:-21: u;rbT
l.
Griibler
www.mohandesyar.com
f\\
cit$\66tt.,:t
,.F : ,,stS W,Ll ,9lfr^r ,P u:-i) \A t+t-i. rl,u orlril p,a9tS..rr
r ,,',t+ 6*.1,- 9ll!t5 ) .ir !f rt) \ r t&t rl.u; e (tr;l.s!r6; t ,e-# 'p
.lt{ Jrt..rr; -16{ l, .c-l Y? I t+L-t (J;)bl c,t+.r, # Z* e .;*l ("-t, 4
tg:'6 $
F=?(\f-\A-\)*12=2
\. -A)
Lill.slrg
skil
?-A
,;"k tfrJ rl.'ak*,l i ..,l;.:!l.r"t ,-JrtS. Gt\ 6S.,S,1L+ i;L aS;T;l ,*,,
Jh:l -..,r-, 3 d*'P,;ll!r$rg;rtr .1JL,,:..1*,g! cSt+J..-i ct;ll;t6
"16.s-*
at) 4 ! +! 3 .srlr .S,-ry *AtF-q ! ;.,.,;
,b
;]sl26 rsftt;
ilslrls Jl .s-f ,g orlr.2f ,xbr-s l, ;tI S ;^-,L,F-+ .1: ;l,lf 6,cJL y-ri'rL.2r
u-lc.-y.tS rP- W { t,=t-*.", lr;tT;rlie,sl.../5r:U-:JU-rt' )h-l t.r)b
il Jb ,s;,x.J-iS t eb J'L r, ,[\ h] o--fe f,-;u ,ilt uT t d 1-Fb ']a
,)-;.i c)U'","1t>,.t- 116L- crr.ri JErl 6t^.,t-13;l .S;T i:* d.:*Lt il+ g,-l ...:*l
.rlr;hl ,;l.s!r5:; c$r #Jt, )t,#\b
J-L.-tt+-b J/;tl;,-t
utlrls tlf,1 t:,; ,sWr 6!, ta-;l;u!rls ;.+.ctii:,
ir..A +e Jl*li
Jl ,sto{:* [:U to.;lr';bS ;rn ,cl t o5ilc ..s.21: :V wr rat5 P* { ,#t
i-t, ,F-ri p 3 J'oL il tt l t+T il*
.,t ti il;r. q ;ti, -S ,;; ,:l: -2!ri ;!-u
5;;,elt.-5.r :V t -r 6t^-rlJ6fKe;l.xl;l ;f \j + u-l:,c^iL- lolr ":.rK sni
43l,r4L a;l.st6;l 6f Jtillc^j- c,,:Ji Jlitl e:*-'.*'.1 ,t+"-.r. y-l a, ;4.:i1
6,y---------------1,
.c*l;t:
,15f..,,- il-;.Lt,r.2lr.2[ W il.at;T;ll!,5 ^S ;l-L dt P.i-.rr
&tli JE:;l c,$^r16i,.="r tl
Wr: L--;l-uf6.r, ! csr
"a6:
'fs.rl:.,!ri
,.-.s.Jlarrr
:ta,-l C^cL'5br,r;l.rro-,19l dc*l ;Tl6J ', ,s-l
,'t+l y^! L cnr
rt itr r:.r5 e d.rfu .xf ,g fits, p gVl g;y-i,jtL;l r JtSt -l
.up J* *-t 6la,al:-S 5ttt, ,Jbr.* -2) d.2Ji Jb:l ;"..- ,:J..i rrb Jl; J-;
(j.cj.rie6 ;--- J t Ul .rj,r. t6-l,s-#Jg, 6r-i,jtk l,cro-1, grl^Dls r: .rJ
.Jin:,rr c*r :l b t1s$-..:l ,it P il ts crta-,lJc!6,$L iJSLn
www.mohandesyar.com
/t/ s*ttf.,
,s$. f/,5,"
,eV f \ f
1L;t,l:6rt- otr-r,, sr;l.t;r6 P tVr,l' ,[.oi.1r
,5.,-q { ,UT '^&:+,ri JLrl ;8" c4t- I JjLri v,.at W Jl ut lr;ll!6
!, tr;l.rltf L-; t+.t ;,52- tlo-l ,;r& ,Fu t (\0-i) 6b.hL. ;lc-rb
.r,lr,r. l: cSr +b t:,t' ,Y (J;l$.oi. Y;l.s!r5.ili ..1^r,r, it.:.;
;t* *l* { &-t+ -2) r,-yJi Jhrl ftK:^ f &c2-, ui^tt ,bl,- '4 6:i
Jt5,tol ,cc- ui^6 e 4ie,&.2Ji Jh:l
cly-i,jtLil
uiAlJ p,r
10,:..,=
"..,,.
,,---;
.r.2lr $-,,rSJtS. ,.st\ 6
0,-l
Jt;2 tu2-r
C)rt
,c,!r
tt-l
.rr
i!
L-Y
3 +sst uiAK g;t+;""r,.S-t'b*.; 4L;i;s s;;l;4 s.llc^c- ,-};S,sb, ratt;5+,slnl u-j:* lao.r.r.ri.;
6 6sr- )5 6-Srlt t2z+ t ,Ei, ,Sa u;[aoJ;gJ,- g ..l:5 t6-l Sti ,sWr uia5
cs!,2,orL 6[.eoJJ-.;- :l cs:l-f ,g6,.1.r,.6!r,::-1lr ,fu,*L-.f Jti:l oy.$ l+l Oo
g;t-acJJi.r.- jl 1,L., ,s1.et3* ,sll s ,,*th Ltt^cJ$J,- jl
eJ tJ t *li, ,s6t:*
ut J-d c+ti (J;f b ,taoJjl;.rt .iJ*, /il .ti,t ortr-.,,| . . . J ,e,,.rL t,. ;-r;t.r:...4 G:V, ;SISL-I a!-t-- s1-F-ll l*
jl
;r* -Stt t L,-l.J:...^ 1;;loJr;J.- rsl0;,"=,, ,;,Sls^r Jr ,J[S.L-l t j
c,,.1$
Jtill
Ef U--&.;l c*l atV rJa:,r,0 ts;Lr oJ.\>.p 5t ,ail
f-S,- a oJiJ>.;>er (J;[^ilir;rF \Jl .t* c-ilras; c-rti srr.rr 6JJ.-.1,- S A;
,iirtt*: [.roJJ-r,- Jt.tt::t-.,-l qtrL-; JtSt-l c*l iJS^. ,tf;tT,d .iL r,ril
.+t-cf ,-P-lil too-,l Ll l;1u. 5* ilr- U-;-S { tg.f ,J-l ,r.-.; r-G e d;L
.Jiu, i! I o.\JJi.r> Ca u8 ,-r-lil 5 czr-, uia6 d,Jll ,q ,errJi.; dr.*i
,t.a11.l;-5 ) ,i)f
s tssj,t 6Wr ,y A! s ,Ti ) \ ,C^c.r- ubtt ,SW Cll
:*l ..-;
Jt u?t? iJiJi.;-
g;la'-tb
tr/-
u,lu)
t ufi)f
6tny9l::5 r;
ro
0" --
(\
To
TIT;
) ,G\)) t
lrt)0,
(\
6)f
6t+:r.
- *;a
0,
\-A)
,0";1.r,
.5
.J.::--a
:12. a;lal1r:'c-r
r,t*6r--i,;tL;l .sto-rly IV u- da6 ,;-.-*-2:
,-\LiL I b I t.l.jj -2era a:jaiL 6b p^t ,sr-*i k I +! l; I i/-l Llf ;r- ..:*ba*;
.c*t+T J* \.*t:i El u-l.sr-*ik| ;rlt.r::-..^ r--l.;tL;t E d*,,sLb tt
o:l.e' .l
6lh
aiL ;.l:, J--il u!r:1, JLcl
6l.i L-;
l-t,,b;*=*
cr-l
rsy-t.itL;l ,pra,
www.mohandesyar.com
l\l
6;Ls!B cattu
jrt ,tJ q ub^r r. ,; b sJ
..1;.f rl4,-l (J;.l!-J Jt(L.-lr ,# r-{.iu';l
'tiL oryo.. bl-iLr. ! Jr-.L,itt";l .rbllj l, t*6
t#f 4 f .Jtt it12or L
'r',*l
t Li c^p .5,- .rr ;l-t + Jl .r.t rlSr2 yL.",q,lttt- 4 .u{ ,tb ,;;,,:S JLrlr
*gti t -ijh. c^{- Js riti JLtl ,slt-SttJ*.S,-.,1,6;l diqt'o; s1l22r;
.l
ir,-l .c,*lJ,-S"- c^t' .i)E .tt.Jttr 4 JU ,-..,*3: f;.15 ,6-t ,b.rJ.rii'
.+!i lC b;lll6 rh.; a ,r*.2r Ll ,tSu. .iL .!, r- jf ,-fu..,L.,h, Jf.:. ,,J.tt
q'toU.,l ;3ra {rli .5 ;eh y-l l,: ,.r;y-+.iuil 6ba^.; a[.:. ,f.JE 6.,'r',7;;
6brr1.16 ,ft tt.J:.u, c-r :l b :f srlt sr,.-, 6;T ;f* it e .L,rf L,
E:5.i orU:-lylrcl.l;r L.."; 151.0,--","=* ;l c.*l;41 ,,rS:1; ,so-#: ,s4+ ,,y
-il t
..r,_l; ,;, /g
,t4T fg_L : t*j,sh+, + 6i,sl^.rlr JLrl
eh
f ,;;; ,*-lilc^rt, c-l
gS-.
rL_;
,sl^-r!u+, .riq
uia6 ! !, c,r$ Jh:;l ul;
s-it Le r r r 6rr:
6.!Js c^s.,*
r 1 u>2s>
Lr/
6J*j
s ,ctlr,tr,!5,61r-.".J ,slYdlb
t:t#;ilfi
j.,
q- -T1
f1
;:ft ; *.j
( \ Y-A)
\>ar r[; ,bK ,sltb u-&-t J* ;, ,&-A.gk?jl L. (r-/") c^rl.u,skay,
.st"r! .!1rb e llc^;.214 c.-l.u,sLi+r, .( \ 2-A JS..r) rS s. t'l,r r:-l^. 4Lai ;r
t-skao,.S.l,-+ ;Lt 8f +lt Gb:t 8? r;l-i,g t:-f-r.r::SJn; | $i |-;
6leoJr
6, JL,=;'*, 0r,tr, 6taoJr a5;-l ,-sqq ,$T.r, Ll,.slc"-l.u g;t6aj,, # ,;J-A
g)rt
+--S:
eu-
"-eK
!I
crr.ri Jh:l
tA)f
r:;f,r- cs-#) s,ctlj,sr{6,61t. : ,st+jl \d-AJifu
.r:5
www.mohandesyar.com
/tr s{rt6,
,st:U.
f \f
fi,9 .f*
.utL
.L+
,rf; +\
Glt:t
cSy t:Qn (./)
JL- JtSt-l .Sr-A
,st+ar
,iet5
q,tta:* .x-S,C-1[ [-ro.r;:
.r::-..^
.ul
"5;,1
..ua:
(J[;
c^+.-J)
4f
(.-iJl)
cr$ {
c4lr^ GLcer,
11
\t-AJtJ
c-.s- JL crr;r
,.r-5
e &-A u;:l&;,r5cJ-2- 6,,
J!ti)/--L,c^:tJiF.e,J.1l: ,rJ
,s,:; Jfu -*;6 J *
,-pl,
.1
V-A
oj| # ,.*,uJ,.it(, ut"r;t *l eb rt f#,st+- il ,-r-
cb,stG ut"r;t jr S c*l ;l
o:tr'.""| t ,-,. et+A U-l ,b '-l:*.;
ca-)/rr,1!
;^. ! .sl+.- ,=*
.r4..' a-1."'- + vlil -. f,rh ,F ,;r* 6rr3r;lXl
UJ J-L, g;t-aa-L.-- L-g 4t) t+t^t its; i-t, t ,p,#t^r.- 6toaJrL
t-;tJ rs:x -ilr {t;r;ti st+hl ,J^' U-1.;J) 4-t^" ,slt'n-I6. c-rar '('l-t'.r
r, ,ltlr! 3rsrll-,.>.;e[r .j,---; ..l1lr,g 2&-t o.rV4 .J*^) Jg rJ ,F-, ,-rt"rlr
.,-;;1,
e L-,;L g;r-i,jtL;l a5c*l ;T,,e: &e-)..;u! .-r[ ,i;V; rsJSt\ tp
,? qh. ,r-l ts.r-1lr ,-.9ILU ,s,iL 1;t1 $l^c t "r-l s \iC {Jrii ;.uT 4.1, c^tL
c-,1, r,-r:J l-rt:-r) t J--i ,rt .dd dr, b ,stlSt\ il J--; ,#
J5; ,.* r
Jsl
c--y..r;-2|r
r.6..
_;l
.t-*d
*-V
Ji,.iLril
c*)4, b * Jttli
t* 9 ,J;.t
,* ?-re,<rJlo.\.i
csr s cill:nt{t.it.hrll Ltl7l
t Y \-A u-j-'\ rlr ,1Ll; il-id G;T +
,P t'4 ,$lr t*+, ,S kr s k, 6;-
(4;-t
kporatlel=kr*kt
s'c/
\r-A)
www.mohandesyar.com
f \0 ,r.l; JfurjJ
,._*
c*l irif
,<tJlcJ-3
6r *+>
\\\
^S
t;s
9r
(\
krrri^ k\ '
Jrl', ,*
fr1
f-A)
.J.er ubtJ'AJ,o).{ t '1r-',,C.,-1Ji Jti:'il .Sb',,"-, ur-JJJ5
e4.:J.1r .f"-l+ly,ul 4;Jrlr6r'*+
c,JJi Jti:Jll-,2.s- uiAKu;.l., iLJ. L
.1ie or[- .l ,-Lti ( \ f-A) il-f
d,i.,.1Ji JU:il
t-
Ct- t J-rtuf &,
,P .c*612r-;l
.
t=
V70
orU-",.|
,G)rst
[t t]
Gr
,r.f
6f
b.t.l*
Jtill ,g! J:* ,i:,
a*t-.. ;r-1
d,r
,6br,-lr
rY,
CtL
\0-A)
x \. \'N/mr rer- t\ tis. Gl*S Jst G s u'tu J* I v? )i d I 3
.c*l (p...:JT 6l itL U-l ly { ,ro rr e t1y ulr
;.11
bo*-ti'.;
,sl&b )Sv.:ta,-l Ja; ,rb prr Ll .srlr ,r,-1! A
Gl tt (.srr.,: 8JJJ-; i:: .nb ,fj \) G)f 6JJ.-.,1'-
,* boJ.\i.,,- \ Jl
& ,F cU.
c*l o-u.i 'rlr ;r1'*-*
[Y.]
(\t-A)
- Ccbrt
\ tlt ,Iy ,s!r C s s 1t)f 3JJ-b9 Lf , ,oJirlr.- L-r,, cSt+, b .p
k
;1T
aS
.c*l \7lf x \'\'N/rnr
[aoJJ-r,?--p Jl .tttu. rat qt ?--p i.;l.ll a, F b ,-pb p -;?
'#
,S! ki \.r.lt (.-sr:.,: i) I urn-| ,>,.cr- uiatt jl
nr$ Jtisl a.--'fu,
'*
c,*il: F+F
r; =
le;60;
(\
ko60o
( \ A-A)
To
v-A)
www.mohandesyar.com
/t/ st tti cu\ fi9 ,;t) f \t
:-1eT
c*:a, O:+ tro.l;.l-,; .Jr6;rr, ,+I- ,ft \ bltL/
,Ko= To
nk;60;
tt
E;
6r,o-
b k"
(\
Olrlwr=Q
,,-lil,oJl.i.r> c^*; 6.,,, 3-il-Ul1 lt ,F
,6lcJirlr,-
(>sr uir5
k, ,;-'^Lb
a5
r-A)
rr.l.r, o.l,r
'stc/
i-A Jbr r
" l.N.m/rad .":an, ,?
\ ,Sl-t*
6JJi.;- g-:b& c,,li ,t15,o;l 62y 3.1iJi.,1,- Gt-, l.>-l J-z ? : \. 6JJ.-r,.:c*l t\ *b e
,F
,;^,,.c*l f o o o7"N.m/rad (6rlr
'*:f
g-.r1, (\ 1-A) r ( \ f -A)-;l ortc-l L
c-*;
L oJJ.!r,- 'Atts.,.-S.- 6:LL1
u*+
6"
\\
r-
foooro ' \.Y(f."r.)
kr"ri",
( Y.
-A)
l
,\series
,*L.
0o o o o
^r F0F0/F N.m/rad
\\
(Y\-A)
Jri't'-"; c'n- ub5 P ,ce)st:-- Jfiul ,;'.=- *e U-fT.S,r,t("
.t-5 -bi-e p.r,
15ll,;s 15[4;;.- :l ll-i,l
.,1 jl
'fu,
t!4-,-;
a*l^' *
'*
?--p,c*l oli
orlr 4tiJ \0-A ,[5,*i1r ,S
t-t'
.AE
o=
J) i/:.t i'";
rll $
6la*; ,,J.lt f-,*rt
'g
Y-A)
t a-;;L-:S
Jsu E ,, ..,: CLL & c^-L- A ;.,1 t, S
.[\ t] c*t.l
't-i \ rtk -r) 'a*;, Jt f.1* .i_ s].c*. oa.,i
W.g
ts | ,1;,..' s,tf clju.l. ,s-Jttr.i-; Jy^-aat cf,-* r*r. jl-rLf l, t6.:; L\t f
J,;; crloJ,lr *t tr i ,slt,-# ?_-p.:;eT c-ra, \V-A Jfu atL i u-l15t0ll
www.mohandesyar.com
f \V .r,u
Jta
#J, !*
{ o$ t.j-ttl j:b.r, !I.S, ,s-.*,,sjLJ] ,slt
cit.]S^;
].1sr-..! erL;
\V-AJK,J
.rl ,rtpl
c-l ir:+ [\ f ]
r_rrE@I-dl)
?il|
rr-A)
E:,i Jtl,; $u &'*rEe lElr rsl,r.lr dosd;;l-2r.5
,fu ?--p..*l t,*r,rtl ,sb, jtu !) f-.i_: ,ly ,sb I x \ \tN7-t rer>.,r)
I-l.r c*ra *'&b jl ,,Jtr-i V & \ ci
ujt" i,t Jst
f_E(wr"-wl)
ilf
q!-
etl3.t
c-b";)
J::...^
i & & ,Arr.9 ,rJj.b 6V*
r-A)
u)o,,tD;;1.2r
.(c*l
u)o
w;
o5
*a.
f-A Jllr r
erll,tnl;->:0
Lllast.-,'^{*S+,\cm
X
0
0.cm
X
il
rt ,l a
tr*L l- ,Jtl,.
61* t l.l'.S.r--,o 6\)t .s,*g otb q = \ o iJil;Jp C*J ! r.r^t- g;teoJ.iJ-.;Jfur::i,lt' rJb \..N ,s:i,bL,.rl+-l +Jl .;lJ,r iocm J*:.7Acm -b +
:.f ,s a*r^kti't =
(Y x
*\
t;ry'
::f,;5'il:1,f,,r
\'\\)(.t.0r- "r.fr)
f('zo)
ryYt?\ x
\.0
(Yo-A)
www.mohandesyar.com
Jrt/ ssnttf.r
.r.i
r.F
rta,-ly-j J5*i
c$\
$$ ,;l! f \A
r=i ,Llt tr y: , \ o 'N ,l
6a=#=Y7vx\.-r
,sl:l+ r4;J.1r
(rr-^)
.c*l
"7o YVcm
\ tlt S
sa)f 6il;f 6tr t,0ocm #q !!r,st+-l t )rl: \" "N cssi'ctl.; olc
6\)t y*, 6tt.iGil Ll ,ll.-l.o [a,JJi.; .-\:ls, JLtl 0' N.m L. )t 6151;.5
\ultb
(V70 x \" t')(lr\f)(O x \'-r)r
,Ksha|t=ry
= \O/f N.m/rad
k',noit
- ( \0/f)(\ ") - \0\'"7' N.m/rad
t, c*l tA. ,6" N.m r.et:.:f jl J-;
6o- .?r'' PotoYY?
\0\'"7"
+T,g
6r j "/.
YV
"r'YV
r^-A)
6lu-121Jfu
rad
cs)a !l ,st+-l;, J5,f
* ("r'f Yt)(0') -
(yV-A)
JS-i
r.';
r-A)
,rjii ,aa,:J;
\72\"
\/POV cm
(r" -A)
c*,.re7.Jlor.i, d;L riy;lJrra !! suru f-t;,ft,JL. y-l;r
)rr Jr t ,? ?,p c-l ,ri5 ,u-*jT h!: u*,slt ;Su..J ,F t*+, E
\t*
ss.,e
.d**Y
,taa^; ,6t*,taoJ.li.;blj ?-f ,sbb.rL g;t4Jj,.j tit,uP-. ct-l::
'*
-rr d-r ,S+ ,slrl e u;lgL ,slnl e;l;l cr.; cD. [yt U-l .f-tj (fJrt+h|, I
,--i,;tkt &l*:l ctQ, ujU! ,j.s g;t-r:ra.26-2r Ll.ll,.*,ti ,;.rli Jb:l ;-.-
.c-t ,l-.;'t
(sr\ tlr t
--b, L-tslt ;^..*LU
x;L) .slo.[.; ti.S .b f ,,-Fb--t-.r) .iGil CL ;l ctQ,[i-ltt,03)tca, .JSv.
.JL ,2r .(or.r e ,tryllt5 i,-[, c;y-j,,jU,.;l ,t+tibt- 1.3;2{jLil
'sb G* \ft,,rl5
!2-;,rl:.rap cd)* bT r{lt alt:litr LP,Pg
rj),-',r-tJ^; L;.,-fu,
:la.-l 6j.:.:.r urJr-i,jtLil ,u5-;tS,
www.mohandesyar.com
f \t .r!,t
Jtr-;r.P
.J,ilcJ,j.i
t;.5
.br,
il q!.a
6y-i,jt!'.;l eL
ge\,zs (rrlrF-rr) ,P.:iir
s;'h,rslt ;tlir-l )3Jr.r gthl gb',u:l
l4l ,5rutr [Y \] r,-u,rr Js ': 1, lKLu ,sl+-: tr l+;v u-l .t;.r[r' 'l tsl.;L
.c*l *15 u_l 3r1Le.,.;l 6yE
La;lS!6
tr S.tJ6.1 6t^;l-u!15 y- J.. *. l.ril -rr glo1^ g;la;llif K t- ,tl.u.t+ g;la.1.u{-,
p r,-.r !:* {rti ta;llf K ur-l,&,Jt li *, .;r,,lr -2: .JJr51 rot.JitS.t-st"ril:
,ta;l.sf6gr-l :rSl^c t>.sr..r"5.:ta.-l Itl$^,'L.,:lr c{- ,sb. jS cs.* c"-c- ubtt
.r;1, J.:..-, ,\i,C v.; gL )l ut'1r^-. 6lilyfl) ';i i* s tr-, t..-.=- t
.s$lp iJf-2r.c*l orL i:.;J or.i d;U-:).tJ.,SJrJ-a 1gl6.l*,:.'-l),ltS. J-{
ori ork-l ,rSly-rp
g;ta;l;uf
il ;ub Sti ,;:'--- gt+t,:, :l ctQ, : 4:l
'P.,:*l
in qQ, ,>lAa; { ,'S..Jy u,' 6ta.nt(*, dti-'[i
t*-t #:,'i+ 6L6.nK*r ,-&-t u-;l ..srl:;U -,'6ri :r ,sb.-*; J ,.ittil Jti
LsqJr;: .-*l \ +-; t .u..; .*,ti 6>1116 vrt 6!r e .l.rl.s cF :;StS ,;r;2, ,t:;
t#:r++ cJrt{ate-, il ,lt Jttl c-ir{ .l-L ;l-uf K ,st"rl ,i,!r.r J;:S tcl.1,
.rJo:['*,1 llj,e,ta.u; a-t5-2r Jt(L-l ,rtr #rl
rlr....r !b ! ,r$17r+ 6t{rt*-r ,-s!lr &J, uy' (.,.(iit i) ssr! gta-r$J:-,
tl .(rlu,,.:;,t-Ls qe;tejrr :ll*,.,(Jr.r.r+ Jt-.sqq).srlr Z6tF t;rs
JF tslt ,ss\ c!rt^;lsf 5,[ar..; a-6.2: :L-; Jt(t--l ,r., 219 s;1xdF #tt
"e,
..r::-{,*ti :tL 6Wf
.S|".LJ
,rF5 ;sjx
,c--,,
,.JttS, ,st"e;! cs!, $t -26a1 u;t6;lxb5 u--h-!, A;SJI ,s\-i-r
't g;)q L- t#l,f+ crt{at3!*: Jtin lo:.1.y t-t-l t5 ,us \;l; o*; + Jl
Ll ,c^..*;
.*,ti L-r ,.(-,.e5trtu L. ,sU.f ;L:,:r4,25,t-6.nt3;, t t+T Jti I ulL 2 cs1,x,J-$
.rx...A
.sjLcl
iL--* clati-r
y-riorL,JL-;I: J/-b:t,(\A-A r[..])-21r.5'It* (DC) P
JL.r, ,-iEt' t d.*t1.(1-rrh iJ-rq .,!-;SJI it-rt loiy tt-l i.r:...a
Lrt-C-)
ul.tt Jt(t -l: t1.(1:.,tt Ju-; .\itl e-:l.u tist cQ3,y* *,-r;.21r ,.L; ;!e:
*. alj,g,14t-r t17-lt5 a.r-,r.-tti, rlr" ,s-Sr6+t .*l.r rt4"-l I uDli:.. 6.,:y
,-al.-:S 6;u:f s3-r^, J.tt .c^it- cd).J! .st"r:b.i
u:=1 i.r": 1f ,6riy u-| ,;:i
,j6-r, Ll ,r.2lr rrt:1! (J;t^-/eh.ijrta-l ;tS,l ,c.,J. ob35 $16g.c*t-6a.-,|--.r-;l
...:-ilr.rLL;rlrlat, cJL
b cs.;1,-t,rt=*,
g.l^Dl$.l-!
,c,.r,.d1
www.mohandesyar.com
/t,
'SJK..
at:\
fi$ ,;t!
l'Y"
ttLl.st,r-l
iu
csl]vnr'.y*
.ttLl s\*T
.-u;b
,-r-l
tj.;!s
LfP rt
lr
t1^r5
&-&
DCrl:.5.24
,s$-r \A-AJKJ
i )Su. i-bt !, .ftg-- | t J+-; i,y(.:. ,4rrb
jst'. y.ltt-i:,
tLVd ,t'L l.Fo, g ,6.r;,
t5 5fry i-L"-- xl.,, ;.[5t u1tJ., ;l+r :
,!rt .s.r ,t'p.rtr FrrSJl ,sbfu: il-eo tr s tSd u* lJ un L-9b v-i:t
il v1!.rr 6r,p-t+lr, a5c*l ,l {rrb ir* tste,yr. -&-t u-y.$rc,/ *;b
ts)t
I .sj,J c'tt' t+ tQ.;:J &; ,[^c ,*;; ,-r-4 :,c*l ;T i+ t ,P s tiy
e;l.sl rlr{rrb 66rr-f tt )E tU-:J U a.-,_E rr
c,JL g ,.al;-S ,6tt-r ,l
..:*1.+*,;tJ,p.st+t r, ; ,tSlr ,$a i Lsl+ gL\i-fl (AC) -eL:o .r!r: slati-tn
,g;l+L, c\tt-rDl:< rta,,_l qlb j:: a:[,: AC uta,y:. J;;S rsrl4.r Ll .llcir.16a,
.c*l o:J:e.l--. I t+l;l orl:-. "l
L
-21.1-1,
,,,.
,F-, ortrdu .r::--A (J-J
;tl tr
jtS, Lp
A-A
csW-'ti ,rL usrts. ,st"r;t '# V-.1
5 c*,2,,,-- ,ti Cr, sfy a;l,t- L-L,r1 ,;lxlr5 a oli orlr -291:JJ t- ,r, aL.rr t4l.1r
'^1-"..-t,g: a;l j.-;.J^ {ti },
U-4.:*cf a*l-^u,-bt.r-r J-L.,.r/J*;t5,
.t-S :W ol5r".,-..a:
.tt"
L*-..".,;tS,
LL..c*l
Jt
;lslf rrn, u,
;rT ,}y U-}-t*
^S
ot+tS.:lortt-l \;.,1-7,lt rpl:;LL,st-l:r ,-uL cl.r; .,iJ ,or; pf^, ,rb p
i*)
www.mohandesyar.com
\ ,; u..c*l o:Lrt=*.1 ,lr;!Se a-L*- jt5"e 6Vt
lY
J-5.t-S +-L-,ilrllStt"r5fq ,.pt"SQ rsiJUtJt.(.S,+) JLr^-,, J-{|.;ti rxSr".- 'rU,' u-hJ
rlall t'o iti .iy:;l \ ,*r 6r ut+*t\ ou-, Lflf 2s ,lKS rr^- ,,)t-SL..c*l
U tr ,r; ;b 1b:+;!3r c.6- r ,t*JL, rl.u- ;rL-i '^U:+ Jtz.. '.Jlj .s-1-J.rl
1.J;lr itrr/ g LL \ooo" b \P,rrl.th-l .-sl4 g;tar[f.rf .\fg tE sart
U-l
FISJI ,-)tlt I ^56$a,r5,r, rt+-l lt, 4 ,V E
,ct[*r.r, ,SWst 2 6jSS 6:]# c.;-&,q.c-it- cd.: d.].Jr "t" \ [i -rl,;' r-rtt *
.+L-.r
,sfu t*+ cj: g,-l ;l;.,
G;T+ i-i,g,r-,l.sb-l
s -*,r5.,- :,*,
Jt{*
31UI
t& :, t+i,A )f
';--lil
aJ .u:....e,r,- laa
t3--,,
la
o.rf
jpy
uF rbLyl o:[' "l \ u* L-:lt .+:l: U-l ,r,j'; u-S-t ) rt2- L-tlj
jlt- 2 ,x5,-t)r, ,.4 jl .,-b ,t{^tft-r g,-l c-ir .+Tg c-)4
,F*SJI ..|,-Lr
'-i
..:*l-;J l+T c.i: Ll ,Jr;rkcl ,l,ll; ,sri 6larl(S ;l l^,ri ilt.c*l c#Jg :
:2,a uL:., + ullil g;taoJJ-r,- yl or[,-,*l a:4 il-irr, t^rJ::J
")rrJ*,*+
s5 ct-l
.r:|*J,
.S,,-
l,
.J,-L: gr-l ..x--.a als.
utao*.r#t"fr
ttr:t
.:jr jl ,-;E ;X.i. .JSs. J^,-l s^..jtS, q .*[:i ,sjEJs : r,f ,l ua;
)Su. )eJar.. I t4T r-11-26 j-j t9.s s ,u[; * tSJ^s
o)li--."l vv ,-;tJ car l .*L:, 31CT JUK* ,la,-l ,,s! lg;-,19t :l ,16
,irt'-1,
.i)[:.-l;l
c*l
or[^--""1
r3''.J
lrr t# {
t6At3!-r ci
.s-.J.C
Ul.t-.J.g 0*,;.uat^1,, ;l';ZJ.;,U-,;) o-uig..> rl+&
,r"t ,-J..;K.. .rt^e;!.:i: ,c,X.L ,,r-l ,f.: q .r,.: GU: *lE3;-r; rta,-l c^cL
xtls cs- P
SJ,su..-
irS^" g)Je
tfu-
\ c^-c- xLfu,,a-L..>
6;ifu
J-P
Lf
1-A
,#U;6t1et*-r 61 ;lll L*. s a\st ,s.4 ,s-,ry (n (r; csi ,s-$,:lrl gelr,
orfi',,| V';;f
l[ q .t-t"d-l.,--;l ,taet(*t ;,21 ;l qQ,-2r .c-l ,* ,-rl]
,.t;-;. ,g oiL--- c;li t:1.5..,- a1 t44;nf ,.,,_l .(,s* &: t- bl,r=
A :l I t-j. ,C
,ti il*Su* U U-l C) .,t )Sv. +U ,;Ii ;) oJ-i t.Ql ,-il; ! r"-L, ct tf s
lc-l;!.-t*- -* t ,b
rry
tt:;:;;,'::l:-
6yJ J,S,- { o*; ,P: g.r) taa-t..- .Y
t.ur ;[-i; 13> jl df c-*L.- ,dh- ti- t xltg gL,,l$ .l
\X,*,g
r-.a, c;L
www.mohandesyar.com
JlU s$t5w 'sub.
fi,9 ,-rl* f YY
t)tc^lJt^, J- il
,JrtS, ,srlSr\'!b-r, ,l*-,t :l alig st+ .f
":o
:J:ar,rr ,lt tl uSJfS" c::\:l J'- ^-.rr'!^.. I t44;;l;
P ! ;ll!6 tatf rtJi;< r'; t"o-t '.- 7i ;.,11 zJ,.-i' 6t^;li!5 ,[^' ,r ' \
Ll ,.r;.us- J;;5,s4:,y ,gt,sb br-t-.- ul .xj,g glll ! c-cr-, uiAK
.-r:.S; LtD Gf q lt ;tT il)l L"'..: .;t+ 6-p ,e. ,gl ,ssx
L-
gtar-L.>'lr -, [-ra-L .- g,-l:gl',JSJtS, cy\ J'-- u-rT: us.Q,s-* t- 'Y
u;l'iL JS"i; 6 t;-*,-l cr''[ ,r?"c
e J,r-rr,rr *rFS r* t *,- ,*tt
y-l ,J3.*,t* ,.6 rs-$,:lll ! .,,-t4 G-r t rtls 6o151;-lK 2 t"r* ,cly.f
gl-ul ! g-W ts-* t lls ,trc:(t; itra 1l dy ,;; b a- *;le;,r, ba-t...l r-(
J;S.J,.. ; U;5; I 4l ;1"\^'- u,-4 c-p o ; il3; p -r, Y
csl..,s-t1g*',-p ;9i
>
f t ,tls 6:i Zd?-rte b ,S-,,grr1r;lxl
'al*5a;.t)!,, ),;Ll*:l
J:* g.S-.Flr;k;L;l 6lt3; \t-A Jifu'
\ir"or-ti
c^i-- c^:^,a-t-...'Jfu,r=L- 6;Lt.src/ il.i; (c*l '*,gl)
[YY]
6JI5 Fij; J.tt' , e-u-; c^i- JA .c*l ''ui oJ'i[""- bL ,* A il *,]S
,. S7UT;tJe ,.:;r ;-*,!:^tt q. il ti JlrL dt t\ t .c:*l '-ui ,r*,p* jU:
.c-l
o-t^i
f.*;
,c,;Js I -,-
x-+
f,
9; t;S u*
1. Scheinman
g.
,Flt Jti;L
\ 1-AJSJ
www.mohandesyar.com
lYl g r.,
'fr$
y-l ,,
.2111
c-.la J_)U, .1,-+ ,s!r,
;2sr-1 ,sb.
.t-irl
.sficl
rrtr'" .l ?
*-sj;
;3*'6 t r
A c4U
,.I,-rn
(Jt-+-r)
,+l .sl+J
brr$K .r-rL 4 ;l ,rl3ge,J,rilsl
,p-tr A-O Jt:,rr &h.c*l ,8,gV G;E; i;o.1HS utr-:, lr-tV
.rlr Jtiil ,b t y Gt v-ftth q Al-..,f | ,$g.- ,-F eel:-S ,srr:
:i
,>;
5*;^r1*
,/p'otb.tt
,jlL"
t 9i 6jr;lsl 6lJ L1*L,rf :l
^S,sl,;L ,s,r; Jfu r=i 6rr3r;lxl
:rllr r;-.9 rSl&b,ol5g..- c-*L.- : r?,s',a4a$1r.c-l
ort.i:-l
(P,rrlr.1[
";;
u;,Jc -*[...- 'l* ic^h-, LL"-.t,lKe ;t U .l' jf &. :\ J6" .rr Jiit' t,bs 61..:t'L 2 ot5,s..'fu
.,lrb.r, t+T;l l-tr,,|1tt (P +J.-L:*, a'.J--a ,sl1* t\-)l2 r>-l oS^. t44'*';l,f
jl
Jfu ,J ;l ,61> 6-ru.5r3-ra., tlr, ,'rlr tU \.rJ .lit^. .-<b.rt c*
'fu
a-t*- Jl it;'-lz .sp,g ,sj* qtJD !I-ra.rJ.-a t ,;x o; tas ir*' JlJi.)eJar,
ely FL r rr: slF q1-l p.rll.r J+ LF 6r .# -rl& ,J-iL c^.L-.21: ":
dll:t ctQ,;r ,#r i,.^a t .c,-l .tl;tJL-, ,&,t c* c[*;U; U cJr- ill5
sl;, cJs- 'ox5re.r."u ilt tt t:l atJ -b,rr 6y-i,jtL;l;l .? i!i,. \t ,;tltJli
.r.2lr
:)
.iL
.-u,t J^e ,s-)?
,aQ..:*tra-L.- ,fl) ,trb tt-trltl e:l
,oJ-:[ JS- '$-,$l*,
JJL,., * ,rll; JLrl t+T q .u;l ,+ Jfu,*U
r-.; P il;-4 6t
"?dU"
,* ;Sr:j.rt Cb 6.li-i qg.26..i9 5 ,0.*r;.2,'se,, cl+l,-; Ll ..srlr ,-f tQ
trL e .+t- J(.i -; t* ,Jb.l-l cJL i .x-*,t -lit*,, :ta,-l C^cL ,rJ-:[ Jfu r-i
.x-ie 4;L otrt$- li ^,Lt.i-;l ,iT q 4+
.,5+ oW:l
L-
t, : ul; .:;t.' ,-;--lrl ,slt \,I;t.i;) ,;:Jln- s gg;J,qlxl
tJ jl u;l; o|J,l ilr,i,i;E; cd:s-a$l'Jl; e-ltT !.r.21:tr)L-i c-^.-al vtE*<
.)-r jL, :l b ,st-f- gf ,s6t'; s
:tail ,r(--,.e5 c^,eti, .=J ,,J..6
Ll ,ll1l:r t: 'hJ c* ,i: cWrrf
I
'FJ
;tl-i,g,oK:-, Fl$l ;;5c--ri; p t q7,rf F1* tt j_-i ib ! .r5.r
.c.i! c*: ,-f,tr,,r5,.rL,-: z;3
^
J ,-,*. ?;b t rJ> jl ,-b.rt Jt-rljl, [L"r+ 15t"e*"tj
&: .st++
't; ,;s.u
JrL
r;i;;
,;; ,sl:lr,,l+4LuIS u-| ,-&t 6-r ;,l.Ja1d +,v 6*
'f:6
d:ltl,-nl U-l.l:5.,, ,h-l 6y' ,s12 6l4at-r-F-f l old :try-l c-eti, -,* tlt rbi" ti
.c;L .up r;o:L *;V a;,rb2rb,rfuL,-r e13 g t hlt{*
c;ba..L-- t5 t-s
www.mohandesyar.com
rAt stiil't,
an\
SatSt
ntp f Yf
ett'
[1] W. Rowe, Editor, Robotics Tenhnical Directory 1986,, Instrument
Society of America, Research Triangle Park, N. C., 1986.
t2l R. Vijaykumar and K. Waldron, "Geometric Optimization of Manipulator Structures for Working Volume and Dexterity," International Journal of Robotics Research, Vol. 5, No. 2, 1986.
t3] K. Waldron, "Design of Arms," in The International Encyclopedia
of Robotfcs, R. Dorf and S. Nof, Editors, John Wiley and Sons,
1988.
[4] T" Yoshikawa, "Manipulability of Robotic Mechanisms," The International Journal of Robotics Research, Vol. 4, No.2, MIT Press,
1985.
t5] H. Asada, "Dynamic Analysis and Design of Robot Manipulators
Using Inertia Ellipsoids," Proceedings of the IEEE International
Conference on Robotics, Atlanta, March 1984.
t6] J.K. Salisbury and J. Craig, "Articulated Hands: Force Control and
Kinematic Issues," The International Journal of Robotics Research,
Vol. 1, No. 1, 1982.
ti]
O. Khatib and J. Burdick, "Optimization of Dynamics in Manipulator Design: The Operational Space Formulation," International
Journal of Robotics and Automation,Yol.2, No. 2, IASTED, 1987.
[8] T. Yoshikawa, "Dynamic Manipulability of Robot Manipulators,"
Proceedings of the IEEE International Conference on Robotics and
Automation,, St. Louis, March 1985.
t9] J. Trevelyan, P. Kovesi, and M. Org, "Motion Control for a Sheep
Shearing Robot," The lst International Symposium of Robotics Research, MIT Press, 1984.
[10] P. Marchal, J. Cornu, and J. Detriche, "Self Adaptive Arc Welding
Operation by Means of an Automatic Joint Following System,"
www.mohandesyar.com
rYO g:!r
Proceedings of the Jth Sym,posiurn on Theory ond Practice of Robots
and Manipulators, Zaburow, Poland, September 1981.
[11] J.M. Hollerbach, "Optimum Kinematic Design for a Seven Degree of Freedom Manipulator," Proe,edings of the 2nd International
Syrnposiurn of Robotics Research, Kyoto, Japan, August 1984.
ll2l K. Waldron
and J. Reidy, "A Study of Kinematically Redundant
Manipulator Structure," Proceedings of the IEEE Robotics and Automation Conference, San Francisco, April 1986.
[13] V. Milenkovic, "New Nonsingular Robot Wrist Design," Proceedings of the Robots 11/17th ISIR Conference, SME, 1987.
[14] E. Rivin, Mechanical Design of Robofs, McGraw-Hill, 1988.
[15] T. Yoshikawa, "Manipulability of Robotic Mechanisms," in Proceedings of the 2nd International Symposiunx on Robotics Research,
Kyoto, Japan, 1984.
[16] M. Leu, V. Dukowski, and K. Wang, "An Analytical and Experimental Study of the Stiffness of Robot Manipulators with Parallel
Mechanisms," inRobotics and Manufacturing Automatfon, M. Donath and M. Leu, Editors, ASME, New York, 1985.
[17] K. Hunt, Kinematic Geometry of Mechanisnzs, Cambridge University Press, Cambridge, 1978.
[18] H. Asada and K.Youcef-Toumi, Design of Direct Driue Manipulafors, MIT Press, 1987.
[19] J. Shigley, Mechanical Engineering Design, 3rd edition, McGraw-
Hill,
1977.
[20] D. Welbourne, "Fundamental Knowledge of Gear Noise-A Survey,"
Proceedings of the Conference on Noise and Vibrations of Engines
and Transmissions, Institute of Mechanical Engineers, Cranfield,
uK,
1979.
[2I) O. Zienkiewicz,
Hill, 1977.
The Finite Element Method, Srd edition, McGraw-
www.mohandesyar.com
JAt,
122)
s5liit.(r csu\
1.;..,,tS-
,t lrt, Yl?
V. Scheinman, "Design of a Computer Controlled Manipulator,"
M.S. Thesis, Mechanical Engineering Department, Stanford University, 1969.
[23]
K. Lau, N. Dagalakis, and D. Meyers, "Testing," in The Interna'
tional Encyclopedia of Robotics, R. Dorf and S. Nof, trditors, John
Wiley alrd Sons, 1988.
[24]
M. Roshiem,"Wrists," in The International
Encyclopedia
"l
Robotics, R. Dorf and S. Nof, Editors, John Wiley a,nd Sons, 1988.
t{at
- ,l ;!r,, Jl ,6J) ,jt'^U:.5-- 4rl: ,.*f ,J! [\0] \-A
L.-2: -ri a ,J)-- tsWt 1y.;1 ,slt;.,tr:,, ,) .S,g N; tJU * : j*
.{-r:l=: #, ,r fl, ,slt tr-2lr;L; tsibl
i/_l {5,-"t .4,_?l} ;L-L .-E+J:. .S,, \ -A *r ;,!:r .Jt [ \0] Y-A
.j.J:; ,s\lu c^,.; A x Aft ,ttl : \in c-L;'*; + st\tt it-t tsD;!r,,
r;1a5.-r!
.r).t-rg
o:t
'\)
rS+
6lJt Q7 6l,1L rly ,*t.: [\V] f-A
-\st e,
9 ,:-2lJ u;.-\i,2r-' Y : \ 6tat^-; 6f +S et .t--rsi cs)AJ t-A J|S..J'
,t-l u cr-l! ,r- t I p-1, -r- 6f b Y J-L
fu- 4,srrr: i.lJJ.-r,-,o7Ycm .b t \"ocm J* + tl')lt,sr:- [Y0] f-A
6tp > ,Asf 6-ri-rir'.- .Xb,g T = A 6JJ.-; c.*; \ b cnr u:^5
,)'-r rhl ,r [aoJ$r- Jl ."trf ! "7\"cm -b t \""cm & ^.(J;))t
5:31 -ralri r-rq ;r-ri Jt-a;l
,:--- # .*.r:S;
.5..,",Yo-A
3
L-;
\>.cr
II
7 6yo.
rfS*:rr [Y"] A-A
u:.a5 e
-loi
1:
oJ^i
orl: aLJ ,ssJ
"^Li
tt13-aat lt tlt.,.:-l o-r,,T 1: Jr- a, ,c*l
J: \ " lig lrt ! r^t- #
,4- | l'oo-r;r-r,- .+5,-r.;tJ Lo ,13.2,,0 it\ 1pll \"' crn it"-U ! ,Sl,L.l;
.c*l \"" crn ;i J*:(J;)lt -)t*, )^S et Stilrrt cnr d.asc:*,1
JL'l Yr" I b s-t+tt-: LL fn J-n r. r-:! ill ,fl);-,G)&o * Jl
)l J*L i-rlj ,A.,b-: ,f5*: .=.*, U .iJ -b r) {! t* lt ,rn' ,fs ,>;
S:3.:; A ,[-r! 't \
www.mohandesyar.com
fYV tg.,;
I
lrr./-a
.c*l
"!-a,
,Jsr
r;^alS,--...-
o,
^S
61sr-,
L; \tt.i-.lf
Y"-AJSJ
i) ursr 6J.;gJ.- Gt- Jl,f " -A Jft,-2: [\O] ,-A
o'N.m/rad (c*l
,Y ,?,.l-iq r'" N.m/rad y^^ ;^* J \
]is <stusiJJ.'.;,- S,JV
o-Jl ,tsrrau pK, ,stoe;q ,r::',';;:Fj
.uap J-"Lti:r! ;T u;tadJ:L ,-r.i[ ql-rF-rS-" ! t 6lU:" 4Li;.5"-.r)r.r!
,s;r4- ;l J;u,p+ y zL;;tS, ,6ro ^S c*l;i vt - ,t-l tt ;I-l;-ril .rri
Jl* ;L"
rro-^
V-A
,tt: e;; -b tt 6, -.;;rLet
\f-A ,f5*l ;rl;-l ptS" ,slt.trsbt (c*l:;s) or.-:l-r)t+4,,
'*;; a'_f alr
.c;i qb
-*
;*",J"t^+ 6troJrL" ;lt ,;Tc-:tr-r t ^t+J
ert".aA, iltd b
;ryl.,-J"t;*
g;taalrt-.
Jl ,lf -A Jifu,Jr oJ..i o:l: .1t.iJ ;'rl5:-l ptir: IY " i A-A
rl.r'irr,:3J o:tr--,,| c1rrlT L1s a-\,s:-S 6l+I-Ljl ,"-1,-2, g;r!TL.;:9:
.r5 or[r---,1 .rtJ r.}..]. J 5r,"i -rap J,-l- 6-# 4? - = c;rlT ,-L.-/: ,5
g;|,...-i, o:L.S*;t^*i t-* Y\-A Jfu [YY] 1-A
;!r,, 1:Y ]-L ,rt e;l
o-26a^a
(J;[+I^-L ,,Eb+
t1
$, j tJ, I Y r] A t . Lr*.
:,\ . . N. m / rad ta&=-[, rS "lS ra.,
'*. .C*lcr,f o o N .nf rad rrr."
tA)-? & d,::+^3
'*
6boJJir,- c>;--;1.5'.,-ra
6rlVr:) c*l !o o o N.rn/rad oer
e"-.aK
,*,lrK;
,tsa'J
?
r:a5 J--r)-,^1:.(-r;lo-r-i
Jt.c^-t'rl - ^-tE s ll
,j,oL
,:i-.'3
&t ?l- )"5;T ,st+l;U! ) oia
t-r tr SJtr 1t
'*
5:3a -ralri -r-ti'- 'd*l
'.t^3 F
li;
,t-A
t
i_r;ti;-r-r-f
Jt 1fO1 \"-/
+ c+
.r--*
,*aK t+.-.,b,srrr:6t-ooJJir,-
=lr
www.mohandesyar.com
/L. s5,iKr ,sll
11;,6l
.r*
YA
,6_-5J1:iy
#l sj.rt
#Y
iiJ;r.-
#f |J,;S,Z1
.6?"
L..;t,rS,;tS.
cssj\.t5 Y
J-;. iJri.; fu;:L.5-;t^.: tre,
Y\-AJSJ
tr; .up rl& g tL- ;rl-*,r-9*3 o:1 +---p ccr
bE ,S1** Jt^'L. g. .S,_ 5 qi52,s r-r*\ g. .S,,- \f-f ,[..:;r [Y.] \\-A
)-r* \ 6 -r, J ,1" o 6s2.-c tf \ t tt Ll u4o, ,sl-ltt.,:*l oJ..i o:l:
-c*
$S-^Slr d-4-;J4-'dar,,-",",.c*l \A"o- dI d)t,Srt'*
GtJY?"o x;ltgl^rro,, +S +S ,fl.+SCr-- r&J t+l t ;+.., t_r)b
tgst
qS 6L;,iJ) L,1*,_) 8
x;ltg pl ,-,ryrr t+h! J -\:J
.(rrl.s )?J r.9'- | t -rt tlA;l ur-::le.'r
6taal:L
J- ,YY-A ,f5*:.2: o.i.l o:l: 3L:; arl;;-l ,,iti ,J! [\A] \y-A
"5
,{B} i_t, rr,r[.6;
a, c:---.j {T} ,t-, A*:l: tr .+*,_* b aal:,tL+
I x \ ,5lo)ta ,u pn ,slorlt1- .4.tsi c-)dJ b d, E d\ J-L ;tS, 6tar$,
'i. j {B} -nj.64 q + 1,,"-t. t ,};61.x;l;uf5JLil tre," ^S r::-..^
g;ta;l-ut5.t)! .-st+JL;l )e,' o5.,i::-..a I x \ ,r,_t.a-2lrri t'qo u;t.o-/l:J,t )Su"
)s'"Jei{T}=nthtqutrF
,
-c*l,.^
o.ri orl: 4i f-0 JU. ,b.t, es 6la-Je cyl ,g.flj jti.,jr [y'] \f-A
tt'J"-S.,_ ca jl
det("/(O)) =
$J -b-r)
I-tr
.t\ e 64),1!
(r\-A)
/1/1sy
c-rti ,/r
* /r ,t-6!..t J*
g,.z-
Jl
At'r oJ-i, J-f; rt-t'! yl. U-l atVrtr" b sF
a=+ .:txl ,r;! +ti Y: \ ,sQ!L a4*
L* rt(.l ;!:,,rrJt 1rl1 \f-A
S.r.3L
(P-A\
www.mohandesyar.com
fYt taa;
\ Y-A
c*lJ+ r), .ulr; q
rt-i.tt or\>l fils-
',, *
YY-AJfu
,Q eL\ -; Jt
.+J}!, \r-A ctr
-r-:L ,-'r)LV ! (f-11 ',b tt o-r: i_.;, ttW r? O 4.rr ;t-:; [fA]
l.ril
(P-rt1
atW
\0-A
&
t.:*t.2Ji.- o7\cm Lr rf "cm
clr
tssr) t,{,j i:Q [ 6la*; *
^.u.;:,ji ";'H^jj"3"t';l \t-A
fa5 ,slt q ;3A S)]tf c,*; [O] \V-A
lc*lrJt \ Y7"crrr Lr4;6.i, LA e Y7" crr
6a r
.elil;-l ;tJi ;rl: -2[ ,slt *l u!tS" ,ltt1 .S.,_ [ \ . ] \ A-A
"ffu
'^L
t; j-lr-rtu
a+
,slal;-l
ot'ti
tr.ll:;Li
15rbT
L.-2r
.ri a,:U
..tljrt-4, )LK
Yf-A Jfu,J) [YO] \1-A
.c*l r:-:lr& b r*,c^:(;l
- ! crll c-:.J5- \ W o- 6ll: c^:f;tr"
fi, 3t*;;,y ,t8..:*l
.-rti ,tt ai .:*ti" jl+ g,-l .rJ ,s;LJ.u n6laLi; .r"L;> ,t12-a6 blj t
,sU.,dJ y--r, ..:*lrJ
19)bl L1s a- / t5
,sr3,,+z Ll ,.sL,r,
"Lti
'#
U-f--q ,stl;,T'a-rs a- \ ,s:j 6laJ.-L \ b eA LV; U_l ;tl:e f;;tS, JJ^;
.:.21: 6rlT L..2: -r:; ,*Jt+5 b-i ,-[rJU\ J o:[r-*"1 t .rj
.c*l ,* Ja, ,yj + al=,. a.- 1.5.u:,r" jtJ],, L* f f-A Jfu [Yf] Yo-A
,stbT L..,,r
www.mohandesyar.com
,At/
stJlS,
,.st:\
t|"1""
6t$ Ortl,
(6l.l,ij.r,L;l ! !,,.-*,:.21: ui:bi Lrt a- c^:(tr^,li.rr.5,,r::3;lo- c*r Yi-AJSJ
.c*l c;lr&
.Y"-A
.srS
;LL
rrrtt a-rpt(.
Yf-AJSJ
) ,fi t 15rbl L.1r er [ 0.16a^r ;L-]- e{-rt 4., *
y-l .:;lr Jtil Uj a g;r!l elrr a.. I
15:ll otr, .l;3 e
'^&:a.
tr.rb
,K3Lx; ,b, t'r. 6r ,*r. c,J$ Jti:l ,':+ :t Jl.S +5 6ri^; [\ A]
.rt $|ts (\f-A)'^\bt oJ.l o:lrrl&t, tb 1*,f 6D JrL ,P
t k, 6*- ?--ra t, ,F./ r: J12,,.a* b * t5 6r JLdl ,Jtl ul,
-A
www.mohandesyar.com
rr\ w;
4'-,-9:1
f
f
lt l.e.JrL
t--"5,1.
-b f k,
= k$at
(rY-^)
= kr6sr
f=k,u^(6o1 fdov)
: ,(rr: rr) to'fj LV
nt
p+ ,Pgs! ,-sl.la! [Y'] YY-A
.S A; (Y Y-A) ',l'rt il .+tsT c,*)dJ ,(d") t+l j-n f-n bV
(A c...;l
,*-i*Ut Uf
d+--:n
I
Y
.r5+L, I x ,r-tl.t" it-=ryt
6la"lr;.\
6la*; ,rb
,SE-b1s al-.r. c-...jr.2:
!2
o.Li
,g;La; !!, f ! o[,rr.5.-
iti;l
,r =l
"J+=,-9i a;lanlr;.Y
,c.ti 6r"(!4- 2 ,>-l ,)';
'i'l
,tS" q
,r =l
'il
t 6b.{ri -btt o/o0 ^t Jl;-,,tS.:) }'a)-l;..ur cJre.E rt-rt t -r-rb ul:l ,?.+.{_r:lc#)r l.,lur2sg it?i)) ;!:,, atW
;tS. .-...-,, b *V ;r,-l ,;-,:- c*l;a) 4rr ,$ *" t* ,su*,b-r: ;ti;l
.rl=-,uLL
.(+J p".,
-r,-.1-11
c-r+ r-j dL f cU lJ J1,l.6[.ro:1.:
/r = /r - '7Am (\
lt = "/IVO mr /,' = " t?Y0m (Y
.I-.,r1.: ,[Jr !c*l ;+ t\
c] lS E -h+
www.mohandesyar.com
www.mohandesyar.com
,a[.o
"$|,fu
cstrr;l,l
,F
J.;.5
a.l.t!.. \ - I
-b'ry.sb--F \ )L. ;LL,.st+& rolj,-t,g-lorj &JtL ;,-fE u]L L-L,r
urjrlrlr ,;-e E-r!r, ,Ji cr-i-r, .C +A ;,U: J-b-2: ! L'I rr ct-t+ 6-*
dC q 2b 43t cS2>,,t+l + r,itr
t+- te-, y-l srl15.ll.la; J-{ ,St+;st ,J-i u-lr: ,J.2., 43t Jr:.S 6l*',st
U-l .t,i;t,: ,.-}; J.*,!*"r 6ta.JrL" t, t+l .*U-., Ju aic*l ,.-. ole,' "* " tSb.
rg-J.,-) 7 J-; I 6,st*+ lt:,51,-t-f ,rot,-$.;tS.,-st"l! J-;:S,slt
&,st+-iy
tl .rrcf orlr ,.,!-L; ,;.tr1 ,F ,.c J,.",:!i,-.l 6balr[', l,: t-', tolt ,y-l .d=..L-:
,S+ rs9-1u u-j* ,F lg,sWae ,.rll;*. LtU t*-r" y-l ,-!-: ,-al5. ,tL"
oS
,xltd r|*iq
i2r,rl cej--a
lJ 8l
c^ihJ ,lq|
J/ + Jt .t-;.,g tsrJ \ " ,[.-oi ,t ,u!;r; ]5 6l+;*=", .$-S -b tt ,rL;;
rr-'6 Ll ,f l'f ,l* r^t t.l*K" utori! J/ ,sD L/--p cia 'd-* + l, uF
csk;.,=."
J-Jl-ro*{ c$a
a;ta U;l^'-L.'dr +
il-idlt vU
J-r ar* u; ^S rj,r+l- cnb \ " Jui-2r .c^,,=i G-*bn
3r5#J,:r! ,rfutr-r ss;taalrl-. 'bcrt"rl:SJF
JF ;-* rl-i,g w
;:; *-* +
'F
",L;.
,h tV xli,g,.s,l:,r,L;T ;Lt lr5 q5l 6.-*":- t .5 ;tfslF .-\jt: Jp .Lt;
.r:5 .iL 4; 'dlL. Ll;a ;l I, M ul J:l
www.mohandesyar.com
rAl.,
(4+rl
s51;-.2r
sfrtK/ sbrti
Jl;^"
,F J.S ff f
J;rS
Y-q
ya' ;l ,l;, * I eilsu os,o* b *U..f=;e ,sr!
!r) \.,-L.-.a Lb + DIS Jtrl ,slt ,s:lxlr5 ) ,;LL L-tli
uSrt(,,stor;!-;i.r-2: Ll ,:l: ,UE u-&-t !ti;;r ;)l-iL/ ! i.oa-L-- + Jl drl
.xj't -h ,tt t+t-L.2: I t4T ,raL
,u|-i--a,st+l*r., tt .5-J.cl orli'-,,|; (6i.r:r\ r>n- c;taa-[...-;l tal;.,,
",e6
,-ht L. bl-;d, t+l :l ctl-.Ul ,t21u. .,5+ GfU-f rr$ Jt;:l: 6;lx\6 sk.:l
.t-S ,s:l)t" ,kL / rr -;l.l!16 6- ,-,
C);l e ,r5J!, I g;lor-i ,r--i gh.il 66t-'-. e;tr st+L; lr,g in
'A*1.- ,sb J.J P--' cf, jl +\ ,x-Je 3lS ,5r:.5 pJ.,: a\:t ctt^-rlJl;!5
,t Q.*.rrJ rta,-l ,P .tt -b t -r .Sr b # o:1,'.,.1 ,ta;l.l!r6 q .*L-. .-sl+Lf
.x,*r-S a*l-,. ;bL cttaa-|.,- il .S\3i,-1 L-; ,l^Dl::< ,111 ,>i2. ir6
;lr jry o!:,'..:*l ori orl: iti u/rb c,!l t-# l-r,a il"t \-1 .,fS,.i.1:
gLl ,15$5q i,t , g;taa*[...- .JSu. .:.iL-tr J;S;-..r- jlt;t-L y:laJtl:J.3
LS; itS.;li lu ;L;" ts$r;l O .2lry t &,rt+e ;l O .1l:y i; .ru:,r,
.(c*1;L 6la),-; rl.u;1[) J::...A /[ x \ 6ta-2lr2,J,L \-t J*'-2: JLK,'de tsrr ;21g16* \-1 Jl*' I J-J ;"...*'a^'> 1t ^S 5 4-ttAl tr;
(g--r,-: ? M .tt ;y1.I,;2tL) c.,!-u
ui-t!-, iJrt,, 1l o:lr-.."1 L aJ c*l iT .rr,' 4
! 60, , 6, ,Oa y-r[.i, -,* l-r ifr . a*l-- b ,ftr 6)* ,slt p:^! gl^Jtl$
,,ej,;lxl ,slt 6,-6-! sjur ,,*l (6.u, jtyt
a,
oaQ)
JJ"
oaQ\
edQ)
.o\s.t
i,F
J.s
#5d.=-
c,!r.r
4,Jlrlrr \-lJfu
q't+-L,r! rt:. ,*+,,j--1) st+l"t i./Ly.r..r.:.JJIU:Jt.tg[,r-l: rL- * .\
.uSr 1 c*|.;rL
www.mohandesyar.com
ffO (4qrr).llr;-1,
irz-ti.v
)t'
(*-*, iS
r-
M(@a)6a
crli-*,|
(01-t) ilrb. il n1'li,J '5)u.. L {
* V(Oa, Oo) * G(Oo)
\-r)
Jt ."Frl a-l^',.!lg,j1 -h t,y r*- 4i tslr ,J! tt-l i 6 ubtl.6,grvu-*
'J.,1l.t sa$,t:!
-.!t (J;t.3.:,t'tl [ ,,;r, i-S* -riu: ,.!.ir e ,J..tt t ,rS"Qr Jr..
it.i.L LI .:.2eT.ule; ++ ! -* u-| 2b try -,* rs?*l y ac-3.;t*+ (\-'\)
,jy u-l;l orl;- "l ,r-2lr:.9>.9;T-rr ,r:l$L?tlJLtjt: c^-* .J,6,rfut -) J! if
;l ;T.1: Dj;u,l,t:\ iu J.{ t J.S,-)y ul.c^-+ J8' ,vnle c;l^:v-r6-rr
t+t.t g;tra-[...- 'tbP,
2".... Lz'.;l .*b (\-t) ';!,.b'S-t -rLrt) t-;:r-i^' o:lj'-*l
.(c-4 ,O,';1, p eie ,c*l ;T c.,Uii r Oo -h tty
U
6l-ra-L - ;l xlr;*; #J ,-r:fl.t
t)-S ,:---=- 6;t-., qi ,,rKcJLv:
'A*L- ,sll lb-t*,, ur-l t^*. .c*l (\-t JS.: -2r oJ^i orlr ,,,LJ'; J't''l t+Lt;
\y Lo2-, U. U s,ur;ilr rtf, r -b try uti irn .!>L;l UL- O-) il iy g;tb
"
4)u/,r61 ',,tll; c^s- t j;
E:Oa-O
E=Oa-O
Y-'\)
.*b ,t12^aau.! ta;ll!5q JL.rl tslr p) ,tl:J xl;,g JF r'.:. Lt?
'^*1.- ,;tal a'r,-l t4i-l-r, .$ a*Vu
6t^U; ai c*l ali6+ p);lr!5
'l4)tS ;1T ; S , J-#
c*r ,l-to e q*d o:Li'- 'l ):,tfu,;l
e.+t- ul5:r
,r
g;VL.rl
,-l.,1,
iyl*,tt
J-S
fu &rt
,r-i
J*5.-5 u:-',"*.,|-un,\-1
Jifu;.':;.122u'
.c*l ;t-[; 6.r,
,,;*, rlr p:fLc;l
;L=.ll Jt-- ,J-$ e t L?l)1: .r-Ll 1h ^
J' j; ;l .c*l e
r-s-rf{! ,b.rt1, U-l UlJ .c*l t* vf ol;"* uL
,rrL .f ! n4 S, ;tJCJ tsla-* ,sltl1t(:o;t taG; p 'S c-lrl4L, L*
J/ ;..,* Jl Sc..ilr o-.i {q .lu.it, ttr-f <tL-3zn r' Jr u.L0.ititI Jl,*
,r:a66bt jr c6lL- a:r-li-1r s,t3J,,grlqliU ,C6;tT:rSl^c ,t,# gV c*J)
tl C)lS .-1tj .J c*l iT ,i.# ,-r)+ '^;$t 6*i ,rfJr c,,.-a t .-ur[ur ,-;'-ltl
7u..,,lsn:fl^r $,-,tt aJ .:*l ;tI ,;ll"1'J: (;ytl : ,t-id ,*L, -rl4[ ,r:..r* a,
s-l-r;!-t-.. 1+l O--b ;l rl;u. <c,Ljb s:l ,J-s -2: .c-l Jb+-l-br,1'.--i,,-F-L1T t- (J;jLd::.: il r,-V G-*
e-b;lorti:-l t', t,-r,Crr- C-t+J-r, :44t t,F
;sT
ty-.L,
,rt+l
www.mohandesyar.com
tt
J.rc/
'b
J.{
YY?
x \ 6le.1lr2 .iJ*. JUi.- Lp;45ilrr d,\-t JS.l,
L2.tf Jt.l LttuJJt q JF,tlA:* ,t+1,:, JF 'alc* S
;1":;,.u:....r trf
.,;r.c*l
W t
.,Sl'jt(. sbr;tr
\(MIMO)
,slt b (J;lo:L c^ihJ 4; u-l
il r, d r"-je ul*.rr J-S g;.,,'fV
rl.r'; ,rf..o.i ff i .Ftt- dt! 6lt, dJU-+ .rrf J$ ,;lfls (*
J12o*
r(SISO)
c^iL) u-l .d,g ,rl)
.-ftf 4.r 6ttst ..! t, Ji:..- J/ r:--- n
JL r, ,tfl+
ct-l f .s-icr 6J ,6+ .u;':--.-st+!:, ;tfiu;L .4'4:*,ra p;
,Sf 6balrL ,c-l u--r* ,ry s s-#. d olb; Ji;*.n JEit JirS d,c^ih,
l.r:*l c;t+a rr .Jlc.-,bJ"-r! t d,-u t d{ r.t::*.! Ja.- l? Plr ..uT .:*t1)
P t ,$tS, ,st":,i! ,sD f c-r ,t ,F JrrS Ga ttt6.*,l:; ,J-t ul
,J,r+l- a.--..9i ,6lo-rJ J4a
p) 47,) .,b gil*i-..:,.,r l-1
p.i- l.ql : y-t-Se:t1 r^i' + ,F *L,,rSJtS, q)L J-{ dJr. jl ,_h.
,P k r??--,p\,S.rt 4* ln a tfr,Y-1 JS.l, ,t.g--SrS-bl ! orL
.:..6a: lp O:.it,Jifu, ts-lt>.c*l b,C*' t, p-.t Jt(.t,-l ?-t'; c-l o.t-i
,*,Li JKt -l ,s:." Jl.c*l o.l3 ,-F^-i (f-t ;ti tl5d,.=i) l.tr ,s^-, c*
+Te c*)4, 6;1 cS7 iJrb, ,,.-a ,blA rlrr nll J. ,r,f f| g u-cuSJtS,
mi+bi+kr=o
.Jts!--l 6t B /17
- =
(r-1)
Y-
qJfu
L Multi- Input, Multi-output (MIMO) 2. single-Input, single-output (sISo)
www.mohandesyar.com
llY p
'99 ,rL;
slF
!i-r iJrL. ,r.2lr 15rbT L..r, 4 6 ,r:'--- ct-l f;!;1.r. s(-t!-) iJrh, ,?:,Ja-+
.-.,18 ?-'et, pr, 4t:l t ;U;
eb,((f-1) it1f) J#!/:.l iJ:h. U-l ,b.c.-,1 [t]
,?-,f* 4i 4V + ,vl:t U-l .tSe Ld^-, b f 6)p d,c-l r(t) ;1.;
,;i,-'&.^J.lr ,.rl asr: itS,
.r-1lr f*,
,orL FtS. f4 ;t2l il
o:k-l ,J-# 6l+;,,=,, rt 4rl ,-eU, .ft j-,srr,c*l il t*,-U "*Ur b J-{L--b el;rr orL L'ri. g,-l t cLu'L" .#r+tr
rs!21
G-*I 'rL ,F!rt-r u;l^dJrt', q L6J Ja.rl, t*S.f &J U+-1.1r .t':5
Lft-,. .Cn o.lti:-1.10i.r., -3-t t,J")tJ J+ sL ,$5 (r+ J:* 6ley[l;l
.c*l [f] f.r. ,L.py u_l rsU,-'r
aa.ii;:3
:.11:
Jt >Y,..ru ;[-J ,r jl l, oslc.
dr
,K* 6 sJ ,r; bl-i,t ,*\ l3ti b) ,L-; Jt.*: Jt(t--l r (.S-,t k) , z='; tQ *
Jt t'l .$.up jq r,'- 4j ;.,& o*^bt t ,s.r:5 L 2 ^:-..aT j=*: ,r,.: '+5r...i;j r\ l; ,;.r..i 6; :l # *l tS^. f.--" ,J':! ;.;[ Jt(t -13 c^; tQ. -rt
r-rb t (f-t) iJr[', +lr p; aS t;-fe:ta.-l ,!r y-l *.,,i):.,).' 6la:r';2 gr-l .rj
.r.,,lr p*, k s ,b ,m 6la1:,,ll,
t,(r-'\) Lr;l g;l"J:L J- Jg.5.r-: r+F,[\] J#|i-:15[aalrL. tJtL
,-21, p*, iTi--;,.:- iJ:tt .slod-,
t'.
(f-t)
n'Lst+bs*lc-"
r-2lr
L\\
'
rt?
-
"A;--7: (-u-[,r-. ?
e'19
b vF:1*E
Ym
u JFT*E
lm
lm
a--aj'&
ilrb,
y-l
(0-r)
lm
e,it+l"i t, t+l .+6 oJ) .tr e s1 6taa:,-, ,F
r JuJ fu .l:,i1 oK;'T,.uL & sr r s, Jl .tSo ui^t lt p- cSr U
.6;T,(*L .r:":l: gg-r ^il;. .i- ..,i*-) -*! LJ-' sr J sr Jl .tt.up G;-irL*r: ,j/ cJL s5 th-'(-, ,lL ,*J .U;r lr .rr lap Ga: (n 16,
,tf rftt P U-l ,slt,b n'g-1, - ;.tlte
,c*l Jti JlSt--l ,;-,_,br > Ymk ,c-Jo- ct-ltt:g;1L-eU t ;trt- sslat4: .\
.o[.r ,el.f op I tJL u_l .'-;. ,g k; GLjr- s S t6t s
tLEha
www.mohandesyar.com
,t,
.,(oilS, atrri!
,)e
ffA
l lmk,.:JL t-r-lf ,J*e. rrb*{.1 .Y
,j*l: t cJL ;r'-l .x-lu. ++ dLj
,# J JtJ.t-l u-,-,br = lmk,cJL ctl t5 z62l.-t t ;it- rrb*4.1 .f
, .:JL U-l t;Fe d.rlt .|, ,f-. GL--i* t5t u-P-r s b1' Jrt-- t,"r
tEL s c*,1
JLi ;i dt-
"p-,bt
.&b.f
.&b.f ,Jl?.L;,'--
ul.t5l2-; *:,*l db a:,.-4 ,(Gt* 61L-)
itS. q ,GLirU.r .r:* t & \>.cr U- h t r ,$.f
p,..:JL
ly .:JL- 1-{ t*+
lt;"-* 4rl L-t;
'F ,F (.r-t1 c",J
ttJ,gjq
t ;;:t gtaa"4_r
e.rl5it: G--,r(t) vlr.t((f-t).2r,q4-, ,-;.-f--q L):l: it; .rlrcr cLT q
c-l g Jfu q .A' ^L i iJ:b, ,sD. cs|-*,,b , .,4F 'a.L-1 2s .:JL .1) r,+..- 8f
,5Jt....oU
(t-'\)
r(t)-c\e"'lcte"'
{tl L"t; ,sl:l+5 ,llc^,ti e t ct *-V
.u-Te cs)ar (0-t1
L!:l
r sr ;l-2, of
.t-S +L-,1, t+T al-ict,(r*t 4:l cur3 ;tS,) o.,,
2b * 4tl L-l; ,slt ;.,T \ )b;u; f u. r hJ.i ,F ,il Jli ,r-t ,[5*:.2r
,.,l*t, rrL[ : ,*,1:: L.r:
Jl .c*t ori orlr !t!
"/r ,., '#,rhL, .c;l:
.trp lr-01t- r:5
a;l.tl 6f l: J;;l ;;lje,.:*lr.(-, *l; J AiJt"",:
.S,- llll aS 6y\a p
"^Li
sr
www.mohandesyar.com
fft
L.;r.rl; ,et+i , -
1.9
t-r "Ii ,tG f.J t o*,-ti.;: .;l \ -bu;-' Gl: orV b-: "j -bj2^" jti
.ul ,j-#.lU;y1! L..r, li ts[,:.".=,, { ,dto ,-^Li;l Fy ul .+-$ ;u,l3- P
,* ,312,.aat,il .=Jti Ji 3: ,t'.$.b ,s L. 6l;u. b r* L.1r ,:---rr ):.
4
.r.,5.JtL prr L.;r
\-1 Jbr
,m
=\
.t=S
;T
4f
1;;t^ilt, -r-rb a5,rJ[- ,sb L Y-t J5..l' -2) o-u-i o:lr !t$ e
(;F JL;l) c - -\ ;tS, ;1 r...-e,c-l k = ?e,b =
"-;*,s-*c/t",
u-l ,'r;.-.
v_rl, ;..=- ;r'-l t -r*
94
,11.;
(v-1)
!.*L,,-,.sr = f I sr - Y;l .ll;-1tr al:b, y-l 6Le,ul"--2
(^-r)
z(t) - cte-tt+cre-"
,t = o
rt.f-td
r5a ",, t c\
o:*; rsltb
i(')
:.
,"
t -9
: -\ UJI t-F J;
::(')
'*,lr {t1 ,l-!/.; ;tll 6l;i
,.912.
cr*cr--\
-Ycr - \'c1 -
t > ' J) fu- 6f
iJrt..
sr+0s*7:"
n-T,l cd)de
iJ:L. ,f,.cr
J Cr :
(1-r)
o
-t"
tX"-T,g
Cd)d, ;t;a t^,-lr>
-t
Lzl
,'e
lJ-
IJJ
t
(\"-t)
r(t) - -Ye-tt 1ls-rt
Ubt
.r:.i! -r-j c45o*
;LIi-
uil,od.!-,
rl.Lcl,a-oii iJrt-.,-st^.6-.r a5,rJL -2r
s\=)+/ri
sr=\*lti
\ \-1)
www.mohandesyar.com
/t, s*iK, 6tant{ ,F J.S
l"f
"
:;lr I r-j c# Jfu, ,./b" fajt'
x(t) - c\e"t * cre"t
(\
Y-r)
b:,t-,"j; 0t.r21641L ,43,o^, (\Y-1) iJ:L c.*l;a, L'l
\-1 ,,--,.;) c"tj *:l'^1lr-;l o:tt-l \;rlie,uo-f tt.l-;.,lr"nLt ;T-2, l.,t''*,
L}'--
sltcl .,>17,oct-li
(+*',:
(\r-'\)
e" -- cosu * isinr
tj rt-t-a
bl-;!1 (\ Y-t)
cte\t cos(pl) + cre^'sin(pt)
(\
r;el.2r
r(t) -
Jl .xt^*L,.l ti 4tl L-p;l
o:lr-,l
\uS
i.;U dtr::-..a d-t3ib e
1*-*ti
Ct
cr
= T cosd
= rsinrJ
=lr
r-r)
)e *-V
r.t-tpt I
t+*U y-l
(\
0-1)
c;j; o* ;;li,cl/ (\r-t) 'l[irb'6aI
r(t) - re^' cos(p,t -
6)
(\
2-1)
al.2r .5
r-1lc\+cl
d
,ciL ui^5 ,cEGt
*r
tr
;b uS
= AtanY(c1,
!;T
iilr
(\
c1)
oSl,;.T ca)dJ
v-r)
Gal 6r ,t_)ut
.rJ '.uLi bl;,g ;+ ,x-$e J-a a,
t4l
rr u-l pJ
ilrL ,fj,1:r L.rr Gal.st+4 \i* j,slr-S-t J*,ty
fu* a.at\i iJ:t*. ,:r:,yg,-* .r>-l oJ.r.rt*, : ,Clf r:.".j
t-1.i,g *j ,h,;ubl.
st
*(uns*c.rj -
"
\A-r)
www.mohandesyar.com
f f \ ;lr L;r .rli ,Jirl;'=*
\.c*l
vl-.
fu- *
an
,(\ I '
+ .rJ+ g;rl.c\ ,-*lf c^i ( ;T-2: "5
L*l 0:4 t";lU, cr-l r t+t , ,F ,y 4b
ir:1
\ - -(un
(\
1-1)
eK dc*t+rl i c.r*-r c*; 1t;lrt oS
,Y-1 Jfu -st lr=, y1n e
o-i,g d*: au o* u* r"L*:: ,J)e +
f
,slt.x-l,g or, lr" e.J
-r,ol- u;tI
_b
\/ --_YJkm
d,,:1f klnt
c^*i ,(b : " Jl ,L, Jf -,,r) -\.rtJ !r=" ,z--,- Jl
':-*t-l-tlr 4 \ r;)r &*;'(llt - f knt) Gln
'-,\r ht , F :l JU, f - 1 ,fS,-i ,s
jU
4j L_l; ,sl:. ;.,T l.
eU:
p-d ,-[l!J;i, 1rr atr: fu- .5..,- .,sl6,l"i d.ffu ..:*l ori orlr dt-:..;
.s-.il: -rap l* U dr I .t;t
dL--;, e ,-u .up
;p*
df
(Y"-1)
-p elr
Y-1Jt! I
;l c*l JtV
t"r-.lU,_r-rb
.l*tJ
tp+ r1lr:
.rr1
,k
dCLrr t
Y-1 J"fu,.7)
,slt,4sl L-V + .,,b
,6*-ot"- O;gsk+
,slt Ali,g
oJ..i
f !,
laa-i.,
l,*
!L.
o:l:
;Lr p
r5f
,[. f- 1Jfu
:,.r_\r..
c=-: oL)L-l .t
.c*l ) \r"
www.mohandesyar.com
JAt,
,t-j.tt
b.r
sSJlS, glt nq
- -\ itS.;l (c*l iJSL lr:,1 .t) f...- t,k n-I,l c-,rq 1;3 ,cJL ci
ff
= \ ,?r? =
,F J.S
e,b
.+5 cr.*
f fu-
sr*s+\-.
,:r
slF ,* p
x(t)
i*t,,na+-2r.c*l si =
-i
fd ;l
r \-r)
6la^.:--.,
-r-+ (.' .o, f, * cr sin +r)
^S
Y-r)
csral b"rscr csl.3.:[,tf-Jdt6+b i(') = " sx(")= -\ UJI L-l;J;
ili c-lt, +q lli ,;1ll 6Ei ,slt ,t = o J) .fisTO
ct = -\
\\f
(Yf-l)
-Tt"-Is'-o
,sb,e6f
Pn^,tjat:-4t)-'
\/ - "-+ (\-
x(t\
iJ:h,
),ct = f ,", - -\
ro"fr , - tfr .i"
{r\
r)
u.ij r:+ (\P-t) iJrh, JS- r
a-t.Ji1s
t-t'g
(
bl-;.d
r(r)- +*.o,(1!,+\Y.")
r-r)
alrb,
(
yl
Yo-r)
I
621,,.n
|
gt2t-a
--
t ,#
a.l"-.1
er cJL
glba,lgJ
tt $ rlr ;tJ; bl-;.d,(f-l) iJrL Jt si_6_t" tl
c*l g ut12.o*..Jrl', i/-l J- ,(.rrlF g;t^14J)
r(t) - c\e"l 1c1te"t
L>)j;
t u*
O4 ;;lie I (Yt-'\) ijrb. r/,
r(t)-(",,+cfi)e-*t
.sr
Yt-t)
D
-.>t--GotJ 'T raJ
(
YV-1)
www.mohandesyar.com
lfl p'+t> ;A; rrrlr'.:.*
,cr
.p cb $
t*,d
6.rc6 1l orU'-
tr]JU,g*
'l
tr
,$F
lim (cr ! c1t\e-ot =
$v JL
qr!l:
f--,-r:..iL
1g9L-
.rr
$l:i
L-u.
&
prr L..rr
,OS^,
G;-;*''
r roili
e.5.,,L,
g-)s
&
),cr
(YA-r)
t+oo'
P * 4j L); cDlr iT \ ju;u;
8u;t3,-
,F :l JtL 0-t Jttu'
1.5;l0,L'd.ffu .lA)u, dLl;
U--*-r u?-,Gln Glf \ 'Fl-1 Jtle r
,b
* f rrl-- t t";lt,-r-rb d,rJL.rt L Y-t Jfu'-2) o-\3 orlr at.i.; edf
.+Sor.- ;-*dVr, - -\ ilS,;l (c*l irSL lJ:,| .5)f..qe,c*l k -l1'
U:+ a-A-, ilrlr, ,&JL Ul ,Slt
o-Tr; cd)d.,
sr+fs+F-"
c.*l 6r:1A!' Jfu
(,*,,
,s\
.ei
.cl--.,t-l*\ *,sl1.
4sl
r-r)
= Y ;l ll;-rL-c al:b, y-l 6t^4.:"-.,
(r" -r)
x(t) - (rr + cfi)e-|l
c*) 4 b", s cr csl{.:B,i(')=
r(") = -\ ill L-t;-;l orti-l q Jt
\lr
.,,b !*!.,
taa.i.,
;!,. 0-lJfu
www.mohandesyar.com
/t
,,Srtl(, trtrr;!
ri! c-:tt +tt ,l],i ,l 6Vi
.lilt,
,P J.{ ff f
,t = o J) .lr-tsTn
ct = -\
(r
-Ycr*cr=o
+1r; cd)dJ
64t>'
,slte4f
u(t)
iJrL ),ct = -YJ c\ =
- (- \ -
Yt)
e-tt
-\
\-t)
aeujt:
(rY-'\)
I
.l'lJ,=^tL y-l .1151 ,1.t,-1, t+;.=' ,,Jt,f-l b \-t tskJE rr
.c*l (!rL,Y-1 J,fu, e sL Jti;
o-rb^.r,rSJtS.(J;l+i
=* J# cr_l
,f-* Pf
6tl:
.xti elr
rn)
b>
"
(rr-1)
"
k>.
v-V il v-* q ! 6 rl& I ,J;:S r:.'.* $t^c tl t 6 {, r+li ,.rr,, ,i..1 ,r
c -^,.^rl ,fu- r.tr./lJ,-!,lJ t- .S-ll+t, 6-l[:-l) 64-; ,J12,ars'-l i .t-,-J.,g t!-l t?.*;; ,jI
)Su" l.q ul.)-r
1:5 ae.t) cstF.nrd' J;tS f-l
.$tJ ,r5' ,,'--rlr -b I S
! ,L 1r: L.-2r ptS, fu- ,*,J'yL, S ,ft
'*\
t- .-ut a.aB ;ly; G-lj-- ,,"l1lr,e dJt rr ,c*l G;: 4r l.V *
fu- )U,
,.tltqt" JLcl;l tr, 1* dyq s ,(k = " ) u! o.r,"i .iL ,;-,.-;l p c*l rS^,
j\x - o d2+Jt
CCLI -'jlL ry.-aa It i: t6t ,J-iS frr.1le,.-.1 ,.lr f ,s:i 6 c*l
'U a;1,-bl(J;jlif5 yln e t,?-1 ,fs,,i1r
+l.r cdra * rry 6f iJrb,,r--? rblJ:, _,ltr a +, t, .r5.r
mi*bi+kr- f
(rr-1)
.1-3 glru!r6.S,-,a-[....- *;l
o:li:-l
t,
p*lr.f
.rrF
JL .Frl: ,t#l r) r.r ocr r .rt(" w u,'. r 6;ll,o-G d.l ,rt
www.mohandesyar.com
lfO pL..psrt,''o'$:f
.cf.Jtr.;llu!5.5,
,a.u:
g-.- );lJt;,*1;,l .*E
;'t-t't
l-
!r/ r1n
r..=- t-1Jfu
,-uJ:t b.l-U; l;!.,5a5
g-t'r-1*l^. c\b
il #rtUU
Ce rlCL;i=i
(r0-t)
f=-koa-k,i
J-*.tltf V-t JS'i
,F-;e e ,,-s'-.LL c*11(>x t,lr'J. ,t Sh,l;s,6&rt't--. sl J/ p
tsty)c,ts)tll 2,;lxl6 u-;,sl+tr ,J-$ ;.*5.s[ti, Ji ,J"fu' u-lr:.c*l
.c*l oli tb
tt*,d-i....,;sr-LL la>
C-r-., al.2: of ,JA:,r.r
il.iJ!1 q':-.,:-/lJ, P
'P
e-L-- )l s>stsc,Le)ll(C*b
g.' c# l) J.5 i,..,6..,:- tlu J-S f:-- V-qJfu
)56.lU l.t;l-uf tf 611. u7e4sVUl s slr,c lt
www.mohandesyar.com
Jrt,
stJtt, dbt!
& Jf
YW
t't 4aJ,c-l itS. tt .h;; e.5'- ,,'rl'f r1+';=l llrrt S ")/ ,+
,t*:i il (F-.1: .r.1lr c.,U ,ttS- Jt f.--t ;pb& .t5 t? ,fr t stls u:l*;l
,ts.l+
u,tS. :..- %J,i +b g sljr-1,6,c;L Fal.9> -E*t '= rrrJ J/ g:"* 4
..u5.11r19 , e7p
ll-i e,( f O- t ) JF ijb t: f f - t ; t r b. .rS., L,-r c5;'al : L.. ;r lr-2!ri s:L*.
r.*,ro * t +:" 'r rl-t ,rS.rL,-l iJr[.
cstrr,*
1,,
r.291
(rt-t)
mi+bb+lcx=-krr-k,i
l,
nxi + (b + k,)t +
(/c
(rY-1)
+ ko), -* "
mi*b'i+k'r:o
(rA-1)
,(fA-1)r (fV-1) q -.y \.k' = k*kp )b' = b+k,;T;r.5
)ty ,tit ,-$ * +,lr 4 rl* ,:--'r- ili,J ,ko e k, J-{ rslao.r#
Gln c-lj-- 6 J;j'rl.rk;l ur* ! to,r+'1r^-. ..-.-i,lrle ;:r L.,rr
:b;;l I a5c-l #l
e
(b'
6; tt b
= l\ffi)
c*r" ,c*l o-U] orlr k/ t l.y: ,,, 3 ,,gltc*t ise 6i,-t *,-P s >-* J-;
t- c^:, c-l gS-.e,JJ-21: ,fu;L-l
e.st"r-ft, 4kp sk,3 +5-.r
.Jd.uprh,-t,[
,tr cr;l !,s,,1+1,[ i/-l
e,li;l". k'\b' Jtt'l.u!,rr-.
..1,-i
L-,(\f-t),(2-t) rtt'^\ ps 4-,. .,l*;!i1r iJrL
rr c;tal,ti ,J;r; u;t k' L-b' Jl S .:.iL-.r, llj,-l -* rsss+; s-*+,J +t^, ft+jl
i:* .s .uprST,((Y2-1)
)5',l+,
,ub6,Jt?q
",l"-lf
f-l
r
,ru;L k = \ 5,b = \ rrr) = \ ! :!r 2-t J,fu,.1) oJ^i orlr .rL:; e
6la;.1L, Jl
k,
a,
d
,sD.lt
t,
: k, ,sb',ot+
?--p fu- Glfr ,elr-- )4i itS'. & JF ;;iE
.b'
-1uffi
Ar'.l,-!
,GA g)f
JEr
.ttsl c*r4, ,1*,1 \71" 2u tlL tl::,,-'
.lh-l ,s! o6;1,.*[ k'- \ ?1" g\aJl
www.mohandesyar.com
ff V ,1;5;,r;urlil
r--,h-\J/c=\.r,3
\01'
kp
lc,
= Yt"
(rt-1)
JirS jitl F--J 0- I
It G:l;c. ex;SJ-Jtb;L t+t-lrr ,/!+i?t', 1910,'*-" ,el) g;b;)tt rtL,l sL:.,, *
c**i J) L '.l.::J #5 uS u-l 14 l,sb.# r-+li tgJr,P-l J.S*i lk* 6b
,b,rn ttr cr-1.2r)
y-l -rlt.d,g F-,- 3y: Jl q {-{b
t"r,],,t* u-l:l 3r c*i s *b Jr" t d-1b c*i.1r t4; (ke
2-l-;..s-fe F-.-"."*,.rt"r-lL,,,,l.ril
\ o ,[-oirr a*l;1.r, Ll ,;,*-t
-b^.c -^.^al L.*V JL-r, c*l arS^" c*i:r,tl ,rrj
JiE F-ii &ibJ i/-l ..l': .up ,fuT ;T c-=^al ,prt' (rrr l, ,F,c 6t+;.,,=
.rr r*alF.,6 + .rl5 rl- tt b J.rS
zc*l ;r=:1 e
clt -i\ it cSr,- ilrL
(r. -r)
n'Li+bi+lcx= f
1fli :t-f ctl-1r.,..5 t-y; c^-;:r { !1 fu ;r2let5iJfi elirs
,r;rb;l c^*.i U-l .Sg ortq'-'*l k :,b ,m 31\1s t:t-f ;tcill il ,J-{ rtti J. t
3 1ig ,,J:; ,st$ ,J-#
.'-l .Lr -F.. .ro\: t.,r i.,15..aa.,. b .lrr u:.^\S t e
ryr41 sh:,,* ub-t*, jl ,J-# igti p3: c^*.i .-u JoF #a c4, JL, -r, r"tL
F,r J)-re+ b ;-'--- ,J-;S;iti J! t d-:b c*; bn .S,g o:l;:.l f:-'? JU|J
.rBu;l ut* aT crt^oJ+ Dj ,tl.up orL.2t *: sr 6
Lfl),Ja:,r.. 'y't ob
.x-iL t.*ti 16:;-.rr* r JtSt"-l i:+) "r'b F \ e
J-J ,sU t+i d x*.J.cl
t-;.,e )b t-j JS* + J-J;tlli f ,J-# J-u r 41, c*i
d..1b c^^-.i
f-af'+0
srln) alic+ f' Jl 6
x-.J.,-t
vb.:l ur*3.llc"ti
d) ;.-* iJr[" .r-r. J-". l-\r ./rt C.19..aa.,. i-,r slri o;a,J-J rrtr jlrBL cr-l," .$-f,!
t tpb g s a;1.1r.5
,tte oJ -b g ,:.,,.- & $t-s;-:l.i,
J-;
mi*bi+kr-af'+p
r \-r)
(f t-11:
(f.-t) rd;;l
(
rY-r)
www.mohandesyar.com
.F ;;S ff A
,'^l1l-n Jt S c*l tia
u-l ,sa. ,bt .b+ vb (n .-,rtea, ,f ' ,srsts {) jl e
;t:1 b 0 :0 -\,-q ,eli e
'r5t[;i;l
a=n'L
( rr-r)
0:bi*kx
/1, sSJl5r,rtrr,il*
i=f'
,r5..,1,-:
,slt
(ff-r)
f-t) iJ:['" jL .c*l y! (n rSf iJ:t'" ,oJrt*. y-l
J.J ryb ,5 u-l clt .ej,s -b t ,"t J-{ +t: d ,fu;! .rl.u
iJrL
t)_12".oa, (f
g--,-i,5.(g-rlr f l+jl U a4l
st) f' +;,
.f'=-koi-kox
i+k,i*kpr-"
.2r
..slrfi:--.
e,st"r-lt.;l
te.r4
u)
Jtfu,
r0-r)
2-'\)
t-,:,.:lt U'* p ,,iu r,-l ),:./5!
c-:i
;;ts,g
GA &r-- cJL 6lt,a4;;
k,=lvE
$JrS+,2-1
rv-r)
p J/,slt a5f ,r: r-.-t t:SJ;s,JArltr,A-t
.$rc/
1t-lJ
,c*l
J,fu,
o.l.,l,
0-1Jtl r
5,8 ,ar_rb,k = \ 3,b = \ ,TrL = \;l *L JtV t-1 Jfu, p
6leV[l,Jl
d,!tS.
k,
,sltL
;.-'*t'
?--p
\
;ti!
JF
s k, 6;6014
.*
Gln LrLF
.l-l:l csldJ ,.r:5,r, :t .,-l \71" \t.-.rls.
Ce.:Be;l * lr 0 s a-r-rb
a=
0-i+r
(r^-1)
www.mohandesyar.com
fFt
.E.-,?!in
JF
I
I
.rJ-l c-u orti:,
JF Gst:l ,s 6 a-- )b. J/ p*
;11
A-
qJfu
65ut;l t:--- U
?-2e \ tA b k, t* t# .bt -b+ 'l-ls ln Js,.aa ,f '
"rz1
J) .Ftrc/ tlt I Jq L. )t ,Gl*. 6-L- c,JL i b k, t ,b \-f 4 tl-t ;:;,,-'
Azr:;
kp
= \?t'
ku
= l\t"
rr-r)
*iri JirS ?-1
-L,*o
,f tJlSJ;S
rr f--t ;;:l;& gt++ ^S ,sr*^,.^a: cJr:g !
lrg l+i-l .r,
jtJ Jt*t+ lt;tT,tL tt-r rF
,;tUj jl OaL a12e4r* g,-l ..lj.2lr|'-b tty-*
dc ,rt .t-*r-/ bQ'lLu. L|^b b f -b tt-r,rt+e '1et4. ^S,aa(t)
r-rb ,.;.-. l!2. i,.:"^^ 9 ,(.lrlr sr>: xa(t) lrl O-*,9r ,1*,_) c-l r\..t -b t -f -,n
eb r* t -h try -t* tU 3r ,slL;.src/ c*rd., t ;tl:/.rr b io s ,i4 ,t4
d^rq , )?, l-Ji-; xltg
Jf ;.ttli dg i-f; e -- td - r J12,ot
^S ,.5t3r
,>-l ;t:1 ;;
11
f'=ia+k,e*kpe
(0.
-r)
www.mohandesyar.com
JAt
vB;;l ((f f-11 iJ:[.) ;-ls ft
stJtg rrbr;! ,rl*
S*
l'4"
. ! (0" -t) ih!; 4; $ '-/. ,t orrL!
t .c*l u:-lt
s-*,g ag; .J:[, s: ,t-l
-S;
(0 \-t)
i=ia+k"e*kpe
osf
iJrt
t-
E+le"b*koe="
(0Y-1)
,-L{il JE +-V l. ps 4r J=-!*-t iJ:L. .5.,- ,.JrL u-l ;.,-tf
y-l ob3l .,.l rJ.('.1; ,-/ EiJ.b i GA ;-,-L-ir*,) r.--& -b t ;ti ,slt l,
lJ al:lrr
a, c^*j , t^U;
lt:,.u[,, tb ,fLai -,p) o-\.3 *i "*lr^,,
;t-f
utt*
-,'*
,j;
.$tc/ itJ t :-. t*i'; 3xl#5 ul ;-*..rlrr 1-1 J's.j -\:5s,
"e;,*
a:;l.s rr.r ul+J:l 6tb : i-l -SlJ ,(ft'l+ b k :,b ,Tn,r:--) r*ti .J..6 t Ju Jl
.-ell; \75 rs,e i ;j.up Jt,, | -h try .*'Wt,-..- ,t3;l ,uL
"J t,*J:l
.#-F Jt,r't +, b.* e ,iT jl ,r.r.l; $lr +lE iT: (Or-1) :1",t,
Pt*f feljr;,d*l
v- I
c,
I ,$staJ^ 6$Jail
urL.:.:il
L; u-'-,uiLx;lf
,-F,-e.-.e;t3!r,
.ul
[\.-t
tt F
,[5*i-2:
]i 6.rE urt+:tr.il
-,- #;r::SJF
,(,ro-L,,sU;)
6>rz];t
rrSJ*c
.t-t Jfu t+
,slt
-,* \rii
;.15$5.5"- 1- lJfu
il
www.mohandesyar.com
f0
,,pta:;tgir
.fairt
jx ,:.,,*
Ai:l u-l*;l
c>as
4 l r.-
(/-Jrd
\'-tJSJ
A j 4Al !55u.t.5,_ l:
sQe a_j 6lLL ilrl'. a I L ,c*,
JJ"d .,;*l cJ.i crlr ;sl.ii ,f a;1 ,.,.iL;$l ,$r;
e+k,e*kpe=
)l-Slf
JFr..*
fa;,,
Jl.ll:
r3-.ero eb;1.1r.5
(0r-r)
fa;,t
c--l j';lri.,-r it:L (Of-t)
"Sqln # l+,
alr\ lr @ cnB r.\c
Jtt rf:,/l
q ,+Ll 'Aa'* U-1.[f
,lat,
t:--- d-,
cr-l
#,
.r;
$li
,lxVE,e(t)
,riL
,J*;I,.i,-r
ilrL alT
,13;17
.f] c*lrl4L ,F ,sfu.pr \(BIBOLISIf ,Atf tlslf
,o(^, ..etpk;;l y'll:l qQ. Jt'l -)l t I $rc/ ;t=Jl t
'JL.r
lJtJ
.f"-je h t,,:-l
,i-
(0r-r)
max,fairt(t) < o
gsut
iJsb,
ofb srG;
tb. f or,, ^5, eV G'r,JtLjJ.Ll gl u_;,tL l.J.il
i6- JL-r, p JrL; t l' J^r ir-l .F+, ft+;l Ul{ eJt' J.lrl reljr;,cJL ct-l,'
l0i'*i-,;rlr-1!l
-b\.rlr p+lr;l+l ,(.sri.- e u;1.6]i:, iJf 6l+i.- i,n;Tyr aS)
c^:li (J;)r'
l.
1. Bounded Input-Bounded Output(BIBO)
www.mohandesyar.com
tt
c-rt
+TC
kre
siJtn 6brq ,F
Jf
fOY
or:" l! cJL iJrL.,(0f-t)rr
(oo-t)
fai,,
!
e
(0r-r)
= farrr/k,
rJt glb \ ,;y'rr,(}f-f) qr;l ,.ulc-r)4, e.rlsiu
t-t, olt 6U+ ,*L .Srl.ko ilS- t* +t E
.rr: $l:i *f
,)tfttiJ.7ar+l
.:JL 6tL; jL th,.a
cJL .s,f,g ork-l o.l; gl.ol J;S;,tlti..i-;l
"f6,t-t,
il-" 4 ir5il tr '.1., C>{.-l
&5itb a4=r.1r .+T.r c-rd' J-{ irtt * Jttst
s.fe
r-r,r,1ni.,iir_+.c...,t1tJ
t-fd ilj
il J12e*
(ov-r)
f'=ia+k,e*kpe+k;ledt
;l*il
t
r5-.e,,K:r,rr
(o,t-11
ilrb, ,t )
+ k"e
kpe
fu-,rt-t, dL
f,
ed,t
(oA-r)
= fai,t
6 t--j:,A nl^bl 6liJr' Jt*tt'+
.
< .sbl+) e(t; < " Jl .sf ,iua ,c"Ii
(J;tt;
o ,sb. ;rl_irl ,K6T ,(t
-4.
(zo
'b'
+ k"E
n-T,g
ko|
* kie = fa;,t
Jfk;e-"
tt t-j
q (.-,U
,-iHl
JV-,,'tzv5
(01-r)
,sl)
t-t,
*lt f 6
(r. -r)
4i
(r
p[,*
.(-,t
pr L1s o;"*' 1fu- 'J-{;.til; u-l Jttl ti
lr;rT + Lt.n
1r'+t.J=;!i-, iJrh, +L: ,*fl L-l; + ;,7
,sA,:'t-*,1.,!-'"
b
kt\*.tjJ-
\-r)
www.mohandesyar.com
f0f
tH:,.) c-;rU1 s"X dU: J.;-S
4 (y L1t ,,ry E xjgl -b,tt,j*-) r9; a{ri> 4t-- O,-l dJ+ p) L.r:
I(.rJU Jiu Jrt.; il blt,J
"-..JirS Ji6!, (OV-t) ibL ,* J.5 ijti.(#orli:
(CLL
,JlJst,qr*ls>
iiti t-r,PID
u;tAaJrU. ui-t^; p,u$rl,J!.[f] eb.r
.r; rnlt.; * JlSr I il^" ,yl:f ,t-l f otJ ct-tt& J.;S ,ilt
(e
,.) c-3;,U 3 ,+*t91* ,CU: $rS A-1
e -r-t-6.Jc*l orja .rl-r ,rt vl-'o,f-lott' dJJ itib S J-S u;t+^:*-/r
(g-r c^,-ta;
rJA:,r,0
P ,Li ,t b $t tS, J-J itti c,t-I^' ,J;:S
1t+l
'*"\
;! ib { .t-t .." ,.,[-.c-2r r;Jl .c-l ll::l L,1.,,*E ,f ;l.ll5 Gti S,srtv
j: "t &J,.lt:S *l t5.)r $lF 4"".:,,,U e <6le!,n ,.*E ,r-; Lsti 4;r g ,JJ-2lr
r>cr S";tt'-rr ,---F ;r,-l .g-1,t,/,6-tI ar;...- * rsb !r ;t-t-. 1t+l .l:: 6-*
up J'i ti ,r:L Jj5c^'i r*:- ,*,J.ul.-r .;l ;:n -r1.4 / ++ r-rb '^*l-.
"l
$+ ol +-* ,.s,r) $S L- +*,:ritj ,CU: J;;.S'^&:+ e J$ f tfurr .rt
.[r]
t J-J P f 3r <i..i ,r*r: J )rcf
'r.r ";J.b
(r cl,;lxla;11;u"1l c,t-t ." 6 t-Sr*lF ,?j,* t-f *q,,rJS cJL.2:
,-ri;r 8 t-.;.r-l Cb ,pt i/-l JL .r:,[ ,;^ , lLi btt L.r, ,-h-e 3:lr ;t+l
:sJ a--jy-j c.,K; { {L: ,er c/5-r.Iiq (r-s-3-\ ,stl51,6-r.fuT.rb;;l tslr tne;!L r*r,C:-,A tssr)l--b tt-r 65yt ts.ut*: 6l;^',gf cS4}us s/ti:-,
)t sr,Jrfo +! 6.11s2.a;2i.fu1 )5,5" LF^, | 61lt.,aa;2 ,.fuT up-|, ilf
.r-T"l ,L-.i{ c;lo.l5).eJ:u }tt L^'" i/-l ...ut: 6-.r rs[+-::,,r .!l': tsLg,
l-y :$^c
orl: d-Jp, oL; fr.i"
ilf ,,rr[.:;ilCr.rt :rib-lgil
"iJ!
ej \\ r.jq ,-;t.:ilJtil uK:...,^^ aU::l -a.J 61lt2d2i =tV -Sl .;-ie
.:J ;s aljtr t t+JL::;l u-l;1,t3;l ,(;'ti crt#'Lt,.;l ,sD 6ful Jr"
;L::;l ;:...,^" lU::l *Ef )t or ! g;-2lryi; ,-,31; ;)li ,g-P t*+
.[Y],tJ
];.)'
,:F orl,-"., I d, J-J ,jt ,,37Ci LL-- ;l 3 Sliro ,tl; rtall;l 6;*
:yl9 tli f*t:
-2r .:y' )9J:u >l"S.-t..- t1t-t> lt .5;l J- ,*.ulr;
.fui -t-tr ,#, ir.^^ 1 ..lrll g;lo.r-i )i.Lar-r t1tf i[ [aa-L,.- ,4ly ctQ.
;,--U ,G; ctf l: JUJ.:--2: oJ-i *U; ,sitl rbL S rJt:Ecl ut* b ,sJtt^r
uSJti .stori! ,rS.,t-r c'lzr,-).^ t:
l,
o:;
,stor:" t+ll
lJ :6|101|'-
{.t,l.;
www.mohandesyar.com
/t,
.,(oit5r (J'trjjt,
,P J.{ fof
r$rshr ,-?,5!rlr .grb tst{..,ylS. +5 .n-lcj$ -b I tL
,6 u-l e^lil) -u.lr pI kibrl r,-l .iL Jt .t-Jr; ,lt l$,6rl dil -;t t-;
-r) .,r.i! l.et-rl U-l ,rr+.r.L ;y'tst t'*, ql.1 15.,lr,riJ- .(:"I. ,(c-l pt
,JJr o.^r 1e
.tf el*
d.ru J,-J.5 3lt:.,,r ..,r!lr
,J'i
J-i" 4 #5
U-l
c{t'st+:4
J csj[J.r,n 1-1
tfrJr"t ,;ttS- r.sr,rtr t) t4i ,-r-irl W.i-;l orj orL )t ,r,4 ctl f
.1:r L.rr ;U; 7-.5'-,'yro+b o\y bl-;d1-ht \ ,:rtJ-b;:1.,*5.r,
Gt +,tl.s!r6 L*';l orhil-2t5a W.i-;l dJtrir Jr. UtL ,sb.t-5t-siUr
!.1
'+{3n,
,,9121:-:3.r;r.
;-fc/
c^iL-
r;;';--,.st+tt, :l
lol
qQ,r,
ULi a5,r,-b;l:r;!r5;l .F,(\A-A JS-r) (DC) P
uL-rt
i-r u-l 6; c--.i ..:*l
jl+l
c*i
I ejl;-l,.rt"l r-T .1ie ,[J.il ,fltl- [ pl, ,sl"l r-T : ,t+BbLil+r,,Uit) rjy ;.,ltJ
J5 t: cttt+*,t - s t,'.i- ;l,-ist .6,g tllt,*L;
a*:l b\f u-l .S,g d,r$ tlj $-r rslt,,4T;: c..-,-$Jl ipt- i[.,+ E t-t'.,C
+ q* iEt' .\i,g c"-l.u tiy ,sQ;9',1* +,-r;-rb ,,L; iEt' l d.;l+!rrlr
;r o.1l:..r rtl:;f ai,c-l ,t*,).a' (.lii;.; U.*u)l !, t+l Sl;tfU6,.stt+o,t...
:l ;*--* t* ,,6;a 4 '-*J.4 d^'t. d l?l ,5"-t' kl .t-.'J.,g 't+-l Jt \y *
s-.J:g i! ori 'r'-l 'r'-'1 ,rl::3 r;r' f vta.shao,r...ALiL^.;l ,lt/l;-'l\
f-qVxB
(P
Y-r)
,Sr-l6f B tt.:, t u-+[:i. ,l+,r, V cc-\ 6,q.F-;SJlr! ., ;l.1r .5
,ults- ul{..r ,k?4J,r1 ;l ox,1K.sbr;$l it" ,,F-iSJl t-st".,! .;-*g trb F
,sl#
cJb ,,rl5.JL .,: .c-l tiLl,st"t
r-T il*3*. o* tVt il.r., iLr
,3y,-aat b -*rT rL-rt ,,sy .'1.u;3c.ti .15,r, lV. iy ;-;.hsi c+tj a!-: +b iy
Dl:^*:t+,-l
)jLr/ Lr-, 1,il? yE-S , r,i
Tm
= k^io
(Pr-r)
j)h; L2yl yJ)r)J )5,5" k iA:.l;;L ,c-l u!r, JL .ts r$ty d.f fu
.e[.f i5y-l,V 62sp 4tj ! 3l oS t;A ve,-a;ty.tr ur'.rr c-U.r.l315r {*
;U3
www.mohandesyar.com
f00 k, J.-i. .f/ J.J t sjur
s)c/
C-,re,,
,h
lJ
gb:toar ? 6b r.I.i rL'.,,-l;U9
,Cnli y-l
(rf-r)
= k"i)^
c^s! vjE.J L..; bf U; rst++_*r- rr ,rL-.* (li?-.;-) r* ,rlf .:JL ;r
c..\:b alj,y sJe,, .:1 I b ,-ial{* .:Fcf ,ti; +lt ,.9l:-S p )J6 di url;f-
rta,-l
.r::
$lri Jg. ;rI;rl*,rj,sjtJ.,.
lr;rT
al*Jt
r*e,c-l
,1.i,
i.r .#ti uihtril
llc,.2l.c
.o ro$
,lt
4j
;r.l
;l-l ,sltl.c-l
t; ,ssi 2 ,Io ,.sz-11 O,,r* ((J;tiJbF) ,*,t59.s1 ,ao 3lC2 e.:- jl
t-;.,g J:aj ,Jsl'--,. J ,rUtl-r iJ:L'. L rl.r. g,_l
or.i o:l: ;[-iJ HrT,F-;Slt-rl,u \ \-1 ,fS*iyr
ZS-,*
Ioio*roio-ao-k"il*
(Po-r)
,-Fb,lu'^b:+ b k,l cn-* s :) $-r'^b:+, o.rj rt^,-l -1ed n+ l*.r,,,rlf cJ L .lr
6:, jUlosJ ,;'.- lu fr{rT il o;r.1K u[-rt ,r-;;b qr[^.rl.l. U-l .d JF,u5*;t5Jl
,-Fb jx lt ,stlu ;p ..tS ,* ,^..rT;l i" ,-jlL il--,+ 6 8r; gb 6$ | a"
v#tI u[rt r-i J. T,r!rr ,rb ,sW tt-l tl.[V] r",L,r, .r!.;ry fbr-/,,l
,J'^r or-l uAV'tats .sg:,v. r9J.an fia t6ljUr.J! .b 2,Io vjy ,:.,|d.'rl il*3a,
.t-;.,t rta,-l .rLjto#! jl.j &-,,Atr Jtt';S t -b t y ai-n 0: ^S c*l ;T
-h;-*j*b, hEtiy r*,t:frll ,Sc*l ;T,nk*. a:JorL 6bV ubj b+J;
.l.- lr o*rti. Jr rdr*, ,ly J-J
ft- ,*rJ xl"t $rsge f ,rit y_l .c*l ;rJ
.DC
61eE:3
i-r i
,4111
,l*
\\-
lJfu
www.mohandesyar.com
/1, .,tntt(r
c.rbr;tr
& J.{
Y67
,)V -Sl.r:: .bli Jt .l li ,rlL .S.-,tl* ,ri;lr.2l-u.2: r-r.-f 1t,S;ro-U,a|-r.t*1
b rtb.5 3..a ,>;li el7K;rT ,vJ -bjy y ,5tz:3,iy, iI-{ il ,ot (ft r.
(k- .l;;t) .,.F ?--p c-l ir(-. +Jl .FJ JLtl L,i'. , '
.2r Ll ,:;3 :.21e e.rr
,t-J,-l bl'rt CL. rtr. ^S DIS u;lt g--. .S,- i-t12,eat;l;!r5 dg ,.ht U+'-l
str J*
-;?&
ft- ,c-!:l a5.ur,r. it; t DC 6121:-S ri-r &-.rr-1, ,rS;tS, J-u ,\ Y-1 J'fu'
v-iy \.riJLrl rtl;i<.c-l or.i P ,Gbst ,r*J 6lb tstl: * ,or:.16 aJJ>.;>
&.*i .c-l o.li o>ls .rr*,1T is. ;l o.x1K i" iL--,t;l .*b Jg,-ot'. Pf-1 '< \ ,r^
rt 3J;Ji;a.ar.i,iyr .r,*,g r\ c,-c- rb6r u! t) ;.9l:-* ,-J.11lyl *\
T--Tr*
0
rm
= I^d^
(\lri 0^
* b^0^ + (l ldle + UitT
(rv-fi)
.(oJri9 f.-* iJr-r+) C;JJL * Ja,.DC 61eE-Sr;r ,rS;tS. Jr. \Y-qJtt
www.mohandesyar.com
fOV kJ J..i. .f/ J.J t.-cjlJ!
,Jtdtit-[
gy
?--1t' b s b^ s ,\ s tja ,F *Ja I .t I,n al.1r .5
(PV-t) ili,r ,(7?-1) !1, 1l ortr,"l L .x--.-r t\: t-i.tt
(:..3i ,';>
;,-fu-s JtS.t
6l.tr;t-
-J
lrn
-l
(r * *) r,"* (,- * *) n^
-
(I
(rA-r)
(Pt-.r)
q'I,n)ii + Q + rl'b,.)i)
It I + r7t I^ JtV
.e[.f oJJir.- e 6tf,r) (oJ-i '*,r> j]n ,r1a:
']6
6 +S +j.lp .)? ,Cl* jlid b b + qtb,n rtV ,-;r i,i-rt
"S J-L tt
,(? ) \ ;l rr .i*-) 1lr aJ$.;- g;.rL-j rlu ;T 6JiJr.;- *
r..art tj:t
'F
lJ;? 6A -l;,y #, ,p .e rl: .ul.e! uA-Ll rf t b # ;t, ,F J Jti
t +rt',t ,,,;tS, 3l J.-;..5.,- a1 L"-n I GhI af ,'-+: 7 P r, .l*5 ,ft c-.8
rl.u; 6f lr rst+!r,'-2r ,c,!"-.i,- u-l lli- l-l .JSs. -* ;)I t \l:.r! : pti 6+-5:i,
;l ;$l uh:,'a,.c*l -J 0l - \) p:it* ,-frlt,sbtrr, + c*; ,oJrir> 6rL-i
,slr. o5'- ,ltL 7-f V l. *.t I JlrL +tr ,rrcr lr * J* ,.\r l', cJ; dSr-l
P t--;.g ,*l l,no, vE";l .FErl l,,.o, b f*;f UJIJA, g,-l .-iJ .brt .rT
t t="-*., ,\" Ji rr ..r,.:Lc*!|, ov6i t- GA dL-w:i.S I
.&
'#
,I^ -
.,:."ilr F+b^,
,ft
U-l
a 6jV s
t-S
f-"lf
rS
t-1 Jll.'
rS,; ?I(g.mY, YKg.mY &,1 Lb,s*V
'#Jl
f;Jt -e a^;"rrb .c*l q = \"o ;i oJ-li-;- 4:
.7. \Kg.m' ,sa
GIJ
:c*l t\
j? &
I^n * q'I^ - | t" + (1.. )("1. \) = \ \r.
c*l
(v.
-r)
E 7-fL, d t
(V\-t)
I^o, * rlt I^ = ?t" + (1..')('r' \) = \01"
0.+
www.mohandesyar.com
JAt/
;l 6.t.o; t4gou
ol*;,s;[JJi'9 fu;l
'#
stJtS, .rtrtq
& J.{
fOA
ork,l \ 6 f*4l,.*ru-*
.+t_.r ui^6 ,SS;y
6:;l
o$j 6jur.J{uittril ,slhl
afty ;.,L,:...*6jU! t, c-&-t t ,fJ
hb:,ldlibt- .612n,cJJ.l.ir> e
,r ,l+T gry-i,;tkle ,{l: )jJer.r ;-,-' ltl u-l '+$,J-t J) .l::*; r--!;tkl ,oricJf
U-l ct4s[L;l-;l ;ttf -bi-e rlr .:lr .up ,-;--ltl b ;-..* L.;r ,61u )a r15e
q't'|{rii U-l v,*.rl^.r.1*r ,ts;T,ut.t c.u-,ri6ryl.tla, p.Sl S c^-l 3T ,\2t
,c-11 -1L-: oJ"ij ,.rjlJ&
6 u.5t 4.rr vJG ,sll,L, ;'b t a-,-ti,.rt t+T
'iL,
c.*l rT,gL'. t r{o.I.li ,tjulu Cit-l t.rr *lr,fe&
iJrh,
,J-{
,otf
,>lll;l
,it*
,b
,rS...L,-r
,-..*
aS
rlli ,.llo.I.i,giUr
JJ^;
;.r'.3
orL 6b
'?l}:
'r.j,; 16+ b (t1-t) x;L 6-,iorL
lt.:-lrt*, r-t ,f:5i s.1l5 r:.-.r-.rr ! g;lgL.st+-y-*ikl flliJ f bx
Jt S c*l ;l [A]rK u-l tsb o:L s;lo.rti .rF 6r^, t+T q L"-n.sto*.1"$ b f.5
,rLb .rr I-! +*: .,ll * ,*.uL 'tf;l ,u[ w,", 6lcl! +.l":i U-.*-f
tSouil
an 3
(vr-r)
Tcores
ip .rr, .up 'rl#srgb,r+ ,rk;l 6lt s!-^f ,63L-.[; g,l
.sto+s 6 ,*.,c JL tl .\fe tl* -lt a;tt; ,b6r Ft, iu -*-r cn\
6lr;l crLrj-J,LJt .. LP ,St+t -r, .X:L'l )9Jrr.. b ,*.rlli, .oL:.; .S;UI
*r+
L,F-lj,l .5,r-+r
,r:5r. orlr'.1"1
b
,rb 7:.'.*:l
,s$-b.rr.[A] J;b l0Hzl;6Hz 0.
6loir-J,- P jl ,;E,sr-*ikl ,J"t.i r
E csr*l
q,lgL 4.$- 'JL;.
rbL U-F-15 rJ.::*.i
.['\]
c*l d, J! Y"Hz
V-l Jbr
-brk = \ 2,b = \,?D = \,st"rr!t,t, l, t-t r[5*:,-lroJ.iorb;l.lj
u:;,tU! .\J,$ ,,s,_fuL,d;lr,r.
,B ,ay-rb.$rc/ g A ndlsJ).d"..:-,
",.=a:;b ,r;\y.. Lji- p.t
+5 l+, ,st* itS, #5 UB cb b k, s ko a;u,'l- t
.-,,_J
gr_l
.-!n
o,-l
,fJ.br)
.r-).r
ri*.riy.l
www.mohandesyar.com
f0t \tW4Jrir,rjur
OS^, ix U-itt il A* tlt
6;,;.-,9 ,.r5l;
.t-r"; t ,,r;; .gjU!
(J;la4J\;' ,i.:L
.r:l,
Cevk;l *lr0say-rb
o=
(vr-r)
0-i+r
a.rcb;l o:t.i:-l
L.la + o-.r
tr.rt,rB
t1
Cert
.ub p* Jtf+,f' ,r;1 65t)t.J:b-r, P 6,st*^
;l en = frad/s b + ju oJ.uL,(VY-t) i:L
aa..li ,r t ,kp = ul ,(Y?- 1) : ( \ A-t)
kp: \7t"
ko : ht"
(vr-t)
+rri JrL-r ,JJIJ.
6 t\ *.r::5.,, :t^,-l .l-.t.:; )u)J u-12 A Jt"-i .rr d 6lo;L .rr-*ikl
6t-.. ;La
jl J-; tst+-:brl :l ,g-*
bl-;L/,:5.3 ,r,-LLi 6lo;L cry--L,jtL.;l e- 6"Al;
t
6
rr
slF & Grrr:l5i/-l dJl .42T J^'a ;l
,-j*;tl;t 2h -;?
lr
"+t
t'1f ft- J12,.a* b 7+ ,J-; .st+-,brl IL i=.- cU. .ttsT c-)4, al*. b
,e=q; e+.g--Je.b.1r orL
): $lF ,.,; ,(Y.-t) &| r. o-.r ! *.uL
un
,-i6rl ftfu
-2r o-u
t+tt+ JrL." p.,,t
-6t*
trr 5
(vo-r)
y.\.j,lL;l
.;s
'fu
?--,e k ;I
-t
.L*rl
Jl .tbe ! \ Kg.mr ;;lll t .t!r, Gh!,f ".N.m/rad Gi-,\ f-1$.' oJ,Li
6j[*l!
4td;
Cr-l
.ul-r ,tF
,it&
e.sjUl
g--rl:
F'./\ -
Yorad/s
Yo
g ^S
A- 1
Jb.r
i.ts4
ctr
t5 t-rtu
(V0-t);l
r
;l
"rS"-,
!r31 .ul3'-
':ti:-l I
l$r)Hz ? YllH.z (Vt-t)
www.mohandesyar.com
I'
J*tS. dbtt,
,F J.{
Y?"
]rLi.r.L Ci.;1.-!,4:l
u!,[\"]g-.yr,
o'$
rlc'-i:i
f-ft 6Uf*
rlfr.r b6;* stl.r,,rt+^,1 ; "i:)"-, F\; \lv 'c-*l
.x:Ue elt t {r.:1 .rL*: ,:r!r ,sl1^:V :t-r -)? d;J l F i :S-* trt+h. r
.src/ it5 un.S,-rt.S,,- ,sl,^b [\'] ,s;yl .,ttd il J-; eb; '\f-t J*'
st#l-,, " llYm 6;lllr 6l^Li -i \;tlielt * ln a 6-* ;,*c/ or.eli.r aSJU"
.r, l,r ' 1YYI f*
6sJ il;u. ,I 6ri3 d ,s4+,(*;i i,:^^ { .t} U-6-4 ;
.rl: -2f Jp 6$l
J.rr;l .rli' .l ,b12nr [^rr.;r
11'11U.
1,r-l
r
e) *t l, .c*l Y?oo N/r" crt+l ./t?
.5fl:,f7\"fv Kg lr a,h|
'fu
Jr:J,gtoor+ .t, ,kb.rr-{ik ;l J''V J'-L:; lL 'c* I 'J- >1"6 d'f e
.{,LtT c*rd, b ,,", rle .rJ.up rl^',-l c^,-r9.1^'.
,\f-t,[.-:-2r S,,6+,-]a:lor[-"."1 t .c*l "t:3 t! J*yr f7\"fV Kg lrr
c*l ;.,r:1J,--U;.ul-: cr, .o-I,g caral ('lYfXf/ffv) ! \l' KS -r.lt:? ,,-,t
1-1 JEr
t,1
Q'"' =
77. " f
\,'
= ?"rad/s =
?"
l(r)Hz a \17H2
(VV-t)
.1 ,a-l ori o:l: (VA-t) '^L.bl +T:1,+",*rll .st"l! c1 ,*\4Jl
J-u r, +! ,-u!
s> | 6lo;L ,slnlu;r,-i,jtLjl ,J-;-S ajo ,gV cA.6t tSq r*
ffi+ffi
0.23m
www.mohandesyar.com
ft\ p
c,!r,,4 i.r.5l;5;t.;L
S.,rS+ J-J r5q;.ye,c^.ilr xali 6/-y! L.yr,-JL it-ltt,etst+J! .f-AP
:;.1 .i- Ll ,.u2; .,5^1 ,,g't.- qs$!, ,, iJ ,J-# c$y y-l .ryo.r.a-, ,t+T r's!
.[\ Y,\ \] .u,:,r, JJ.J !, Jt.i ;U.;;
t{i J-4i, .5'- Jtj
l.rJ -b t5 b t) ,rS - ;-,|-icl,a.o)tl t*+
Ce -bi-*,lo v-ir,*,t5rllil .\
\ tlt: -:ti t J?.;J
,J";F -rt !
.dg csiuJ" /*"* * rlt I^
,:L-; 6Jr :l.trJ L 6loJJi.,'-
.Y
-hi-*r-i,jtLJl .-rlr;L ,slnlil .f
.#p"li ork 'l ir clto,4- .w 6lJ.
l=.- 615#5! l*t,#tS" cs:L.tl tcJ rl'^.L.5-- rly.r ,Vt u-l ++-i\
,0J1es
,-!:u:; .uL*:
.r-l=:t,;l t+- u d'l
t; J-{ ,2) rl-zh,2a [
e.= I^o,*q'I^
g:b*q'b^
tJ;lori,
(vA-1)
r'=0a+k,e*kpe
;4,J,--L e ,slt +rll"
i + k,i, I koe = rdist
c.*l
k,
- uf,: iri,,
k,:YJ6=e,es
,pg!_r4;*5#5jl.-.;t
(vr-1)
,rS.,L"-r iJrL"
(A'-1)
(A
\-1)
\o-1
t't-.r*+1, d?. Lt1, r1':-;ti:,, t5 $t t5, J-J fr.-;L;L ,,-h, tt-l t5
,e J'-l ,Alj'\.^t-.' iti;L ;-*,g oJ,: \ f-1 Jifu' rt &4 .# f*lF tfJJ
www.mohandesyar.com
/L siriK,
.d?" Ls:, olu
((.,J.-l))
,rlrnt{
,F J.{
Y?l
J.;5F ,s-t-*6;L:;L \f -1Jfu
u5'l;.5 t_*S u5; S DECLSI- \ \ ;r-.5.5-- :c*l;a"
\t0"
&
J) J"tj
fJtl ;-i;-;l:rr, tt F I -e :rl: I
;.r.-rar,r, .rL./
d:i)
PID #5 ;yb .S,- t' t !t^-L .S,* .tS,g JF
,f--i cr-l t> +T +
i.riiJt^-i.S- ol taJUtJt..,l-l ..*l ;a',.6laL,otJ\ rstjJIKS.S-- r,: 6?" l.t!,ulo;n
,: .r5 14,l ul;" itS" llycf ,h"?Jl^.i i.l;lF ! o{l:a; r .r;lJ-, J:il,sty
o
JJli s:-291 c*:r, L ,[^oL t>-sr ,f* 1t 5 *)-l oJ*i.j o:Li-l 611:: ;l 67 LJt',
1.I:-',<;tj Jtrl:Pt +.t--J.,g o:-;,3=^iJ ,Jly cjr 6t^4-J- 1t J,-)..st+e
,r5.,, [-- S;Ui t (Jt-+-r) d, J+.,.i- 7l.,,xilry.i--r,DC ,srzE-S.1;3. ^
,L--rr .ry' orL-j ,[rt ,ib ,s6tb" t bUS at-* ty .st+t-rt ,c^Jrjy-], b
t12e ;^-ulr[rt t;;-,sD #ri r )t;L]e
nb: ti 4Jtjl (J;+rl! tt v-y-f ;l oxlr
o:lr.,f-i; d?" 1". 1t [oL J/ 1a ,-J-*.Jtr,\O-t ;$Jr: .:-*cl tF,P.
,Llo{lry, J-J u-l jl
.5._
(r"-+r
.(al
olr
t -\_+ ,r..h, ili; L ,;tl" iU .i- ,{tj,rl- YA ,,a _2: LSI- \ \ ;r^"6
.:;-Soe t+t"-t 6t-oo;u;l:21-,
.25srlaJtjuL-. "/AVA ,sl-r nLlT [ao{l:r,, t-,
"r-1
PID #5 ryb : jy 6lL- s ,d b .b
'ry;S" n$ Ui; t+l ,d,J,n ,-;-l;r .r5,r,
.rrar.r.r iU A-;SJ I ,s6ri-r , \ :.al:-Sil tsl-rr jb w,J51-5. +-L-, t
,f ,sD. !, n)! Ct-,, ;trl^r 45 LSI-\ \ ;r-.5
-2: .JA:.rr ltdl Jr:J frtl ,r,,F- I ([":n, -t,:, tsy--1*,lt;!;) VAL Ll;J.-sto-rr-, tyS y-l ,lel L.-7:
1. Rockwell 6503
,srQ,,Jt+1,J, /L
:l
JL )t .\)L/ rkt .r-i ;ttsl ,A.A irL .Jl^.rry$ ,l.l ,s:)# 'l
l"Y gt-o."r;-;lrtl-,
tSu. orL,ij-l (68020'!air ut)
",=l
www.mohandesyar.com
YfY gV
;!r-
.Ot"
,,.1
rl.e1;
,p J/;-*
r-UrLl
,-f-*tltr
\0-1J5,J
Ltr;,[ -L, 4L LSI- \ \ ;-.5 ri r*,J ,*f ;ti .5;T il ,r. )Ss. l;4.l ,s-&-t
b -* d*U* LW s ,rS ab L -b ttyr:s rJA) ftdl I ;tyb ,-#t^i- c,,IrL'
a,,
.t; W;
;p.S*,-'r
.r:5cr.Jl.+,, .t
+tt,-J., YAI
.rt. .J,-L: + bl-id t LSI- \ \ ;r.-K
::r" .S,- r .;.t ..6,.rJ[ 6tgK;r y oltc
t-J,g rl] oS orli-",,| c-:-2r aic*l .j,l^J:'t
t+t-t ,st".-r:4Fg;lr
yt.5.,-
,,-;j-fT 'ara .tgtv. .P i ,i;yl
c,!:r ;)ljd,,;T (J;toJ, ;:lr;[i \:
,.*f a i;E;
o,-l .SJa oi,r5o:li--."|,02" L-9., ,:..--rr,ili.:-29T.2:
8f ,,Jr6, J-i"- oK:-, .2r [- ,rf.oi, al-i^. o[-(;-, r, ! ;!r.r
c$yrrb
llj,r, a*t
;;ll: tj +L*b rs-,* jl-id,r-)j-fI ir'1 6trJ: arl:;t-?.i t,,.:JL y-lyr..Lar
.rb..,,/ ;LL' JF,st". xjsz1-1 + b ;tl
8v
t1] W. Boyce and R. DiPrima, Elementary Differential Equations, Srd
edition, John Wiley and Sons, New York,1977.
t2] E. Purcell, Calculus with Analytic Geometry, Meredith Corporation, New York, 1972.
t3l G. Franklin and J. D. Powell,
Digital Control of Dynamic Systems,
Addison-\4/esley, Reading, Mass., 1980.
14l
G. Franklin, J.D. Powell, and A. Emami-Naeini, Feedback Control
of Dynamic Systems, Addison-Wesley, Reading, Mass., 1986.
www.mohandesyar.com
Jlt .,#t5-
,-rbr;!
& J.{
Y?Y
t5] J. Luh, "Conventional Controller Design for Industrial Robots-a
Tutorial," IEEE Transactions on Systems, Man, and Cybernetics,
Vol. SMC-13, No. 3, June 1983.
t6] D. Halliday and R. Resnik ,, Fundamentals of Physics, Wiley, 1970.
[7] Y. Koren and A. Ulsoy, "Control of DC Servo-Motor Driven
Robots," Proceedings of Robots 6 Conference, SME, Detroit, March
1982.
t8] R.P. PauI, Robot Manipulafors, MIT Press, 1981.
t9] H. Asada and K. Youcef-Toumi, Direct-Driue Robots-Theory and
Practice,
MIT
Press, 1987.
[10] J. Shigley,, Mechanical Engineering Design, 3rd edition, McGraw-
Hill,
1977.
[1i] W. Book,"Recursive
Lagrangian Dynamics of Flexible Manipulator
Arms," The International Journal of Robotics Research, Vol.3, No.
3, 1984.
Experiments on the End-Point
The International Journal
Link
Robot,"
of
a
Flexible
One
Control
of Robotics Research, Yol.3, No. 3, 1984.
ll2) R. Cannon and E. Schmitz,"Initial
t{4t
a-i LE-. stad-r !,prt Ut,l*;.,.,1-: iJrL.5'-.1r
[Y"]
sr=)+pi
sr=)-p'i
.t-f vlr
n5
4P:
;l;
o(t) - c\ e"t * ct e"'
c;j tj rt-t'+ iljd
sin(pt)
x(t) - ct e\t cos(pt) +
", "\t
\-1
www.mohandesyar.com
Y?d
Qp;
c4- [\f]
,s6r-lrl,6u;t-t';r I Y-t ,f5J.2: oJ..l, orlr ;tJ.i
6r, - \ ;ti;l (c*l i/SL l.l.il ^5) p...- J -):-it: k - Y"-..l2,b -- ?,m = |
aT
.+5 c.=-
Y-1
,ti
c6t-bt S Gr*,.rt f Y-lJ"*, -1) oJ-i o:lr lL: e c{- [\f] r-q
6r, - f itS"-;l (c*l iJSL lr:,1 ,J) r.-r:.r:-.itr k - \ 5,b= Y,rn - \
;rI
,*'ff;trtj
,s6r-bL,s"st-tnr, ! Y-t Jifu, -2) o-*, ,rl,
6r, - Y;tS,;l (c*l gSL lsl .5) F...-:li! k -
;.,T
aT
,s6-nbL, ^Sustr -2: ! Y-1 ,$..:.1:
o-r..3
f-1
e,b= f ,rn - \
.+5 c"+ ,ri
o:l: ;L.1; 1'..'='- c{- [\0]
0-1
i -l'121,>n-L,u - \;ti -ilc,Srrlr!k - \" t,b = V,??2 =
'+5 t .- 'tr;Gi
\)
(
\,
-?l'^\bl
L-;6oJ*i o..urD d ol,j;,(?"
td,sll orU-*"| t [\A] ,-1
GIJ jl 6).-a1t Jy,-aat,rT,-5;J-:;=i, -,* E.rt f crlr.r Ul tl \ J--t
.x'-rr(,. h I b tj c>x r-rb .t-.rsT c*)dJ ,f.^,-tU
\
/r=/r-"rOm
:
t"Kg
TTt'1 = Yf 'Kg
Tl7'1
,-FL ,t\s, d+pt ,r:-ilr a-. j
-hi-r- i:t
P
e 15lor.l;J.- ,:;!, t, a\y 6b. t P-t g"; [\V]
\ )t cstiy & '4:l;tljee:.21r
.-r,-.,r{ -b I Y' t r! It q .6 .,US; ,I^ = ' r' \ Kg.mr
-1: [\A]
5 ,b = LrrL = t .!, t"-.tL, ,?-t J'fu' -2) o.r.i orl: ;b e
.+ri
\ * (J;lo.\i; U;jU! 4.u; .uL 6!lr ,-a- cll
-b t k = 0
ke s k,6l'ro14;'iuld,", - ?1'rad/s
cr-f .rr Gln dV thl u! 7:l
.t-5
.+5r..-
|;*,.* i/-iqr:,f P
[Y0]
,r;
s. -F OKg.mt 3 fKg.mY g- ,LGaJ t\ ua;:
...:*l ? = \ o oJ$r.- &*; t ,I^ -- o 1o \Kg.mr r;y
rSb.f.l,-r J)
g s aJ-)E '..*.,
.rylr..tL;.tjLl. gltr{J"l;.ayli-z iL-rf Yo to ),\Y7o , A7o
.at^,
,S t-r1l
'fu
c*)a, ,st-b b k, s ko ,,-tli.,J ,+:tgg;
i/-r"t! Ll ,sr; .5,-r';
oJd
1'1.t BJrt#s .sblJ
f* f il c;tn.r,-"g e rrl^$ *t: $ p
v-1
A-q
q-1
www.mohandesyar.com
JAt,
s{Jt(,
db1;t?
,p J.{
Y??
tlr 1., ,f--,.9r-*.itt;l;,l o;l; +r:i ef .u:,r, Jk-l ,ib eb\c,!r,,.S,- Cp [\A] \"-1
,sjlJ! -g$; ;r;1;:a-L,rtasl ,pr ,(ri.f "i.S -b i i r15,-,,* -t) !!1 ,f
tt
,>uYa,O x 0 x 0o cm
!1lt
& eJl ..u[ ,.r":;
't+l J* er V-F
.)* bri; b r,", rl.rfu ,.uL 0KS !l # f- e ,\cm .L1l ttls-s
o
o
o
\
Jt[.6 f nd
r;*,\ c1t-tn'^b:+,P "iI t G\:, L,tt\0] \ \-q
"r4,
1\ u,", ,ut 1.3b J-rru f-ft Jt .c--l \Kg.mt kt
'll
..r.:L
'4.rr.r5r.2 .ulr>
6lri-f Ct .A- (slrt tJ[gJ,- ,0o o N.m f nd ,h ,;^-,t g;.2.9,-.. [\ A] \ Y-q
I \ Kg.mt Gs.l lr 4e ,,l,.j. ,,fisf tJr-r.' .xbe b ,l - A l, ..L.+.r:l c-rl b t:* rr-{ik
-)l t 'ld rta.-l w,", ,ltL.$rc/ 4f
6Jb.;- Ct .i- 6tt)t tJJJi.;- ,0' 'N.m/rad ,r-i.3=1,
t 6-rJ.'. [Y0] \f-1
'#
tJJ-;>.c*l
Kg.m'
J;l!).r"brt
'7\
,rn GrJ
,J2tt,,&sf
- A t.-Lqrr-*ikljlJ, 'r: :t7,-lc.r"ur -1lli. ..ur,r, cS2- !, \Kg.mY ,ts t 4|
\f-q
,;2, u:;J ^s6. .r*;0 Kg.mr 3 f Kg.m , *'";tt i1.r,tf,
r-.i- q fu;r.C*l ? = \' oJlli; C*; t,f* = '7'\ Kg.mr
o.uT.l-.1,
.l,-.1-i.;.S,_ ,Ft..N/- ,|fu + LIJ c/-t6-l
'.ruL; 6;LJ.u
'*
lJ K. 5 ko ,,_:V: ,+5 a.,r.ri ori
F-t sr::5#5 ,sD b 0 s a y_rb .c*l
U-;-:* nt JL tE .ts y 3 ,s2,i; *t; f* et* ^S r-r2T cdr4., ur*
.lrr 4.r^, ft ;tT s.!:; u;;Lt.L crt^i,-J*J ,c*!lr ,f-.. ,;*,
fu .d ,srr.,r iJiJi.;- ,o7Ycm -b ,l'"cm $+.sr1y g-r:- [Y0] \0-q
ct7,pr- U-l uf:i 4- 6J-L; .xbcl b ,l - A L c.cr,- uia6
J,-J,5 ,.rb.r.L*: eS .ttsT,l f 6f a" | "71'cm
-b t t"o cm $ + 19ilt
1,,
O*:r;,JJ.3,r, rJeLi.. ,fKg.mr 3 \Kg.m'
Ur\
'#
* ftfu I
6b
.+5
(1 c..,.;)
,r,,.r;r.Bt Utn
ao:L
,!.|,
l
6i!a*:, !
6la^i.o c,!-u tsb. g!-'.
-,* # J/ e:-,.=-.!
(.;::.
PD
S,;
,P.,l .rr
r s,*li-)
Jf..- J.S ;rll; ot-na J.{ p iil .d
t.
Jtr. s,*r ?--re f J ,Y , \ 6l4Lo.L _rr d +Q q-h I, jr,sl^or+ .rJ r^F J^t
t*+lt AlnGlf ..:JL #,*.r.9^i Yo/o t \\'7' ,\V07" \)t*t+4
.+.frla.-l ,s--p
www.mohandesyar.com
Y?V
ta:,;
j- p 4 .r;L*J uh UPDATE 1e;L,a; Ll;2r2; ;l
.lr.iJ,\ooHz lb J.J irb,F-r atV+.J;SorLl',"| ,S./rK \"'Hz.ul :
r+-L;l.r r-j stCL.rr I tr J/ p+.+J +-l^, rgi)Jc u.$l&l.uL
tt|;o time - Yt" ,iL; b-\+r iLl ;l1,rrlr.1f O = (P' , - \ \', Y').rtlr-trt .\
rf +.*tb .rb
tr
lr
= ( P ", - 0 o, Y. ) t {1,. FI" !1.i;,c,.r.,r-l it_bl u-,, IL,UI .r;l^: dq cJL
,sb..i++ u1s ?o g;lal,, g;re3 6 ,YJ^.i, *,-&.t a.tV+.J.e^i orlr.r*i;
tr-t
+,Lt tt--i t 5 $,sa),,i.t
o
;;!r rUO;: rfr
r*:r t:: tl;-r-rb.riJt*r
(V
.x5&.i iL;
'..,.-2,
c*i)
www.mohandesyar.com
www.mohandesyar.com
f.
,at.
.$;tfu .rtr:;!
&*
J.;tS
\- \ o
,rL; G.,t-*. *V,rSttS. ,syL J-J iJl' , p,.*,1; +-* + t{ 'J+, ki p
,".1 e.E e ,"pL * ,ytJ -b;r ,,[i:*.;l -srr2 J1V b--I oll u)r-+. .d 'Lb6
ut; qrb.rs#SrrSLclt &la .'W;b!r61 '^&:+ tto$ o'Ir-r> u;J ;;sf
f
t-L s4stS 6l;i yVi .:.-lri-r=s ,gQ rla,-l c^rL +-* y-l ,,'--r,-r
'fu.,F
+ ,s:V;i;r ^5 Ce j-,- | 6j ;i'. :',rt Ji ,jv ,J-tu-l tt ;:1'-'. J!.t; JUI
+o.ri,o
1.,
.(,eJ Ol ,SWt
tsjLJ!,Jb:..- ps 4-* J.-,!*-t'aJ:L n'aI*5* b *U,,S..JiS,,gtt,,1 rl'-i rr
ctl\t ,F* J[.ili,-) tJ;t^dJ:U. nLl r'l-tu, ,rxJ J-#,,F cl f .f-tS
.dg ,fp,f-rl:l c*,)dJ ,r5.Jtr).r^L ,rSttS.. ,sA\ rslt? P f 8 '?? X \
,c-l ,t;3r\
a*
,-J*ti
|;
r*,hr
o.t"i
rt4l5,
,1tt;l
,:',
[f] f.r.-r).r! ,rt-.;; oA, r-)a U-l'bb.c*l
,se
,Y]
o-ui
,sl1.j,.'gV
lt &rrgst*-.*
cJtrlj<..tj[r
,srl+1, JJ^;
,iu.c-l
e|t
'trl r5.r ,;-,- i;
;lsL-lr - irr* ,rot ,,5*t(, tstll: ,-b* J-J,stg:p, e.^';VI 612
,st^r;t ,slt Sb ,-ia s, .S.t+-rltbo
U-
J-J'^--h
'b*
;,;l-l .g+r.t jt +j r1y dLlut -b+ *Lr"t
,t_l t, ;,
.r"-j,s -b I
b ,stl:T L.-2r .S,-
\ t1-,2 3rL -1!-r
www.mohandesyar.com
/t, s*rtg
Ab: \
;-t- : ,F*
rrtrr;Q
,*st J.{
glt*i.-,r,.,
fV"
Y- \ "
,sb.1h, rl.-i;r
4 ,t-t ,f5;-1r c.t.i orlr i[.i;
rJ.r.:
cdr.
qE v-V
L
J15,-a
-f"-t;.1J
"...u-l
tt- fr
kV #, ,r-+ u-L-r
6lr.JrL" b .f*tf sjul iL; tr ;rl;
ft J,-- ttt-+ t JlSt -l g;!lr
'b
'Ull
ttpt ,slrrL;.; .S.;k;...* ,x:fu. .r*r' 6l; t t+T ,sl"rrL, d *[+;;
t ,F
Jr*!*_t iJrb"
L-
cAr). 6lt o*-a3t 6;UrrL;:l ;rl-ir3.,&,iti .r,$ ,--:- ts ,rL;r;
,rr.J J-rZLft..d,-(-L.-" g ,$;;
,elf Jl
S,JLt,sl+J- !)rl
u-l D:.c.qi .*,ti tt ,.JttS. ,rlorr! J/ ,slt,c.ihJ irr-l iti-L- .rJ orti'. "l
,s;lrrL; 6rsrh ,llcJ.,- JL r, 4z ,s16 sL ' i i6l.u L?lj;r c--s trgL
c,JrL. :l
,)u-*
;;lje 0l ,rlt +-S ,sbl6r-'.
Jr plt 6fu"rL; s *l uSJtS. (J;tL: ! J* '^Li;, arlr cJr- ,F-, .;b,
,iL; ! .& L,l ,Ja; (*,Jr*.. r5;L,r$ A U_l ita;: .c.*2;L .elL ;tS.
ar; qSr$; ;r2l
r J# ,s!.Fl, tgrrt dl-l e,,(;t-l
^-Jl.)r $lri
,slt+ s,t-S F+b^, e5li:,.1 il 42 J/ ;tlli .?V rt I s)s,c-l ..Iirr.e,- ,fl)
,r5#5 ; .6;Lu,L- t S ir* ,! ,Sf ,F* J=*I,*-t 6Lral:L. L =i'*"-, !T
.ciJ r"lr rl5+
bp
relirt,-r-iL c-ib ,b*,j.lt ,,rrn ,iu; ?-\ JS- ;--.* -i Jl
|s U-t f t+.;l ! .d ,* ! ;l ,5t*t-r tr^. l;^S j ts ) f-A -b t "$t-l +
:,.,rur7,LE-,t'a2,ip;r lf,Li aS ,q.*jut
i/r-1, .Ju,Su. <cJ.,;-ll ,l ilSr;l 4l;
.&iti
.,.
;11
,(Gtn db--X.),!; :yt c-e.brr: t.0.L; ;:lr;f
,sA.,r.Er..stoor+
;-tl-ie,g*Jj
.Sr"nr.r il +j tt-t b tljo{:?:, J;;S alti,rp: g"^e +.rsT sd.!d,
tl:.r, l^r'a.)t$tV Gln 61l,...:JL 1t o1\-.e fu- ^S,,el4!*.x-iL il.i\r;t
,F* .I,G S :-*e , .l rstt kr QQ ,J-;5 ryb u-l;: .(.slt -- ;ti;l ,r-b
iJf -1r .e ,Y ,? azr.^:i -2r r ,rts
J$.reti y: ,F* GtV 'alr-97,p
'+
;l;11,l !r-;,.r=,t; ol:5 ,b J;tS alli;,tlj,gl, J.S,-)a *.lLr,-rB tr E-J
x r:...* 8,s'* n,tu
loor+ ;Tyr
't
"
F:!,l:,if:f 'ffi.ij,;f
J.{ ;t;li I JL
p+lf s ,r.-tJr-l;! (u ,rt.il ;T a, A J--i -rt d) c.r;
aS.r-r
J/ ,jtt -rr l+i-l.1r .r;L eV b l. !;:-23r 3.u5,F'.*t
eb tlte ,yli u-l
.u*.b
jr
c*; Ll ,lL,r, ,rl,1 # x;Le b_i6,ori ,q:.jii
t ,J.u t
'b*$lriJ-r-u.tul-.f,b,Jrti ,J-{ J.r, q a:*rb
.tr
c*i '-;J Cr-+.rfcf .},-$
www.mohandesyar.com
fV\
;sb3b..* t
rF*
rrt+; : '
.c.-l.J.i
..rl.r b|-J";.;+t-i
JU;r
.-lL ,al
\_\c JU, r
,sti .l.-.& -b l,c-,| rri rrlr iLl; \- \' JiS.-iJ) d lt ,rE.* F'.4h-,
'P
* ul Jl .t-*,g iV. f = qnr iJrL L, ,c^..*; ,f = kx ,rL- Juer * u-)
n1r,rb;...* u-t *t.u-.2eTc-r" J-{ iili,$U P-t Jtfu' 6-* ;t*il .}?
.r2lr& ks, dh- ?--,e \ etn elr cJL.lr
c*l ;,;1 :\ iv fu Jri!i,-! ilrL
mi+bi+qxr = f
;l-1r .5 ,f
(\-\.)
: af' + 0:l c*l orl..c J.S iyti J-r. { d*rb c.--.i
Q.
-- rn
g=bi+qrr
f':ia+lc"e*kpe
(Y-\")
(r- \.
www.mohandesyar.com
JAt,
J.{
s(Jl(r .5trtq ,F*
fVY
rlrr Y-\' J'S-i .sfg u,l-, ,g3p..rrSLc o6&r O:-.ilr t torr+ bT l6
'Az,;prr) ! t+f'; J^.,JLL [-,rh. p.$rc/
At.:; !, J.S e
U_| ,;]
.1lr,r, & .-,U ,(tli.
y_\o
bV
y:
f-
b" ssn(i) iJ:L
.J.or,rr AL:;
! ^t t .fu; .ft(Lrl ,-b*
Jt(L-l t o*[L f\
f - bi \ 3
'b
,(ri Ll ryi
f:mi+bi+qxs
.,F*J,r ! c+-
6la
,);ri
Jr-S
b"
.ec-r !,..-'rr
.fui
JlSt -l csi i-$,.:-,
Y-
scN
\. JS.J
til
,p f- \ " J(J
Jli, r
t-#.
c/
www.mohandesyar.com
lYl
u-l
,F*
;lr; U .*U t
'
ti,(dr^:ft-.Jrf ,lttbt-);l;bbt- t Jd. &i JtSt-l.rsisyl rst+!:r il 6i='2
U u-l t-t
J.
grt+;':
P t
JS*i
.,:*:b c.^.-i .5.,-;l
.$,s,.sitJ! ,tL; J*.;l.:dr tF*
-51
or$-.'.1
e5
+5
J.S e ,$\
'fb
.r;lr.(; Glf,,4D-- c-JL.1r
e*l
6r:1
t\t Jttt -l
r.2l.r.r lt p
&*;tr.rl.u J.*,!*-t
iJ:L,
(r-\.)
* kr - f
;Tyr.5 f - af' + 0:l c*l otlr-c,o-rJ,eji JF alti
mi *
Q.
b"
sgn(i)
n'L
* kn
f':ila+k,e*kpe
(0-
0 = b" sgn(i)
.-r,_J
\.
.X,f,g a*\tu ,9jL.:rSLc Jlat^L,;l o:ti:-l to'rt ,klst ults
t,1
-b l,c*l
f-\o Jb, r
oli orlr ;LJ F- \. JiS.i i I lt tlt.S- li 1t ,rS;ti (J;t !
.!t ..! t ft
,rSJtS,
6tti U s
bals.J.rT
f-
\'J(r
www.mohandesyar.com
JfL s{ritf..
slrri!
&* J.{ fvf
tFrJ ,it L.lr dl#l lLi p $L. ffr.r.1lr 41el W.5.,- lt ,r-l
tsti s,;3S-,-e Jt(t.-l3 .Si; JISL-I c5l^r* ,W 6,-1 2 ',>-l rnlt jI
.o,:
b;-* ul ,J-# iili fi-i;;l .rli',.1 tt d+5 c! rl.S fu- .s-;.e JLrl'F
.:;l.t& gln g1L-.:JL g clls;t
e*l g;a,rSJtS. r.s:,i! Cr_l J.u
-9
,u-b.\ s
r = mltd + r0*
;;b c*i
g ,0.[:f
,]'; Jt
;T_2r.f ,f
,,
^:,-15
c sgn(O)
c*i
:rylr
- af'+ 0:l c*l
a-mll
g = r0
(t- \. )
mtgcos(0)
c*i rr ]5;-.*
c,rfc
,J7n-,,ill,
.3r
Jf Jy 4 a;412 c*i
* cssn(0) + *tscos(d)
c*l
irE+
J:*
(v- \. )
,y.lL ,J
jr
c^^-.i J
(A-\.
f'=0a+k,e*kpe
t
.S-.'J.g
a*l:.,,u3)L lrSLc oGz.:.t A:-ilr lr torr+;T;r.5
,.#;r.c^-.:j,Vt rts* 6r;5JF l),orL s;l4JV;r.1r dp-{r
t6+
il *r4r.t
"$lS.
(J't! sr:s J-J
,fl)
,,sb
lJ.iy
(st+JE
1r
ai-2
.26a1
tr r+lr
,F* ,bl* 6 yt1.16 cd)., u.,-b I J.u 4 a;al5 2 ,!;p J-;S ijtr .\
..u5 <r::;> b J;S c-; p
f lf-r
It J;S e-;
fr,prJ c-ra r-b lr+ uA S ,JU; ts:r irli;l .rlr- .l L .Y
{e '1,-+ JF.Jrb.r ,tL; u-;---- *
J-# c-; ;...*-;l ir.,\r J! Cbrr ,di 6-\::fut- J;S ;tlt;,oL6.7 ,ft jl
;.lV'd?)a,uLl r=-.rr \*.y ,F* ,t V 6,srtn ,t,$u. 16*
"i.S "b
lt ,F t-,rb.
,;12r1l5J.r..,r o.t.,i
fu..,.5.,- ,;; ijti ,!r- J.u U_l .s;c
";:L.
l^r-!rt,
,.p;
.;-"''-rBL r
,!l* 345 ;;; ,sl, 6 o,-l t,;sr.rJ.f {t
.c*l U-tI JS.l.. ,rly ,t-l.rJ*c 6brr,-r6-r, UV 7r;r. y-l .r*Q ,F.*
1.,
a1
.r_t1
1.,
www.mohandesyar.com
lYO at, ,r5Jt5w ,sblb
J-{
GJf l:>-gr[13 + J.{ gil}i*.:."v l-
\o
il 6lle.,..,rt ,S=;tt- .s$L JtS.Je{r o.r-: cf l srL 6lalE,.rr a+l .i)Et
tshl* t,I4br.t+tS.;l rg.l\sr,. d.:b L aJc-Lr. il{ ir_l .c...1 Lfitf Ji-6rL19
.rJ.-t^. lr ;t-L;ll!r6 6tiJUir".;l s.;\sr,. +t #5 ijli ,J^aL clt -b tt-r
,!b ;t4^e ,L*,J,*i: J.u a,. a;*2l,2 c*i + J.$ irti fiJ,.i-u,cJL rl-l-r)
c-;j; 0* ili,f lt J-{;;b..-l) 'rlb; ctlst e-Jl. Jy,-o Ll ..:*l 'rlf .l
.u3
Ar
F-aF'*0
(1-\.)
s,F' ,F ,6sl;IL1s n t ,r;-.,,. 612,;lp 3
ilrb, n Jlf .li:*. 15!, t+ J c^-d .s-b U:) o d-JU d +5 a>e, .c-l n x n
fr ,F' 1ss212 ;l ,G;11,r;t ,-,Er l .?rtn g s a Jl .tr,_lr6* F-ri- :l cSr
c:JL -rr I J.r. I 4-:b c*i ,r!r O=-e 4 .Ltt-/ $;L Ji:-. ;,,ols ln n J22,-aat
sr{ r.3 r-- ,slr. jr;;ti ..ri[.r, o.uf ,fu-l' J ;ht J;5 i;l; , r.s.r{ q
r;11-1L,
09 Jli...A z x \
4te.2l:ra
o-T,C
F' -- Xo * I{,8 + I(eE
i t-j o12,o*
(\.-\.)
'L^-" t+*,-;t y-l ..u:...1 n x n,-st*,--rt Kp K, g
: ;l ^S
(Jsr-:
nx\
,-,t5- (JiU; ceta.rl:J,. 4:+ E t E .x-.j,:,g ti.S -brr t+l -F ,ss, t
.;ti 6t^.J+ ,osg. u;;b
.J:i...l
J;S
f- \ "
JAt/ cjiJtS" crta:;!
diL" .,1-r-r:T cd)4, ,"t ..JSti c:t\ cb -bU 8? 6Lrelr[, : J.r. ,? J.ni g
1.,
S-;l.g
*t il
r
J15,-a*3 ,JloJ.a,-,,.11..: ,arS.rti-:
- M(@)6 + Y(o, o) + c(o)
6t^alrl-
U-l ,p-ts
(\\-\")
x \ c.tlsty(O, O) ,,'l t ,rSJtS. 6tj\ nx n ,V) ,-,--rU /v/(O) ;T.2.r .5
+ L-tt 19t.ra,*-;l JS;. ,rr, X \ ctlst G(O) s ,'lp-f : f-,.:l i-J 6bd*-;l
,r;tr sLdt-i i5ilS- ,O {
{*l oJ.a,-,, .,-U ,G(O) I M(O) rab, t .e*l 6$
.c*l O r O yl o.t^a^,, e.E E V(O.O) ,--.r.rr .r-2lr ,*u_l + i: lu QL- f fe ,>lll J,_t t_ r) Jt5.t -l ;l ).t f*lj,g ,,2_l 2 olb
JS..l;
rz
,c*l ;LL
6l+;,e.-r
h&;l .*b L dSISL-l J.u a*.,_l ,-hj \ .rS nl-bl ^Llu
www.mohandesyar.com
,t s{ittn
,*
,I-L-
J.{
..rbtt, &*
YV?
* Jt l; pJile !, f(O, O) il-" ( \ \- \') .Lr!r .:
r = M(@)6 + Y(o, o) + c(o)
J.{ th . reiir;. ,1.t-S j* 'F
+ r(O,
o)
(\
r-\. )
3 g;lo$''yi; t-uJ JF ,}y U$ \
g--rlr,cJL tt-lf .d,b L (tr-\') i*,rfoir?*, P
u-l
(\r-\.)
r=ar'*0
de.rEi;l JL .c*l ;l-L
6612[:-:3;l n
x\
s;-21:;
a - M(@)
p v(o, o) + G(o) + r(o, o)
-
t-je
r'-da*K,E+xrn
-b
t ,h
r 9
;1T
,S
(\r-\.)
2i
ir
urb r
(\0-\")
;1T
E=Oa-O
^S
(\P-\.)
.c*l o.li orlr aLii 0- \ " Jfu -2: ,rl.oL $ ;-.,-{.,.:-2|J.
U (\Y-\.) !lr;l
ortL-l L
e.5:ls;t,;;LT+;tlte,(\0-\.)
v'(o,o) + G(0) + F(e,0t
+t ,;itS, ,sa\ slt J.u q ub J.5 fu-
0- \'J(J
www.mohandesyar.com
fVY {rlt rtli').
t.f C o1t"t
E+r,E*KrE--"
1,-;
6lL; iJrl*. L
(\v-\.)
Era*+.slrs-JJ K, s K" 614...-tU b:,c*l .Ji:..- t;.ylrylJrb. U-l 3 +5o.r
u)j g;3,u6t.u .,t+,P t 6b! (tV-\') rl",', bliLt
(\A-\")
E; *k,i e{kp;e=o
.c.iL-
c...,r,c-l
.li
orlr;Ll; (\Y-\') il":l t, dJtt+l rrSLc + bl-;,?,,[^c-1r
:;l .slc,rLc l+l irr_.--{..;l b er a5,1lr
ctQ, rl)r
,.rrl gr-l
J/ ijti,.lth, i ,ft t-*6:$.c '&gl c-+t .\
.c*l .:ie; (\O-\') : (tF-\' ) kly f
.(\f-\') il",:!, 'a*'1-. rsbll,r5rlS. g;t! JJ,-2, ;jI c-ir ri,-.3;rc .Y
-tf gV (frJ (csrrb b -f c*r) b Wyrr u-l 'o'u'-T ,'i"1rr
aSlbal '&,-x; GU:
&rJi{ u[-r .1r rS,.:!r-* lr ,-?t
,rb rth-),
r> crl:5 $b t ;ht J]
A- \
,sU,J*; ,sLt,:^: -r,
.rld)L
J*'"+*'6 u! 1;1 At";
t*+,,l-i ,q1.ii; J-S ;tlti c;lrltt\ts 'r: ltdl cVut i^5;r
Fl.rJ ,-ht
irti crt-l-,'pll+l t-sh ;:1 ;L; ,:,,++^r s ,Sr-r. ,k *-r, Gl: tt P JS S
,3tl ,C6 lito 61gt6 Cr:-:lr t .c-l -b iF
Gr.r.ri;l b +*'L".. rl.u rr blis.
Of^. ,jV st-f J.H6rL; ii-l Ll ,.r;! J;*' (iL; irr ;*l p:t,et a5rlr pt+l
iJrb. JS.tt, Jr5ftfu;.r .r;L Of-, .i' ggsl.-:il -blJ :lb rltt g2l sr'16 c-l
.,!* ;!*6 u-l .t-S +L-, J;5 alt; r) {lr .!, (ttF-\') iJrb,) rrt .,S-..t!-r
,rj! q ,te-rrl=* .,,t*L, ,s[*l rii c.l,-: ? P I 6q*6 tg.1r e JloJ^a-,,
Jtr.,',.st"y.*6 4 s.r-j*t ;tS.l a-,1 .c*l or.i sl+';* t+l lt+;l .s! ,1!
.r.ap.1f o:ti- .l tt.f .e. J*;) rJr...a ibli;U^. du S J.iS irt'lt.+[,J.r. { d*ib ,F*
J.S ,ilt:r1;L(.;l 6-,+ JL, cr-.rq ,[O-t] GVI .$J
..-;*l ,* iL;l 3; ,;-b c5[^oJ.5 J-Jrt1il-] ;s;l;l 6lo1L,rtt6 s,c-,| oJ.i ,-)tl:S
;l otrr J-6 rsq;'", . i-lfyr q-* r-; JLr, ** oi31 J'.-i p oS6$*
l+--*:" t-) s,l-;',l orlr- 'l oi, 6la1l'x
U-l .t:Sg rlS ,;.-'. ..Sititit) tK:ai !
,-P-lyl
www.mohandesyar.com
JAt,
strits, dtrnq
,*r* J.{
fVA
.J;b;' ui|-; 1;,-'';[; -Lli;.1r (br-l...- .3-t 'fU=|3) ;ti c;tra-t..- af c*Lr, ;1.r,
.t.."J.g rrh"rl ;lsl6 I 5 ,4-l^.;l.u!r6;Lj ,o.li-i ,J;li rbL u.Ll t .ifirt
.(:.T t* .tt ,te.-3.tt+ r; ,lr;l.l!16 rrl+tl otLj e Lrut-- il;li .93;ri,.,2--rr
r c,L-t-. pt.+l;l ,sE GU: ;l; oljl Lfrr clt .Zf C;,t+l 4b, 611ryi2;
jl s,x-;.c/.I,-+
"rUU;
c;laalrL
a,
,l*;!rt-r
G;lndJ:U" ,c.
,.,b GU:
J/r, .l*J
bljd,t-Fti ,)^: rgtl{1, + Lt-,. cWt, t At, cU 6rQ,st"rl;l
,;lJazi \ Jl,c-l .-t:fyl i:e.r-,;l 6-2t-,+: ,.j,41.i GU: J.;3'^--bst\tr d^:r,
gl+ ! {..,.irgb,,[ 6$..1- t.tU, :l qQ,4L,'r:5'rrKt+t r, J.;S'+*i; aS
.c^r...-)r
.(+;=r l, [\.Jg-..,.)
iJrt'. ,r"t .-SlS,..sri! uS.,li-) iJ:t', cU. y-l^;;li V + -Sl .rt
tS^,
,rL;.;
JrL irJl+,.r5tJt.1r Ll 1*-*.tJlo*3l, 6)- JE*;!i,-)
,1, t+ .fb ,sl!:A.rr aic*l iT c^tt -c^-+ tS^' o2l2*'e
.5"-,r!r 4,:,i.3b,r,L;
yl*;t-rJ c*rt
6.&tklll o:Li'-,| ,,r.oLi ;L; '^1,-l; t ,tsl17) ,4:l L-F i:-ilr \ dr iJrL
d ry ,up j5'-. Gt:--2r ai-s,,[.i c;L; gkJ.l. ,FL .c-*l (? ,F a&'.) tsrJt
l.l .f-rt -b.r, ! c*tr*-,* [ ,Frtorla:-l Ji#!i,-r u;b.JrL b ,sU cr c4l9. il
$ v "up; LP^^, ,13;T ,y-F it: v-* :l rf U,+ ,.,b Gl: Jt- ijLl- ,slt Jl
.c L- rr rap -*,L,:,GL:--* t, c-:n,J.u r,LlJ o.l..3 d;L J.r.;l ,Jr, ir-l
ael;; cl2.i!r,,'.e ,c-l ,l-.J.t c,!:r J-;S'u-r,t Gl: J"L; ^S c^is bl-iL/.2.rig"-a
.rsl ,ss.t 6:l+i t +l.i ,ir=,u ti,l>2C; .fuT *;l6.rt:-rr
,: e ,rlr ,,1+l rt_; j.-a cc- l. al-i,g b tQL- 6 Cr; 'ht ,r-# cJL.2r
.c,*l -* ,tuy, Gl: v'-* e-p q*
t.*,,F*
,J-{..ryb
:2.,15
,slt dy 'l? ,.,1*, J.# il
J.;rS
ortr'.""|
J.u
.1:
'b*,ri,L',-r
g;kft"T
o+a:i,
I
c,t-t ., c^-.:i pj),ri:r ,:-l:o.c*l ori rlf'.i?
[\\]jr
].;u
,ryl:.1f ujr-'iitL.,[-br I J-J ryli Jr. t c*1b c*i,0-\o ,[5'-:-2r.sr ft+l
;l.r::Su, y,-s ,\ "'1fr u-l itr;l t+Jt 1- 4- c^sl;l aS;r r^ t: ib.r, d
.rr +t^, &"1 y-l L +! r;tr ,r(rtr-) Jr. ,K;rL;5.rE;;l l o "Hz | 61lsr2ii2J.{t+i-l.rr.c*l oJ*i orlr ;)E ?-\" Jifu,-1) r} ,6a.;;l;u. S rs-&-t J};.'.*
.rl-lr csjr iiL .S_ :l lljg,.*yrt-{ .:;lr_rf 3- iil- (6tt-lrr ,J.u { d-:b
loorf -2: [all: t*- il-r, d,rJork*l
J.r. * d-,tb gJtrtl:JJ),:i-j.,J
e-S;loI
=t'
www.mohandesyar.com
fYl
.rLr
et!.)r
b;
0d
04
.jr
"AiL;l
rpl-l
J.L q 4:*rb
c*i \ J-S G:t t.xsJe
'
.r"l
nl^bl
\"
aT
JSJ
a ric...al
,Ft
.up cs)ar o* lL; iJ:L , td...,- gr-l gt-aalrL i;-it t .Jj
E+
u-\(o;lr,
E + u-'(o;y'roE
(\1-\.)
-"
,shL, , ,S,l 1g,t a:*t tlu t? 6*,u\ ts+J=:, r=J aS c-l Fa
"$tt-l4
,sjVT'r& ily,.;tlte | (tt-\') iJrt.. U..1-1,r" g,5r- ^' L}ia"aai.a 1t
q* l..-^,U,stoor+ ;l 6l^-c2-a,' c;-,-ttJrS^ ilpsi 6J;5 JFS &- rfp,slt
da .s-* 0*-a; u*L l-; 6l; r, t+l "Al;,t+l'i <cJ-2.-r t'tu. aS rJ l+,
+;,sht t rF Srsr*a,,c^.1 o!:,, cs+f=:,r-rd t: .=r:,. 6tao;4,,# .*t^',6t
.x;L c^,b pl*l
S
.1)3,d*l .b t y*
6b -Lii .,(/t!-r JJ",P-\' JS- r-..- tt +5-.-r
, u Lt CJt-, ,$+.! -r-rb il-rLf 'r-?L pL" &,:l -b t,r * oS,r"t(u '4
tfu -2) ,o-l..i a*l'- # rl ,26 2-rlL ,* .t-S +L-, ,4) 3GI cSy aS;l;l ,li
f
\ -e,sto,r+ ,4r 0:,,^ L...l,i .l:alF orJlF t-*6 itiL :l ,st-*6 +"12 6lt7l
tK:" f Gy u-l ,s-SrS+.rJ'F, t,*S iLiL .1s 5 a*A #-;l ;,tlte Z b al:
f
.c*1q ;tT ,sjr &"1 a-2,-ii1s3,:.2b 6hE,i!t^" L-y,a"Lr2 rsll
uist &Ai ! ori L.')12,. )tl#
'fa
! ,r:.J Lu;-. t ;U; iLi JF p Jt=l r:r5 .f- .-$ ,lrr ,V- \' Jifu
,c*l o$ i:..ai r-9,- tsl.f*, 66 rr fu
t?
,M(@a)
= M(@) ,V(Oo,Oa) = y(O,O) ir::5orL ,sVt;l ,t.oalrt,, a:-,131 r-*ra, .s!, .\
.f-l,rt o>Li:-l .F'(Oo, Oa) F(O, O) : ,G(Or) = G(O)
=
www.mohandesyar.com
/U .,fniKr uslrr.;! ,F.* J.{ l'A"
B(0) + C(0)
.u5';t(- crtli Jr"
a.
-.le Jr:S
uASq
V-
\.
JS.J
jtL ;;lj,-l t_,?..s|;tS, ett lii ,,lt ,;it(" ,saL ,s6-,.-\l 6ce$u
q4:-..2 t, t-,[A] *-;l;;2"*,6 4 4,-:t !,u\c-l: c-s.l-!r'^U:+
"Lrrl Jr+rtt+l
.rS.,L,_r ,st"r-lt, ,-s! l-+ rrb ,,jt-t^. J,*, g,_lrr .rJ ir=i ,[\ Y] '.u a*l-,sl+: c,t-t-.. ,)U, .# ,*1.u,+-*,:rll ,sjr.ful ;l;^:...aT ;l;"lJ \ al;rS b
? Hz ,.3;,tI t, c*l #*,
A. Hz .1"T t l;.r 4 ,, .2lrr cjr 6J;,r ,Jy'
l.a;J "
.it J-t
! glr
y-l
,u
d-,:- rs6*b\.loil c^;|,:..i,'.ts
c;ti 1rc ,c-L ob r J o* a*l^u Dl: < Jt p-r$l ,s.Sr6+ tr 6 cfr: #,i
r.;L ,r:-..,.- .(=,1,-: ;l G*, ,st"nilj, \-f tr
,-tl y-l .c*l ,rirt--: J.u ,ii,
tl-';t tQ ;StSL-l J.u ,LiL ,,,-Lti d- ilr rr .c-l .!rL ,,rSt(t -l oljl
-r-i.[r!.$ ,Hrot ,-$tS, ,su\-Sl.[rr] ;T,st"r,!t.-21.lL iill, *.L1^- ,c-l
a:l: c-,-. i ,6;T ,r,5r.=; ;ti:,, r.t ,Al"l t .5,r:*i ,i:. ,.l*i1., c-:lr rji .S..-.L,-r-,r
.rr $l:i rltsr ,t+U; '+-S ,s\ J,r" cstoj-.!rt, t ..*l-, y-:b
o;,.-.r7
6.rfu .rlo.": tiJ .b ,' afEJ.st"rlile ;tJi irJ -\:l ,sL t+!-u;;:*
.$rcl
, tq .,S/t!-: 6taal:L, eli.l ;l i:: : d,r-2lr c*r tt b qlil o!:,r
^;
qb c^^-.it, L l+l ll-i,ge,c-lr-{&lr!il u:il t lr O*; ,Lr:'tb 6Lrry-25yr
,r-tl Alid,r-2|:-2[ ;!:r cs)J) ,,stltl d.rfu .-i.S.b f ,J-is ryli J. +
lr rot ,-JttS. 6t\ L.lr U-fT
! ++ -r-:ti, e ,rlr
6 ft s ,,f fpc#
^;
t-"1
Ll
tt-t ,rlr,tary.,6;l c.tQ.-2: .t-S +L= ,ltl s -rT t! #; nLl t
f
www.mohandesyar.com
fA
\ ,Lr vtA.Xr
,6,jr ,ri,b-: Jr.
.S,-
g..;
J5
L*y
g'-l
2 ,r>..'4 1rL. ,c,Ly
uq o.tJ &ilry
.JS,r. JlS.:l rtall
l-r, ;La-r ai c*l ai ,irS^. Jb+l ,* cJL ;1-jot!
y';;l-;;il 66121:2K il qlt.,aA-\. ,[5*iyr .f-.&-b I rfrr| r-j;t c.rd Ul
,p t; rs$:L:;rl u-l *-S.byr [,r:--- (J;U; iJrL .s-,-j:,c rrb c,!-u cl+I'-j-
,tLs; uLj .r, t
,J.5
n-\rl
E + K,E + I{oE
c.-54. L;)a
(Y.-\.)
M- '(o) r,
\. ) il:L. c-"> cg .c*t+t-; g ,/|,:;.il 6Lb.r.rb-:t js2 ra;T.1r .5
gslaL-;' iJf.2r ,soV W ? tr ut2,i.l tr.,3 r,-.r ilrd c*l i):l Ll ,c*l
.c^-d .s-b,f,-JL, M(O),,r|S.JL t5 6 c*l ;Tc^J.c.'l5i.,, rt^.'-l lL; t;-&-t
.5tL; il-id u$L^;'j:..r1, pt+l ,rL JrL; t4 alie,(Y"-\') ilrb. !17
F*
(Y. -
tj +L*, *
lJ,c^,[i
;L;;;l tl t
o.r.i rt-.,-l ,Jt-1,
*lL 6ir
t(O) ro
(Y\-\.)
- I{o\ Mttl-j,t ,J-"; "i. 2rl)-t e JrL;,r^il^J ,j.5,'l t ,rSitt (J;t! (Js.:.Qr J.u d'?.;Ut
u-,J n-;L J.r. ,U (g) ,e-tL ,dr; '-e,-tJ | 2-; ,,1lKt[.; ,.:JL u-l 6b .t-.;.cl
lt ,;l|^
f;;tS, .2r JlSt .o : ,G$ tLs2x \ -bV-- (J;t0Jl. rg.larr.e .c*l .M(O) .:rt
,[,6 c,tc)tl c,*lr d6 LP"d F(O, O) r ,G(O) ,V(O, O) 6brL; tr s.ry+
B (e) + C(e)
.11.r .r;,--1
,e.tL .-it$l ;l rr .5,J.r. { .:*:b sr:f
#5
A- \ . JS.t
www.mohandesyar.com
/L s$tg,rlrrq ,F* J.{
c.-l
t-;
It1u.,
fAY
,J.u
il
u(s) - M(o)
y(o, o) = y(o, o)
c(o)
(YY-\")
- G(o)
f(O, O) =
.F(O, O)
.!lirr+/t .r$tS. ,s:;t ,J..1,-: 6t-aab! +Jt,u-b\
r - M(o)6 + v(o, o) + G(o) + r(o,
)Ss. ^*l'u
o)
(Yr- \.
il *V t JF i;b
r=art*0
(Yr-\.)
" - M(o)
- v(s, o) + G(o) + r(o, o)
rJie.i LF.d t"+r t r.,!rt, d ,jJt .1r ,Lealrl.. ;t$rrL; 9 6i*r!t--- ,adi J)
p--rlr ,,.:--- u-l ,sb r;- rls. iJrL. Fj L .ri .up; ,,4| ,bS tt+
E + K,E
- ul6 + (v - :r)+ (G - cl+ (r - r)]
(Yo-\.)
elr strr,;:, ,JtL.:,-b-r t*:,,^,;l-1.r .5
o- \' ) i!'1t,>*l i!'LK iTot"t/,!rL ( Y r- \' ),sl"ol+!,, S rstt t,r9:,.;air J.r.
-Sl S
(Y
* KrE - M-' [(r
+5-.r
..rJlo$ orlr ;1..i; ,ri,L,-r
j)t=lrJL,i
fb ,?rr* t"r..-1,1, 6 ,gfu .J^ls. .iL t^U; ),F
elrL ell t b i-.,stotb ,o.r.l 6yLJ s. 6lrV,lrL,r .*b
.r,-.1 (Y0- \') ;4a-,
.([f \] rtsrl+t[ fu c-l irS., uV,>j2. tf:-:ol $sT,t
.e c^+ Y-\. ,:4 .,s
t*r-rl.r. p.p ts:ll_[, JJ^,- Erlrr
"$;*;
,sl^rr!rL,6
'b=";
tsjst'l
Lp
gt+!r,, JirS gil*i,.,:,,,r P- \ o
{) -\,-q ,br-lL, trlr.r ,;.ir c,tc)ttl + c$-t obr J .,DlS.l.. r1-.5 ,pra,
c;lrr .i c-l iiitc ,c,!-lr J.;S ,sb J.t + a:*:b J;S ;tlti i+?#, &t-L,
JS,bl t JSIS- ,sttr J.r c,l.-l^, 1FJ ,sb jV ,-r ,st-*6 3l; 6$;'*_y
ptzf
t-T
L_
www.mohandesyar.com
lAl
u.il.,.l ,;;t:,.a c$b.u
l;Jgllt; :.
c,tc)ttl tf.r le #t* S v.t(Jt,,i.:+,$tr J:-.)r c-l irS^.,.-,tL
,c,!-u ittJ::S+ll .Jrcr .F G:t u_l:l o:[-,"1 r;L_V ,f2-..?. tsL;llt
..ru:f cs.,b+;,,J:5 J-Jftq.J.6J,u ir: 16+:l );lEtJ
e,6rl-:iI .,!Jr+
,/al ,# cJL f 6 6lorL ,lz J-J dlt 1., I ,o t ,rSJlS. r;trrilr ,r*r, t+T
.JSv." $:f,-srlr t- \ " ,:i_2: oJ^iJr 6taiJ- ! qL, dt-3L : ttSe J^, U;
.c*l oli o:lr.lb Jt::rSLc \ jr fu.l. u-* G\a,1-\or[5..:.l:
3:!rt
'f*-l
ti;r
,.i:ai *
ts./ljfrli
nll
,)-i/ t
r, "S srb
,).{
a: r
c;L t,s;:lr* c.rl c5;
'ri--''+
,slJ PID JfS
Ga ,tsj:rl u:r,- tst+lrl -il cte
s-*ct
(yt-\.)
f O::-, ,Fl, \ c*l ,rp\u,;! e,rl oLs 1- \ " J(.i
-t
.L#t
1. Adept Technology Inc.
!J!
www.mohandesyar.com
,L stJt(. .rtrr;g ,F* J.$ fAf
;l c*l
, jr c*i .c*l
cr.rtr
r' =
6a+ K,E
* KrE *
nx
K;
n;Lr ,r-tl1 ,;l;r .5
I na,
(YV-\.)
c^-:i u.ri-s1s 6, ,tCL ctQ,.2:..11,:,li 6-b g;h*g/t K;5,Kp,Ko ;;19 'S
c*i jl ,c,t:r., urtloJ:;S J;S:l ctQ ai.:*li.;l+ Cr-l .t-j.rl olr-2|l -p tUs
,ja,PID J/ ,jy u-l -t5e I';iJ,- \rS ;r JlS.reti vr J'u t q!
Jt:e7,W:^ .rTrr lr,-; ,.;*l orL
,slnl 6b -.JCI .tf ,C J-{ ctJl.r- *
iL.L
aT erlrr \'-t ui.-21; 6 ,t-J.,-/ o:lr -2[ o-!i>r;a-1.S,- J^.t ] ts,(YV-f ')
ur;LJi:.-- 6U 6y;J1:l .c--; orL ,::.,.i,r. J.5 Q;rr-t.S 6u! $f.e J:4
..-,.,,ll:f,,up ;t -5.-t ,s14.-;.6)- r. J-L t cSr ;-*,j pt+l ,r,lsl balrh.
.s1.J.,g .,:; ,tti ,-J;]t\ JF ;tllr L-;.5,x1s, ,hl ! ,rt"tL; ,t4.::5,...-ry y-l
cle ut'n{ t+JL L5.2r t ut}.il a1 c*; fr g*[ d;li u;lr,J+ ,rh;l
ulao.,+ ,.,p: ,r-.oa, ..:*l U<-,*,lrrtt Gln
i.-[;-rr It Glfr Glj-- S
'b*
e,:,,! ts.l- ,-st+-+$, f .t.it/.rE:;l ,J,}.r, r[..,-l .-Ls qlS 6l;i cJy
#*,
dll;r2l,d,!:.r uSJlS, C* oVn
,--.t
.c*ilr,ulr; .)f .ti t- ,gbil
t! ,q;ta-:* ;,=:a1s.rya rr:.;-:'-V.t o\a JF A4FJ.r9,.LiL.S-,r5c*l
.Ji s::; l."t u-*[t'rr ,y-*b..3L+l .s$l 'tl o,-l b -t.S.b.r, )! ;tS,l .u b !,
loor+
;tf
iJl:f
d*
J.u
a.-2-btc,:=d-r) ,t-tol!i :ta,-lC^c! ,crt:r.r g;tralrL; t G$ + L"-rg;tral,.- .5tal;l
r) c,t:-r.r J;S ;rlti I | ,G(0) ,G$ J.r, .i- oll itfxs+l; ,a7-t ,s;'.lr. .,5.iL-,1
ry,-aat ,J"S
J-# jti c'$n
,' -
ur-l.r) .(0
= G(O) L 6rljt
6a+ ri,E + xon + I(i
qb lx5#5;l
t-.;
rr .-;-) t-Jg b
*-l.f .tr t-j
I nar+ c(o)
(YA-\.)
t; ,J-{;r;ti ir:+ r,-t :
,orl5JFit^=Lr, ,.rli x-L,c"i.r?15{ J-.L ^, J.-L tt:-7V-e lljrf -3-tlt
;L-L qit^oJ.il:J, ut+t ,sf-," 6lox;l:2;l\,tf t|t LVtl ;bL u;l^or:.S J/ U
.:J rrl;'"""1 ,ri,
(YA- \ . ) ila!
irt
..r..ti
Jr,
JL, y-;'
www.mohandesyar.com
lA0 jysg
g.jr*. &bs
,r*fLJb*. J;,SgjLorL
1lr r.9,-.9 uovrot .-J*tt- (J;tttJr ,rt,L,-r U;bdJrU" ;rJorL ,sb rj;E; Ut{at
tly.rlei c-', orl5 JLt, JL.- J-{ ailr.i- +t ,btS 'rL;l .-r-,.|\F,r ]
t# d*- t&e2-,15ba1.- jl ,-;E yl;.S 6lrril?:l itf -b \r,srlLrrL clt J*
o:l;- .l ;LSL-l(l'tcJ!;l Jil ,r5#syr.c-l G$t u:ij 6t^dl^- (,jur,
o>L 6t* l, ,F ,-,-;jU ,?6 .-l ,l;s Jt5.t-l f
,siLJ! lti,t.*e
.5;T
t"r:*
jl ,sU c,lil
ir*,rii! !
ir. ;t-l"t+&*b il r;U {,lil t# 6 8.t
ft ,r-jL,;l c;loJ,.i orL i,;; ,[\f] e-.r,r, ,)i .t-Jt.t> b Gr J,k" ,st+5+b
e-tl a:.291 c-sa ,s|,';l oL*L, il'/.\' t.:.; ;1T.1: ^S c*l or-i ,S* 6?. L-t:,
.c.*l'/.\
r3.r-
r, r 1!
;T
.iitU
c;r
l"l ,4)u" ,h;.l 7n ,bS
csj4U,JJ'j V-\o
,'i,b-: !-t :fi^c : s-rl{L,,w,sb. ;U^; t}+ b'b #5 u;t+;.,= - t rl--i .lr
.5t te!,t'i u-l .ftJ v-tt,c-,rll J! tst^+, : 6-V pJ
^S,rrL--; (*
,Jlori uU; t,U;-..,,Jb.1_l J.u t d*ib 2 rrL;p (.l'lox:' J-J'^bta, ,1T c't^ojrt'.
t** ei! ,c,JL r7-l .rr oll c*ra, &6 f:--- aJ c*l il c^tt .J;r.ttr + ,;
* *+, t+T L-,.ro.r; l4llr csiLrrL;5 6;LJ3:-.-,r5#:t Jtt l.,>-l "rL;
tsbi ,: ..2: .JL,r, ,j\ ,F*,.,5I*rh,
;..=- ol31T,.u, ,,t+l "t5[ t-..;"i,
,r-h, rl-l-r: .c--l;rl;,
JJd ,sAb
-!r., rrSl^c r 6-,1*1, Jrt^; &*
'ia
,6", ,rL;,;,st++ .r!,. e t ;ht 13L+i- _* ,sU e 6 tf F^l3- j-p srl{1,
,)yd
s-j rt:pa iT LSf iJ:t.. d I t ki p Jtg.-l csl,tb tjn e:L ,:.--r,-.{.,L; yr ,c-l
mi*bi+kr="
(Y1-\.)
c*l
,-!*tt+]kr'
YY
0; T
fu- # u:;t
(r"-\")
it$ ! -p t5 o,r-i, orir Fli, ,sjtl pt eL+ : 1r ,k <s:jl J:l "Lr iT tt $
JL .c*l lj,- \ c^i,)
* o-21-9.a ,u ,*- qgjal jt*,.J +J o.9; .J.e:,r..
'*
www.mohandesyar.com
/t
f-.tsln
c-!r,
(f
'-\")
iJrL,
J,sli*
.,5:rK,,rltjq
! I ;...3.
,F* J.{
,f ,s:;lr::i &+1
(r\-\')
it=mii*kai
t-;.,g ra":;,(l\-\').rr (Yt-\')
it
YA?
il mt -rl&;rlr.1!l
(rY- \.
- -bil
,>-l ,l,i 1p o1l2* ;-id or,-: aS,.iL; ,atV ,s-l
,i;Jf { lqlJ) fu af c*Lr- il+ y-l .ltii - " ^*TJ-rJAr,rr c*:;l citl
.l+I,st*U, cJL J"td lr .+t, j,S- JL q b :l: .ul5. .:*r;l 6jl pa;I,rr .!r;
6la:*';5 ,F tF { '(Yt- \')
I*JL/ t;;'aaS ,'e;tso1l2s
,-,-; .(b
>'
!r-.r)
(rr-\")
kt=o
t = o
(ff-\")
-hi-*,(Yt-\.)iJ:L ufb -=*.5,':l: jf;,cjtl JJ"d;l orl,i:-l !,r*,i.y-*
i,5.- JL + ,:3.- J:b '^Li ; lq;,(r.2lr ^S 6l^)51 ,s:tl * t, d--) 4tl L-l; :t
*;.5 ,iy :r2iS;l ':L fb. ,tsi-tl JJ^; o-) tl tsrll-1, ;L;l ir,-l ..uT up.,r
3l.t;L-, .iyy.U).c*l .iifU tn;t-, !) ;j: ,-ist l-,.ii*U LsJUlg J[ri fl;
.([\0] ,*l u;:Y/ t');y it trtt
c*l iT,.i-iru
ts-,,|r-[, il-yd,fu- J..-!*-, ilrt , J- ;r+
44 Jtt
')y
Ll
,d-l
r.*,1-.
.t-S
c--+ y:ti
6r\r,\ w 6lJ + Jl iy:,U ,-)a
,gu b aT
a5
l-rS
e.,ti.2r;tc)ttl
.r.rr
c#)dJ
p[,
6jll JrJz; +5e-.-f
e:fLc
^;;e
,e
t;b.il ir-,.r:3 ts! pI ;b )
c-L-,ti ! 6-lf tj 1t\i;tc>t!l ,..;ri
I lt:,.l.i "lrti ;rtit J,-! ft- rfl^r : tstl*[, g1 .Ja:,r^, c#)d,, ,p '^b:+
J-S srSLc :1'- jl ,c*l olj tiJ -br, ,rl ,slt S 6:.,2j51s c*l 615^,rlr-1,
aS
'...=;L:; GraU
o+T :l *.r-i-xV Gu
..r.e:
qc$r,')9Jrr
jl
,-b.t
tQ. atrr.
lt
.c*l;5,,r--\,-) )t, Jtrt,
.ts- ,ea
"r-l
t+t-l;:.JJ.r ,S^; u|^;;1510.:... . tsrl{[, ,W (slJ.L=r-*n x|tg
y_l lrl
^_-b
aS
c*l
pI .-Lrr !) ;;*g ,)u gr St'
.r:; ,-,r t ,j-,u t't[\V , \ ?] 614'-/.rr ,.i-ry,U 2"_-b .'-S F"lF ab b
,(.:15 u_l cD.
_JU
,l o-l.i
,rlr
i 6*6 t$*
www.mohandesyar.com
IAV j;;tJ
,.tjr-U.
t,*ct or[,- ,l U
I
'# Jg .Fli-,
*-
iJrh. tsrl*[,
6b irrU
,]y:l
(r0- \'
y1x1
xlje f 0 :*>l m x \ u;-rlry X ;rT-r) d
6t^djrL, d +5 o-., .-uq
'b*
4-" ,J*il*-: 6taal:L ;l ,,91^s2.'., Jy,.oa bljL-/ o-219 .r t .S"- il-J-n.,li! J#|i-t
,sjrl eb {q ,.irr,U ,}a+ p-ra tsrl{[, ,-Vl ,sD..\>)j (f0-\') Jfu, t J:l
*,s6j-: t I a(X) ajt- f:-*,
'#l+,
,r(" ) =
"
h, X ,.:l^.
"+-L{
,sl:l+r
,;d! c*x,
Jrl
G?,s$-.i", 6f l: .l-! o(X) . \
#',btra(X)E;1sti. t ?r(X) l+:-l-r, *...rrt:l;;
j"Uil
.c*l e,sln-*
l-F
s-rl{[ \1flt iJf.2r l-,,1...,s1f.-t;-rrQ! c*l irS-. #lt U-l
<r$L cjth, cJL ett.i- rJ,.-,U bljd aS c*l jT,L"i-l-2: rr,0:,;.1-l ..tc,.:,[.!rL
ltj,t-t.tapr[,-1,,:--- ,a-2,-]t-2r.JL,r, cf !
a,:t,
-b L ,l[f,
:/:**
u-*L
fU
.ciJ
t,i,u js2.! iT .rt*,s.tJ* $,s,*,$!tti2ilir;';:iti'"
,ge 4\t Ir dJ:lr.rt:; : SJ u,-1,'aa=; iy;U il31 .,6;l tf] rtSJ:tJLl
c,tjl I ,iQ ts-rlr-1, iljL/,(+:f uj u;5L c-ic *) o(X; < " .s./t<b ddr; LP^L t, rJrr+tF t-t, -lt JJd|5 it(X) - . c,JL,l+r-l-rr.#
s.rlr-1,
u-\:sJ, a(X) : o n cl^L";-2: c*l tL, &JtL rtr fu L- ,c*l ,-rnt* A:l
U-T
.(rr; cjr;;,)
! o.td ,J:aj *
.*b,/(.) 6b aT-2, l:-j,*8.l rlbr + I (f0-\
;r .c*l ei "Lti; )lr,t4 t* -*.st++ t ,.irru ,ta .4 aU: tl e-p
g..4,o/ ,tt-f o-l-2: ;& tVf 6|r" .c*l &*
g;la-t:*i .1L1 ,16;
g,-l
Cbr,
=",
.*..r!,[\Y] r[r]
.\'^L.1.,
y-1o
x-r3.
X_*AX
1. LaSalle 2. Lefschetz
-b
\ 2-;
Jl:l r
,); fu(rt- \. )
www.mohandesyar.com
/b sf'tt(r g;tr1;t{ ,F* J.S
.P.1,-l
.,J.,[U
.-J{i Cl l+, ;t:;
.c*,1
o^, o^r.l
rn x m
fAA
A iI p
',-,-tL
c*l g
JS-, +
,(x)t--J.
(rv- \.
lgt;g
aap ,6t; y-l ;l 6.r=ka:- t, .c*l
i,(X)
Jrl; o1\..t )
L,1.,Cb
- Xr X
= xr (- AX)
.y-l
(rA-\")
_ _XT AX
5-,-r*fq (fV- \ " ),a^.:; -2r .c*l o,^, 0:./ cf-;L, A ll,i,c*l c^^t* o1l2-.a 6
t# t(X) !2-;,r-2lr ,,;1.1.-, srl{1, fu-.rr $li (f2-\') '=-,s!, .iyy,U eb
" j- X = o J)
.+t- u:o6 -t-q X ,J"-t -tti 2,.5 1t s ;-id
6_\o JE"
x-rr$'-b
I ,xluL;;r:;r ,.5* s -rt iT tt
i+b(i)*k(c) -'
6rst**,ila:-re,,
ib(i)>" rf"
rk(r)>" xf'
* f1r
uSrtS,
(r1- \.
ly t
Jsl
et elj k(.):
a(.)
elr
,sl:l+
(f'-\")
,sl:lr.
C,g
5lo'-.i*,
a(r,i)- +t' + l.' k())d)
lJ
.iy;U
(r\-\")
s-ig a4=: ,g,b ;.,') ;l 6$"*
i:(x,i)-ii{k(x)i
- -ib(i) - k(r)i + k(r)i
- -ib(b)
eb
(rY-\')
www.mohandesyar.com
fAt iir$ 6j4\ ps
t eb L:i, c^-+ " eb lr;;,c*l (p 4 Ll c-:,[ tr(.),aa.:rr
,a jt -o -* ;-;fu.1r ,r...t- d f.{ Je; ;[tl
+ti ,"rt+, tsrll-1, I tf r.51a4;
b I -!-! ,i - " l+T -r, d tt6-* il5l'Jt!.. ,slt .lt-;.rr -ur,) or5.,j -Jl
s,"-A
&J
6lr'.c.*l
(fr-\")
i - -k(x)
JLrx-i
= i = " &2t,
[4;
p-
U_\q.c*l x =
o ,aJ:[..
Cf_l
.:|.9'1 t+-
+T.f
r, ..rF
l_\o Jtl, r
x.Jy -b
tt b * ,*ti-:
6taalrt^"
t .rr"t
.,SJIS, 15t!
(rr-\")
r-M(@)6+v(o,o) +G(o)
lie JF u: J;s al6:{-:q d
(ro-\")
r-I{pE-I{d@+G(O)
6f
+5-.y .xl's-b sX c$-tl Ko s Ko;Tr: o5
6tralrL.. i{*r* oJdg..r; -,* tgb j.u '^Lo * I il a5{ ,15; u.lt g14.,-1s
;rl1f 651.,- jl J-; 7u ,ltn P .rss" Fb; l, utS, t+Trr e ,&-lJa ,,rS.,ti-r
trlrlr !r.,1 ,'I:SJF
U-l S
*;::''",:-';'
M(o)6 + v(o, o) + I(do ,\A]
r-2ls
,;W,srll-1, o;!^a e
ul 6 rl:;[;
bli,f
{rl
t b il
.h
,.iry,U
,-|6'M(o)o +ln'x,n
,1(o
,;K,
3.r+
,r-tl:,M(@) ,u\ 1r ,r-tl
lr;; ,c.-l
j-
,ja:l
g-is.ft
-;.::,
o:ti- .l I
.[\r
6b
(rv-\.)
l- c^^:. Ub^^
Cb
,-r-l
www.mohandesyar.com
tt{ ,p*-
J.$
,s;ie ! .llc^:, ,w
,slg
rAL sSJlS, dt
1*e
a,..p
(fY-\")
iL1!
l'1"
lrl
r-
@r u10)6 - Er Kpo
+6'u1oyo +
= iU'M1oyo - 6" Ka@- 6"v(o,o) (rA-\.)
- -O"/i40
,(f A- \ " )i1", :l oL-r urI P.c*lc,;.U ,.l..lt, L^, 0-'.. Iid ^S GV:E ,atV ,t-l
or$'-,"1 * 44 :L;l ;l
*losj
t'-
(r1-\")
|o'u(o)s - o"v(o, o)
\V-P
u-r\:l:
at-r
,[\A-r"];Fi ,.Sr
6taoJ:[,
il-:iL
LJIL t
iT il-7,r S
.(+=:; !,
aS;-l t $; .i t- ,5 .,J, ,tp * g;tL! t, ,cl;.r
e l-T ^S FS,r. Jid JL
o
jl .Jl-l,J\ .b xl-i,g,c*l 6 = r 6 - " t+l:r S Glp,sl-b.r, ki o
cJLo,-l ts I roL-.'. p (Y?- \') il":!
(0"-\')
KoE = o
s-*J.g
E=o
d4,
csrlr-[,
o-2l3
a,r1,ytf1 (f
4d; .csl Or*tj I(, b-n -t
(0\-\")
f-\') - -* ,sb,(fo-\') #5
i,;li Jl,adiJ)
.c;lr $lF rr.r
:yl tp ,-st+t,-r, it;JS ulr 6:-e.t- b af 1lr c -^.*al -b aT;l ,;Lil y-l
,t* ,;6 e ,tt\ jr Bs* J/ ;--* ;l ,r;:':.o,st+!r, .,:,i,. .Jar d Vj
.,t-2lr (f0-\') rl"l u. eQ.c-^!,i d,r::Su, orli- .l ,G$,st+J*
t
J.{ ,tlt:l ,s-&-t.rt+Jf \2- \ " b \ \- \. cst+--r
,rSJtS, .st":,it ,s
"rL;r;
,sl1pr6 rt'l;l,.iry,U L--h .c*,1 ;tjl .!,b iry,U ,jy \ t+l .srl+t, a5 ryL
.[\A-Y0] c*l orjl+, Glrlt 3:U- .l r-213n,,rS=;te;li.i;
b
,-J.;1l,.
t,
.,iJK) e@v
J ,#
J;rS gilt,.;,-,:,,.r A- \ o
,J-*5 ,-itt u-l + Jl Ce j-* l, ;1tSt e@v J t# $"5 ,,h,
t'
,;t4j;
Ll
r:y6i
y
yr
JL
f
t5a' ,1:':.o.st+t
J.r U\
-1r 6-t4.JLi
-eV It
,_r-l
www.mohandesyar.com
f t \ ,it5t
cil.artu J. L#
l;5
rrt+i",:r
.t-*,g
Ja;. J
1V;l
+q
U_l
cs$u tl ++U,
>t-f ,* 5,":-5,iJ ri orlr e."i irib 6 tl uSrtS,,$)l J-rs,sl#r, i-15.1r
ghrr.r: y-l a;:lr ! .c*l I.J , ,W.-Li 3 tu2-,atS. ,.tL; .st++l;,*-J|b
\ -*.st"l,b ,t6j:, tt-l .tt .f-t; ,gl) b J.a;" J. ,P $ts,sl+ir, ,): y3"
,t.*c/ bl1- ;LL 6Ei tt 6 ,d\ g;tgJe ,b a;t+J r* .iy3l ;# l+,
k .Jt+ (s-F elr.,,,sj2t ctQ.g,xfg ;rs;
l:.a.,,:
CL.i csh+l;;tl-i,g,g-{r V Jir, &t*.$Jt,r b rltSt al.oi..;r oJ-i.
Jfu .rJ a*t^. ,xl1u;,.,,r5, L;.:*| u;l^J...- tl d ,! ;LL 6l;i ,/o-*
u-l t Ji-t.$rc/ ;L;; ,rL usJts, cy\ -* J-J t b ,jy ;;ll :ra1S \'- \'
;l ,J-s,-r-l Jlrt .r>-l J-L ,slo-,* i*I-- 6lJ r'.A J+ .u-!,r ;l o:ti:-l
..l'; r"li ,:lr',..1 ,f-l,rjdtL +T ab ,J-L t # cjr ,jy cft
Jfu t ,s-6* l:r,Fi:.-.
,"1311
L-;;
r*-
a,)
c*l ,|.*trt.*, ,rF
1te"l
;l
,rt,t
t*+ 6Gt-r- t5 ;*.1,-+ ,--!i
ul ,sb. pl ;t*t^. .(.r,t-;
llc,.2L-r ,.|,-rn
= INVI{IN(Xd)
6a = J-\ (@)xd
Oa
(0Y-\.)
6a=/-'(o)&+J-'(o)&
^!:-l g; t\""1-'
Jl
t J--t t c? J/,ja \o- \. JS,6
Jl .:lr 1i+l urr+ s.u),;,.rli7-rti. nLl t l, tl ;rl*.^taf t ,rSr,;i; :ta,-l rg!)rr ,5r**
.rJ.:ti:-l Ku,#,.r) tj').\r 6;t;. A u_l-il Ali,a ,t.f |sb ,_e. ],l..- #
.t
u;lAalrU,;l o:tr-,",|
q Od
b'.
,tfiT,.r;; lrl
,st4;*;:
:{-:* (J;)rr t*+ ;" L,.rkl:.: t W- ";f
u,?: ,*T./ cdrae irrb .J"t-*
c.-2t; d.sL ,6r.tc 6;ie cst+.i:r 4g tl .i-ig a*l^,. ,p) J Jl g;t+L}tU
yr \.slr 1Wl .'* * Ai.S"- t: l, t+l ;t* SrT -S- lJ' rta,-l;'b s r-;. ,-t tt
Xa
0a
*d
0d
xd
b;
.Gr6t
t*
cstus
www.mohandesyar.com
/U .,fiit5r
,(OY-\') flat'a*I^- 6UJt--y
6lr1;li
f ,;tt irJl+,:c^.'ilr F..F
,F-* J.$ ftY
ui*,.rr rf er,a-d,i
.uL c.:ll 15jL1,dt c,tritl 4 ^5,>2liz',j.5 d, rlf"'* L-:
,-)y u-l.1r.c-l ori o:l: il-i.; #SJtrl tslt,s-&-t c.ihJ \\-\' ,[5*i.1:
,rlr J[i;;l .,,.r5, ,>I.o:;.. t ,rst'-t^+ 6Lralrlr. iJ:-:q ^L-bl, .gL i.Ur".- ;15.
q,t^tt; s,:-f ,l a-,-li, ,b ar6, its- ! ,i15,il G$t.): t ,-r-l ,r .s-/. e
cr6, 6Ai;r l-rtbt+Tr, S J-J ut*-il .-raru, J[S'i- b Gtgt sslzi ts tfy
,JrL ,sb .x-*e orlF siJtS) e@u J e $rS cWy ,xln 1S:
-b
-tt
iT
"-!
br.r,.;5yr Ll
,c*l
orLj orl: ;t..i;
\\-\'
J'fu'
J5,Jtr t|i>
'C",
u-S-4 tr-,'azL ,|-l: _1r ;Ia;^. rL+ .r, \ al-y,; b -*,.1,-+ r--li
6tQ, drt-t^.. 3- 't;'L -2r ,';t6: d,-':;"' I P g;laol5 J-J f d +5 -. j
JLi (d;L ,,[l:r -2r )L dct$-+ I .,S;t-* u;taal:[.. r-e,-.e ,,!ra,) ,e-".. t'L+l
.(.l.2lr
e,J12.os,-11: !2-;,c*l .;16: ,>l-i^' t P,sWa tst#f jl A y-l
d*ilr 6j+-L,61lt2a|2-.uL ,rlol t ,*,st*-.... t, *-ti"-2r c*l OS^, Je;
.tf
utL;;.A
tr
st+Jti r srl{[, ,,r5.JL
tt
,-rl u-l .G.lt
ctys c^i]
.$)c/
r-sblq)r-t:
u:.e5 lt
;-*
ur!+i G$t J.;.5 6k'i,
o:lr .;Li.J \Y-\' ,f5.-i-2r ,.8u. tF cp5 I Jlx-l ir* dt(.. #J.i:r 5q
6X 6lL; L trC a-,-ti..
itS. ,cr:.r t-t-l tl.,:*l ,.[,
=,bati, ,*l:,, lLt
";tSt
S
.ur ,,t+l .-ra I
u-l .'-* ,[5'5 .t-,6, ,sLzi' 1t
','- ,S J-J e Jl
,;)-L 6Li tt &-f .tttqt- 5r9J.'... -r: ,.r:.rl: ,g.-f l: '"1*-5q bljLr. ,c*l ;"--L
6|^DlS::Fcl =-e toor+ 1t ,60 ,;bL 6':i LkV st^U; t#.c.'i't-ft
.G.,6t
J--,- t k
J-5 Ga
f:y
\\-
\'
JS^i
www.mohandesyar.com
Itl .;;5r cL,-a'iu J. (p J;J,rb;ry
'
Kin (0)
.A:tb
ef lj lt .jr5' J/ Ga \ Y- \' Jfu
,\Y-\. Jfu "5+5o.5J.r:ar,rr ui^5! t"U; il?l^Jtl8 g,-l ..u:,r, c-:a, !
y-l) c*l o.l;i o:lr 3.,; c,-c- xbp. ;;T g ^S Jorc/ ib I s;lo-UorL tJ::tJF
.eb.r juls ,J.f D L:;;;SJ;;S l^jt ,-iy .(-J h t GLl+ al-i,t It sl,t;.*;
1ja ,r.c*l cJ.i orl: itJ \f-\' ,[5*i-1r ,-6g1E cpiq 6 rs.&-t r-):,,
"r-l
j4a g,-|.$rc/
c-)4 l, Gr6t ,,g22 j:2: 1fcl v-e o.sr. t5,.1-r5, 6lLL iss
iT ,ri Jt-rl ;!r,, s-W c-* ,. Jl 6 -iJ -b.2: ,r,-;5r Lrti ry,-'.a; ilid,
f b.rr) .r.16, c:t tltt gr-l .-K t, .+U- ub6.t-r6t u;tt; ^S xLe k i b
ts!,2 ,o.r.i a*L, Jrb. ;l-L 6La.12l:-S ,,a-f lj;rt+!r ^b:+(artt ,51:-S-2; is1
.tE,g r)W!i df lj6$rs $:S b Uia u-l .Ja,/-26a1 o;d oraLi., ,stotl.":.ats
ca)4 ts;s+) o-* +Cb-,, rr.P ,ot$\i d-f \i r bl\r d;\i ,st"'$JF
.t4;l c*.1r ft^c J ;
t ,r:4 ,*, i $I,srll-[, il F,r!: g.-a a., .-rlo-r'T
.5;l c;L'*" I a, :J.21: ,J.6.-F F-rS"" L ,ol5 J-J :t U-l S c*t+i-l Jt" ,i::+'.^a
.:JL r, d t-reT )V2.c*l o.t-i ortr'.*l iT 'rt+!r; t ,s-&-t tt s,,J-f li iy|;l f--r:
..'t+!i e-ft:
Gr6'J/ G:t \f-\'JS.i
www.mohandesyar.com
/U sfrttf.r
:,r-.,rlr rJ
trte.r;!
,F*- J.{ ftf
c*l .,;.16r A5 o-ut .rt t+-) c^-.: rL 'rt+!i ,r--tV Ir irrb ,r'-tL ,")S
rrSLc '(JT - J-\
lss'*t cttb ,,gLzi I -Sl>U.t oqr{* t." &;r ,fuL'-r
t41$i-r Ll ,:J.1141,;,,li.,g b ,-)y 5t f ty-l rr.r tr .rrr slri '*e.rl*-: ,(ri ito
JLrls ,*LL ,sl^or+ ..rEu;l t ,r;Lrl+1, .t:, -F; u*p-Vt 616 6Vi -,-lr f
.s,*,C;t+l ,c*l or.i.i o:lr il.i; \\'-\'r \Y-\' JS-: i E t-s1t $t;-*1 ,t't
.sloor+ al-irf 11; ,s::-; c*J5 .5"-6"o Ll ,J::5.,, ,6 \ Jl ,Ol;15$59r r,r
,l^rlSJFiJr-l ufut!-, e'.,t,.tJvt;':;l
rJlAr
c-:q
c4U
L,:rl-u,thl t d.rU
'#-FJ:.*,'tq
s'qf=:'
-r
.,iJt5) sg;L"]ir.' r r-iu
rrst-c ,W t,p (J;t^or::JJF$t i GtSt alu*- t r* (Jtaor:s J-Jl
;t5-: *lh ,ri,L"-r cstl.- q9[:" + ?r
,fV L* tl.:,ltd iLr;.1t5: 6Ei;r l.etb,.trllt.st+.:r., tt S t+l;l
,Jrlo t ! tl; il* :,.l;! ,itn dV .:JL r) ,:.r! tS-. ut+-+$, i*15.2: S fS
.c*lr"t
,,S=;ti gr.itr
cst+-.r.r;53, !r5-2r
, ,FJ.r. t-t,r, dJ) J--t t '#ers JF -uU # ";6: ,O;r:O
,.:JL ,s-l t, Jl .c^it- c*r ,,i .'.-:,-9, eb ". bltg,(l5.f J- ,! s-\5Jft"-
.L;t; cr5, ss6r;t+! l:r! ,Sf ,rS-,t--: 6tr.Jr[o
rS
"r-l
,.1.16, u;t^.J:U, 612 ,uT c*)d, ,[5...i .rl:
-r ;t+l ,* aif ? J-t 1; +I :l o:ti:-l
&a.)- fi ,&1,-:6ta.J:t',.c*l ;Lt GI6 U;t^'JrL JL t *,*irl=*:
;,,1-;,g b
*yt-/ ut
'
-a
(or- \.
= M"(o)i + %(o, o) + G,(o)
X s ,S,g J*r ,-,!! ,g-4 ,s-* 6a J "5 c*l ,ft
.5t :i .:JLr, n+Tut.[A] c*l r.l,-t4 ts*,s;J4.:
Dl-
<)r
2ls2
jti. tt5u^;'^l
aT,l, of
g1;tS>
jsa
lt ,r-tV M,(O),J*-*r ;I-L,
..:*l .;16, 6L-i I G$ u;tba,'.- ,ltt -o G'(O), ,1.;116, 6-oi Jt ut'r
t:S J;;54,r, ! ,r!,U,-: 6ta.Jr[" trli,gi t+!-l tt.s)-oL 6Lai cJL s[.
*i tlt.^\ f it.,1,(or-\")iJ:L in .Ftr6a, or'5 JLt, F*'
't't.trS,
ttt+lr;l l-t1 J-{ Jttl ,Sl} +:; ,, ,S,l a-t-.. L lt.y'rl ,tl: -!:r c*r., .5
ig ,g->t:T q*:d, (Or-t')rl ! F ^S;1 il ,r,,-S-t orV{ .FJ o:l,--""1 i e-f l:
,slt pl t-L 6la.1el:.5 ,r*;r ,-5rrlr cr-t+ 6.* 4 ss$s 6-ti U;l: rrlt;,c
2 ,zal5 g;t.lal,^- .111;V,(O, O) ,;-25t ,.1Lbi r5
www.mohandesyar.com
rto J*b 6s
,-*,.t-S
f+lf ^*l'u,*l
oJ-l
Jttl :i
U-l iJL-l
,*t
tr
| ;..,* g:;L Jtk
r=Jr(o) r
(or- \.
,J,6"s.,qr 15;L,,lr*.;l ;T.1r a5,;.16r cu!. J;5 e.S,-,\f-\' ,[5*i.1r
.r>*l atJ tV ::\ jl &, ,,ef li ert+lr .5 +5 +j .>-i,g o-r,-: ,c-l ori o:l.t-l
i+'*' ilicl 1., GrSt ulo-r* 'rS#:t
'-,:-'.- ,L+ { iLi ,rr* :
"":;fr
ili,f,a;tfer .3!^l t
Jx..-
i-u5#56
J.S fr
tlo:[-.",| t
t+--1,,
,u].oL
'f-*rltr,\o-\.Jfu.*,Ut"l-[
cth+b J12,^a*.,ri,L,-r ,st"r-f t, ,.-uSlF ,-i tt.$rc/
6l;icJL
.uL
\t ot e,rl","
);1yK
i[.i; I G$t'rJ:S uU; )
,t";lt, i/-l +J" r-rb ..r;lo.u? +:U ,rlL ,rS-.;tS, 11;tt? ;tS. b; :l
il32: 6;1.(*-yU er::5 JF t-*S l- 5 ,6lrc--1!-!f i{-: r.) x-;. ,t a*l,u 3- .3uT
ltr c.sjr.fuT a, ,.-pt*ilCtr tsrl{tl;tJ /--fU rs\lt:,c-l ,.*,ti ,t4(:rl;ty
3l;r;-..tT ufuT t
c*l,ri5,Jlt..ar;ti
":o
it--|.1^l
itt
ett
.Lil,r5,-.1,-r ,s6-nbl..rf,.f.,-JL.i!
ul s,5-* a*1..',JAr,rr
.r$+.^lil ,r.t[ ,r5.itS, cAl
,rl.itJ
,*
,-,^l,b
(ii- 0"
L-
Hz)
;tJ !, 2;1. c-..'^>2r*i;,ts-.SufuT t
.[A] ,r .ulp \ " " Hz 1l
J./-s 1-\o
J*r
d*:b
,s6-r-rt, dp,-r/r.u[.
,J.r"
ol3;-, .st"r-]rt,: J.,. ,st"r,!t,
d.rfu
vrro,0r+ G.r(0)
.J.,, c ,;-:b,JJ6,
J/;:,
\f - \. JSJ
J;5
.-l:*+
c-..' ts
ua;'l
,ept
www.mohandesyar.com
f tP
r't .,SJK, dtltq &* J.S
Kin
(0)
B.(0) + c,(0)
J.L q ^:..12 ;rLls
J.5 ;a t.-t5 \ 0- \' JSi
J-l- e-p ,t^. (Yo-\') il"t rr d;Q) o-Trt 44 31 tstlG;
i.pt e.jl b ! J.u,stoilt,r-rtfu o5,ri.,lt ,iy i#l+, ,sltalir-l 3r cVlL;
,b' '.i $t
,slt #
G:t "r-* ir5ti .rJ o:tr-""| "ta:,r,. # t^U; J'5
"r-l
u-l:|.(,ru
uyti
jl ,,tt
.c*l
o-u, orl:
"r-l-1:
.rrt pts.. cal.i
iti
,P
t- \'
J,S-i
,r
'Jb'r'-l
;4L:;
sl5$5.5.,- 1rx-. \t-\"JS.i
t- .
www.mohandesyar.com
ftv
^S
gtl,,.
,6f,L: l;-lt
,* f .t-;.,l
ort.l;l ,(.ui c-r a
,F
cr-l
ts ri) J.u
^.
ub J;5
J.u .sloj.,lrL, ,t-*,1 1!.;1 3r,st"tL; s tV ,FtS" stq .:JL 6raLL" eLl t
llr-t-;
t.r)b t*
* t;F.rr orl:J+-,bU; ,!S rU 'F*
"J$
,u*rL:6t6-'*
tr9Ja.,. ;l
.c*l 6rt- r5
J]^; ) ,rt .c*l ,j,- ,ri"L'-r
"r-l
\t-\. Jfu l ;tL't-*pr.fSL.5c*l oli rlt,.':i ia,[Y\ ,Y"] 6tgr-rr-2r
.rarc/ slrl lr ,.b ,i, t [Y Y] f.r" .c*l.rlr-[ l+Jt-- i-[f-2: .e ,:11:
8v
t1] R. P. Paul, "Modeling, Trajectory Calculation, and Servoing of a
Computer Controlled Arm," Technical Report AIM-177, Stanford
University Artifi cial Intelligence Laboratory, 7972.
l2l B. Markiewicz,, "Analysis of the Computed Torque Drive Method
and Comparison with Conventional Position Servo for a ComputedControlled Manipulator," Jet Propulsion Laboratory Technical
Memo 33-601,, March 1973.
[3] A. Bejczy, "Robot Arm Dynamics and Control," Jet Propulsion
Laboratory Technical Memo 33-669, February 1974.
[4] J. LaSalle and S. Lefschetz, Stability by Liapunou's Direct Method
with Applications, Academic Press, New York, 1961.
t5] P. K. Khosla, "Some Experimental Results on Model-Based Control Schemes," IEEE Conference on Robotics and Automation,
Philadelphia, April 1988.
[6] M. Leahy, K. Valavanis, and G. Saridis, "The Effects of Dynamic
Models on Robot Control," IEEE Conference on Robotics and Automation, San Francisco, April 1986.
l7l M. Leborgne, R. Dumas, J. Borrelly, C. Samson, and B.
Espiau,
"Nonlinea,r Control of Robot Manipulators Part 2: Simulation and
www.mohandesyar.com
rAt,
s5Jtt.
dtAj;t{
&* JF
f 1A
Implementation of a Robust Control Method," Technical Report,
IRISA/INRH,
18] O. Khatib,
Rennes, France, 1985.
"A Unified Approach for lUotion and Force Control of
Robot Manipulators: The Operational Space Formulation," IEEE
,Iournal of Robotics and Automation, Vol. RA-3, No. 1, 1987.
19] C. An, C. Atkeson, and J. Hollerbach, "Model-Based Control of a
Direct Drive Arm, Part II: Control," IEEE Conference on Robotics
and Automation, Philadelphia, April 1988.
[10] G. Franklin and J. Powell, Digital Control of Dynamic Systerns,
2nd edition,, Addison-Wesley, 1989.
[11] A. Liegeois, A. Fournier, and M. Aldon, "Model Reference Control of High Velocity Industrial Robots," Proceedings of the Joint
Automatic Control Conference, Sar- Francisco, 1980.
[12]
M Raibert, "Mechanical Arm Control
Using a State Space Mem-
ory," SME paper MS77-750, 1977.
[13] B. Armstrong, "Friction: Experimental Determination, I\{odeling
and Compcnsation," IEEE Conference on Robotics and Automation, Philadelphia, April 1988.
[14] B. Armstrong, O. Khatib, and J. Burdick, "The Explicit Dynamic
Model and Inertial Parameters of the PUMA 560 Arm,," IEEE Conference on Robotics and Automation, San Francisco, April 1986.
[15] A.M. Lyapunov, "On the General Problem of Stability of Motion ,"
(in Russian), Kharkov Mathematical Society, Soviet Urion, 1892.
[16] C. Desoer and M. Vidyasagar, Feedback Systems: Input-Output
Properties, Academic Press, New York, 1975.
[17] M. Vidyasagar, Nonlinear Systems Analysfs, Prentice-Hall, 1978.
[18] S. Arimoto and F. Miyazaki, "stability and Robustness of PID
Feedback Control for Robot Manipulators of Sensory Capability,"
Third International Symposium of Robotics Research, Gouvieux,
France, July 1985.
www.mohandesyar.com
rlt
w_P
[19] D. Koditschek, "Adaptive Strategies for the Control of Natural Motion," Procedings of the 2/th Conference on Decision and, Control,
Ft. Lauderdale, December 1985.
[20] J. Craig, P. Hsu, and S. Sastry, "Adaptive Control of Mechanical Manipulators," IEEE Conference on Robotics and Automation,
San Francisco,
April 1986.
l2ll J. Craig, Adaptiue
Control of Mechanical Manipulafors, Addison-
Wesley Reading, Mass., 1988.
[22] J.J. Slotine and W. Li, "On the Adaptive Control of Mechanical Manipulators," The International Journal of Robotics Research,
Vol. 6, Itlo. 3, 1987.
[231 R. Kelly and R. Ortega, "Adaptive Control of Robot Manipulators:
An Input-Output Approach," IEEE Conference on Robotics and
Automation, Philadelphia, 1988.
124]
H. Das, J.J. Slotine, and T. Sheridan, "Inverse Kinematic Algorithms for Redundant Systems," IEEE Conference on Robotics and
Automation, Philadelphia,l 988.
[25] T. Yabuta, A. Chona, and G. Beni, "On the Asymptotic Stability
of the Hybrid Positon/Force Control Scheme for Robot Manipulators," IEEE Conference on Robotics and Automation, Philadelphia, 1988.
Wrri ft : ' 6b.t p ,a 6;) -j315#5
r
&-
'b*
JF.stooJrt'.
[\0]
+5c^;
(rJe + t; a + Y0' -sin(0)
:,J'it1 Gl--; Lr\- cJL.2r
o.1l-r.r
U-l
+5vB.:Jl ,sr* .|, to'r+
.kct = \' :oiL c;lr
\-\o
www.mohandesyar.com
1lvd,tsv'g;bJtr
t-J
fr,
tsblr B ,a
3li F-t sJsrt#:t'5"-,b*
fo"
&*,1.{
#J.d-Jrt [\O] Y-\o
*5ot=',
r =6oo+16-
trrir+o
ul 6 +Jvb$l ,s.,* l, b..1x
'kct = \' :r#lr c'ilr
,V-? ,-b. kb:t lr csrrl1 ,sb b ;L-L crl;i tx:f #5
,is; [\ t] f- \ o
r,JriL ,Jl,'1.
4b
.:JL.1.r elrrr
"53!
61;i
y't cst*
-Frtr.r!.t+5
.n *,-r{ ,}-*. tltr,rt+t} }lr .1r ! brbL"
,Y-?
L)rr, lr trrrtlsbb,,,r6, 6Lai tr:f#5r5l;ly [f '] f-\o
'h
t;\ ;l* elg cJL ;: r:ei qS cebi rlr.rr r,r! .t +5 yu O*
.n*,-r{ ,$tltr,rtt'} Jib.1: ! lrdrb. .(+=: b 7-? Jl:.l
ll
,s!r It A] 0- \ "
tfP :* \.Ji J/ ;...* 6- ,y; ufut!-5 c'b.Jr[" t
.tt\ Cln.tlr cJL;r
rr3i
qS
".:.--
T\
rrtr\
rl0r + mt
+{
lt h 0r0,
rt = rnt tl(O, + rt) + ar 0r
lr-i! eb p.5.- .iF t:;l.irt bdrb, .7-f t-l
cJL ,rl5. 6tL; ,l'- JU, !, .5*- t ,.sr;L: ,sb ,t C* lrtS *.1r [\ V] l- \ "
.1b^ = m - h, ,# -,t.+J c.s)., lt r-b!,6tb :l ,*E ;'sea. I L-L,
t:\ :l;t5" + ,sl:l+ CL- ,f-l ..r"rlr ko ) ,rb^ .0 ,! .l :l ,*E +! ,r6.+p
\o
!r.g; .ul5,i'
(*'-fU
it; \V-\. u|S-i.,r .56rll L..1r 5.r l ,fot5" P 6!U?l
,r.1lr le Ltn,sl^-,* %-ir;
rr cr J;li d5+{ gh llrJr5 l;S,e*l
".b r
.Se, l, t{iLl;il ,Gl* db-- cJL t 6"-5 tF L ir:i+^r 3
rri
rrl.r
Y-\o
tsJrY-? ;4i 6lt rlt:t trr^L .,SJIS,t.sttr ,l.,[i-r ctbalrt,. [f'J A-\'
..ti r-t^. JtI::< c-*L.- ,sll ,gVtV..l-J F l.,,r5, 6l;i;) rJ.i
U;lralrL, '+.,I^. crLir rl.u; ;yL.1r
;ld. I el, 6tg:.c-;l
.{J
cn,)4r @ Gy ,-st+!Fl
..*b J17^ob,Y-
\.
lc^l3
;fS- lx:f J-J
i-itl
pJ
r5,-1,_r
a? ,Lsrl.c 16 g.--
-b .tt..rr5, 61";i p | ?-? JU, ,at sSJtS. (J;tq (ts:.li-r u;bajrb [f Y] lO .S-,t,st+!Fl pJ
o.Lia*L, Dti:,3 c -*L.- ,slt ,gVtV.+ri
d:l..l.r iJ;S J-Jl,rirL,-r u;taal:U, 'a*l^. crLi: rbr; 6rLrr .+J cdrdJ
www.mohandesyar.com
r" \ qer
..srbi i-..2r er l,
.tsrts
,6
.A,tL r..=.
\V-
\'J(J
,f ; u!'nL L"t-", CWr;l .*b Jt:-4.\0-\' JiS.i
tcJ ali.t
S c* il fr cb J;s ;.*-.-s',- [\o] \o-\"
f=6ti+Yt-\Y
,)t 6:;,-, s ,Gl* &lr-- cJL yr o-1l.e.r e
*b
Oa
d +5 vBi;l ,st* l, to'r+
.ri! Y" \)tiIt*;
(rr r[.JL;rl: c-r.il i:*) dl, itS. F e 4 [Y'] \\-\"
* J-;S ijti +{.-rU.+-l -b t,r.2lr,r, &;*U
r=-KpO-M(O)K,O+G(O)
*ljcf .src/ c*r4, de', srl{1, \ ,F* (*
n x n;tr ,r-t| I* t.)lS,*,1 G':S Ic, iT y L+5 ,rl K, = k,In
JS- + lJ K,
:4L:rl .c*l
*b Oa (tr.16.Jt ;slr c-r;l .r:+) dl itS, trf- f.*-.5.,- [Y"]
.c*l P-\"
.,t:
J-J
JU, +..3
+,19-, gr-l
ijti +:tc+L; .+r4 -b t,:.,lr,rr &.*
r=-KpO-M(O)/t',O+G(O)
Jf-
qb
K, Uljg..$)c/ c-)d, ,;W,s.rl{[, \ &*
t*
\Y-\o
www.mohandesyar.com
tl,
st+rtfe 13btt,
,** W
f"Y
n x n siLr ,,1ttL, I^ t ,)Ji,,-l d'!S k, ;tT.r) d ,S ,ft K, = kofn
.c-,11L .,SjlS. cs:S\ 1-r+ ,r-t| j &* iE . ,st sb. U(g) ,-,--,,,!.c*l
*b@a('r:if;:;;ff
r
#H#:fi
\'i-\.
- -M(ol [r,o * K,o] * G(o)
JS- + b K, Aljr.l .srt/ ca)t ;,U- qr.rll-1, \ ,F.* (#
n x n;Lr ,r_tl I, t ,)t6,,l d':S k" ;rl f 6 ,$ ,rt Ko = k,In
..:...,1 t- \' JU, ** ,d,Ii.... gr_l :4L:rl .c*l
tltb Oa ('r ,16tJL lrlr c-.r;l ir+) d.|, ilS. # e 4 [r0] \f-\o
* J.J ijti +5.*U .+ri -b t,r.1lr,rr &.p t
, - -M(o) [K,o * Koo] * G(o)
JS- + lr K, +liC.rtc/ cd). ,jU- s-,,1*[ \ ,F*r Lfu
nx n;L.r ,r-tL /" r,J&l d?S h, ;rI f 6,8 ,.ht K, = k,fn
.c*,11L uSttS" ,sU\ 7f ,-,-;tU:l J:/ 0:.. ,st :h U(g) ,r-tU..:*l
boa
(,r,','.JL
*
rilj;;*r"Lffi
$:
;*
r,,, .-,
J-J iib +5c"b .r-r4 -b t,.r.2lr,rr &
\o-
\'
r=-I(pO-K,O
y-l ,srl+1, di+, ;L; ..llr.r. c*,)orl+1,: ,F*
t*
'*Q,j;...*
dL.
:raL.rl
t
.r-.r:T
t,
c*)dr
y-l
,slL;
JU, +.;
,slt GtVJ c^-{
-lL
.c*l 2- \'
,* G-* A-\"
ar::5JF+5.-,1U [f'] \f-\o
"f.a;6,n,_t-fljirl.g!r.rr5,
.r-.rsi c-)al ,fu- urjrl+t, ulr rrL usr xtfu,.c*lrl.r,_1,
'rlr..r
:.5r-L:.ll
'+=i: t [\A] f.;r
s; u!,t L-r 6tralrt'. ! '.u3 o:l: ,\- ,sD-* 9--i'; t8 J/.S,- [\0] \V-\"
tJ rfb
f -ar'ii+bit *csin(c)
www.mohandesyar.com
F"r kl.l-
,jr
.:JL.2r
f.--
,rl^tti'
,at b ,fb
.if.r: irr jl ,r-i.ln
;,L..1l.r. ,ri,ti_r iJrL. t
[tO] \A-\"
"-.-.=."
,10-.*.ir i*lSyr
d ++,
y+,l
il
,:*(i+b6t*c0
s-ie J.J u: J;S ;tili zlr-lt1
r = rnli, *
.ur ;L:; +
r.rl.u cJL ts
k,6 +
| ,4
*rrf +sin(o)
rrSLc
.J+*,--r:,#!*-r
iJrL,
(\" c.--.i) ,r-.:;+.bt Urn
tx:f#5yl .r{i-. ,1 t, l l+r";T uLo rt u-l J:,+{rlF !2 t c*i ,r-t-Lt L*
p 6ilr); t Jit* ,sA kb.- t, .-sritr $5 ,lrt -, Jr. ;l iT p d u*,.rt
.,,1;f e5l;:.,1 il s*:l vS U-l ,sb.4p:
,'tz.l ,1ic/ rrlr'
.l
f\'"ro
oro
oro
\ooro oto
Kp=l''ri
ol.o 1."r.-l
.r.
|
'+JS ,sb.
Glp. e\- .:JL ^S crln,{rl -b I u-b r.1-tL, lr K, .iEir^^
;r ,irrL sJ::5 #5 j, kV ett tt !, ,.ul c-,)4, e-b .$t{ t\t u\.sh+Jo,
,(t\ c-^-.;) s-_ju|l .J-r
.+5
--h,
I
www.mohandesyar.com
www.mohandesyar.com
il
JAt,
,#tS,
g[Ai!-,rr JJ-t J-irS
{r.ti, \- \ \
.-*.,[i ,S'y'
Jlr
L.:i
y l cr..,- t:\ 6 ,gfu b ,ft
.up; ."l6.-ctr., J-J
"
uSjlS. ,rl^r.ilr.rr !t5.. J.r]S
+..l ct+ 6rry d.rfu Ll .c-l
6l,ra,:,,iJi:ri S +-& -b I b tU,rSrK. rstitr .$- .rr
ir-l ,r-J'r-r.l+, ,,-Li
el-l \ |
Jtrl cti ,ti,*;^ a, c^*i ,lV ,s-* !tS. #5\ Aljg,dU..l 6r_i,jtL;l
sLy c-ir ! ,'i:1 ;t5. Cr+ L_,.r.1t,. 1!rl.-:
eli l,sr_*ikl.Sl .tS r$;b rrt",
#r
+ .x--.-J.,A
1 ori
c-t+b.b
sl-i,C.;lf-
t itS. J.i;So$ flt
ylil ,,.;U c* 6s*, Jtl.t
.,SJK, rsr,i! t+T.r, ais,-l^JKltdl ,.u[:I! !.,
,-*, F,sl+*t! +5 ,ft .*.up .rl-,-i.trl*,$.f l+,,.,-L; Cfu !ft
irr-l fl+.;l .rJJt,,or:-i!ri.rlil 6-yl or[-,",1 \l ora,:'.i,li:;." ,sa &r.ufi,dli'-l
,r,'! it5* 6jr1r 4tti L_, +;i='.
& itS,-1s .;Ji 7x a:1t \42 c-22,.a1r ,u[-c
.lAr
s15,.'aa,;;
L-
t:
,>t5la.lb jlltt1 t-9,c--S.i.up "':? af c*L*. jl+ i/-l ..l.i JoF 6-,.e
.r:5 lq u.l;;T U .S;l ;34 ,rl: .up 6f GSr 3 c-\ Js,-,,a". q
C*,
L_
C".- .st++
.d
Jl t".rap lrt-,jT
,t3i
rsa :l
sr\5 a,:.,-:
&t a*} :+i.'.
d''.r-D.
J) -p t5
\[. d O* ,4..:"? 1^i,,- 3lS**
"-;*, S
(P,-et+t:, tti-dr {e trrrb ,}#:t f-t.st*U jl &.,J-i uli
6$;SAS j-* r ,J; i/-l +5'b .,rilo.l;; af ,6*. (oS-, JS,: ;r;;,rL 1 ;a1)
J-# * d,tb-r6fl+.;l ,sb rsta c-l a,5^. ,J-{ ,}y U-l .c*3.ri-l ,lS, ,F;
,. )J s
www.mohandesyar.com
JrL
s$t("
sbriLl
i ti JF
| "7
t;.rlJ(h-t) ,iu ,.lS d:,-l;l -hi* Ll .ry jSa rl'':-- rst+trlyr.Jilb jV ti
.r.ep ,l\ ;'.- ,i3.t ,J-i Ct-l f it eb.
:l qQ,,tJ -li 14 ,rlr
.ru
"rU,
3bly rLLr
r, uP
trtgt{1.; sJ-rK Y-\ \
.&., ,r:;t,,6lati; 61lS;3...rf tslrrL L.-, ot Lr lt+l ,s!r (P tsl+trl.-.-r
$5 ,Lrry ,6 :l gireJu I .tjC;lri ,:[' .l tt-f ,lL-."| ,plK ,7-,-L, s i# rl :
.tl& ,sb S !, (J;l.rL ,s:.,: J-J x;lje t+t,r, ,it >E .c*l il: E;J 16r. si
j3-r L[;rr ,t+!-r,, J.,-t *;3 rt,t6.x.u ,,t+l ,c*l ;j) uj^J,5 ;f;
6t1'
^S
c*t'r't'
ir:+
e'a*:;ff'jfy; HH
c,l*;
#5
*U
J,'x''
t9.: ft\ lt
,sl4L*-1: h:*Li le r
,r5rt5, .st":,it up,
tii,C Jq,l j;r' .c;l> ,;'t-- j!-r c,tJ-s.rtt+T t1^t6,slt,s:Vr-fu,*r,-q ,rs.r6
{ ,&t*Lc ,rS"& 6.,,lpr c,trill '"i ,sb;lrr,, tsbl*r.1r .gtl-L-- ;rlr tV \
otV y>V JL .rr .c.iL- .;*r iEy c,tJ^r r, t+!-r,, ,s-Jr6+ tt ,,.r* ':.iri1,
r9J.rr,r ,..(;L;l jV-r 't:.',; g t4T 111.16 rf=Jr O.-.r r, 3 rr.1lr ,V ,.,J1--r,
et-.2r SJ:
.(att
i{.-bt
,rSjK, ,st"r;l ;l .rtfi-l qrb
;!-s O,-l f t+il cb.'ts." ,;tS db.sl+l r, .r/ C,,=r- rLl c-ir t ,Jt,-ri- 1 c.,*;
!r-; ,ritr lb's, i r#r Ct+!r,, 6LL +L: ,,(t 6-r jl.r::..; ,ip, .15 i;l-ul1
tl .rJ c..r)& ,c.;L '*-t s,+jl ,glJl
;tlt,A Lri lt.;ir .:ir tr ,sl"r,itr
';"-lil\
-&t ,-tb xl-ir,. rd-.r).1r oJ.i rta.-l 6L; ,.st^rl J.;S : 6jr;Jxl ,!li irJ ++
..st^tb rrLr .# lv---Sr:l.l;l cJL rr-l.rr d lal;l .*tr c,tr-r,' ;? $t ,r-Fl ,slt
.her.S (*-*, !.*tir.rr,!l 3l-*,rq o.li.i r[^ft-"lJ ss..;ls.6tt,1 jtS..1r.;J[L
,sjV-r c,tJi
+tr ,:L;r. c,tJ^c .rr .pL
\rt &rS"- t L y', ,,;*' 6lrlr ,-t'Li
.r; $lri1! (J;J:L:.- :)*lr.;t;K" c.i:,14;l J/: t"ri cr-l ;b. dJlr
.J-/. ,-t
*b Jti
,tn
nLt,stori
6.r"3
,(J,Su.
{i" \:,U.t rt J.{
JL"f VXtV t- \ \
,;., J.S -. r,rh J ,J-"i ct-l f ,* ul* J/ ,-)u
o-l f .t-f ,g * ,;n JL 11 ,[\-f] *- + t- .S,- t ,"k tl -t *l,rStt5..
t.llrr;t I d6lr"\.i orL J.u;l oyg 16*. ,.Jy t,*.lr^. ;lrLr Jrt ,s!r 6 ,e-fttV
,s::\ eSr;1.,,r .5c*l
www.mohandesyar.com
f
"
Y d* ira {i.
crt Le
I Jf
JWI
vrtl+
irt .s-fC uli',.'l ,c-l J L*..rt! sit+ c* trrt,-i3 ptt
;r;l .pJC -b I b qV il ,-;E rstrti !n h!-l-1: r;r.L..r .li.ri)lc ,stbl nL.;r e
:l tit ir* ,s6-t,.t-,-t-l 15br"; :l ;;l l r5,sfub-l '-: .,$d f t':il li c^"1 Jrb'
ca)., j>+-VJ eb .f6- Jtt'; U-l .s*e .bi-* ,GF s JttL-l ,Jt^.;li,
(ry Jr.rb slrrr dU 6*, .c-,*L.-' f Lo | ,y. ..,,i.;:l }-L .sttr# O-:{
nl;,.}r-;
qL
.Jsl,
re 3 t.5 F.- ,t'-p $ t q il-id b ::\'&:1 o$ ;t+l.r5r
.5.,- 1 a .5-*L/ i-Jr; ,cstS Lr^' : l.,lil !) cl+ G-# g-. a;lo1.-s .,-k 4-r
g;la.1re
y-l .rl: c*i tt s*
l[* ,t.o-ri ;l 6lo.ca.^.. il-iLf ,,f.f ,-tlor5 u-l:l
oly c-) Jl>U, .x-*g,/t; c,tJ^c .,-J,.r: .,S.;lS, oL'ai&til ,to-$ 'att4.
u*
.5.,_
,:; ll5; & il itl;l t* 1jt+, ,J:5 l* ,rl; ,f ; : 4\
';*'
r.e-.e,r+=t
JtSt.ol
;:+ &fl.c*ilr.up
Jtrl c;!r,.r*r,r-:L
;tS, +i.S,opr
rll
ri
cJL
,slo:ro
t
4 i
cr-lrr r '!r 'up;
,J+ dti
'& *U
a.r-i.i -1r e
.11:
r5,-.3
*, &.5'- rlt.f 1-ftrS)ul2,'lfcJLyr
& Ul t gL ,sLb rs ,st:i<,sto+t, s ,ql g2l I t7.-c ,slu*bl, tt& .st^.+,
* | c;t+ cp 6*, c$r t-s)bl c,L.rr ,(esti J dtS,) ri &r rr rr-l .8.5 tV
.5F J-{ crrk tab.rt- nLlr }-! et..7t.rr u-l .Jli5.,, F=-.uk. 'as2.z,' 3t
-r, d+J-.r.Jlori r:l: ;t-I tir;l u*t.sto+j t* li c,tJ-crr \-\ \ .,$.,,i-1r
+ ;;T cltlj ,y-,: &b./ .{p -,. r,.rkt lt ;tT S ,{C} *n.,V;r ;u^c ,\.r }
g-*.; c-l gS^.. {C} ,r.r-:
J:--i,r.1lt ,rfc-, otJ^e
;L+l c,,trt^t
.-.97t4;,(.jJl)\-\\ r$;yr.*J.lr -J..c*lo.l,.i
eV c-* '!,,^l + L-,ut* cab ta. r,
fi +y,112.r * u*c^p rf rsv. Ef ;tI L c*e,i-l rP &J r, .4i
6j-b.&J i:-r 6 t-*,1^c[,;,1,,;U*!l r.tt JtSt-l r3,-3..[L.3.J.rLl
.&J 6gL a1 c-*.; xl-irl e rylr tV ,-li-f t* 6r.; 4',,rr U-l .t-i ri$ d*.
,iT tr r ,c*l ,t^, ,Ff g1hl .rt+-l { +rf *r,rt13 ,(r) \- \ \ J"fu' .1.r .rf a!.per
i j* trt jl t b:,c-l o-r..i e *- a;5rn ,t c,42 t; 6 +5-. j )Ss. c.Sy
[a+'i ;l 6,'. 6la.s2.^-.,1-6Jll,, ct-l tt.rl c-+t
tt slj,grhl ,ei,
,,1+f Cr-.rr
,-\:5u, F.J ,fl ,sl^.t6 + !, J^c .S,- ,/o+?:i, ,,tt+JL.1r ..lc.iL,r. cl! .+b uK
.rJ,;L* ,*rJ.slo+p ;l .-^:b 61lc2.",. ;.,1* 66*+
1r d,/,dt+ 6* (>.sr,-st^*li, rtb a!-:+ ;tS, ,sl^+ ,\-\\ ,$*i.2r
,tl, u! dt+Jtf it : tr L ,itS- ,sl^lp tliLr...th+# it,: ,{C} ,nr$
,Sq*",t;,-L-r;
o.ri orll F
,17-l
1.,
www.mohandesyar.com
/t
,tj,
,g'
s(3jl5., rrlr1;q ),
ti J;tS
f.A
lJ (Jl)
s+t
15taf.i
ur:0
ur: O
or:0
oy:0
fr:
nr:
O
O
,;;J6lw)
sr*t 15trri
ur:0
ft:O
or:0
nr--O
'y:0
u": O
..jJ..-.. uf.c er
611.
u+*
6taJ=i \ - \ \ Jfu
(c^r-u;L")
Jtt-4, ,jt5- +ri di c"-l Ulr;orL ,sj2t qQJ) Ll .f;
".;,*
qte \ * c-rJ,-D rp
t .rl& 3rlr ! i e:i 6t^-$ ,u;-; i,i.^ { .C
"-;;,s-/. s. J:et {C} v*thr, r )rl: ,gV ,s-,ry J LF ,ttlJi-";.21:r, trLr{i&
;l ula:- 3,,t6rrl:4- t- ;tS. 6lr-$D ,d;\L uUJ:r ;l uh:- d5+5a-.;.llcr; ;1.1
.tLti 6t unJ" 15bri Cy!.-l .c-l Kurel;.S [_ .tro, 15b+,i ,r4r,1 15b.]:t
.-,JFt .c--l ,.8 ciJ 16* ..!tscl ,-;;E ,ftr s-ti c!-,.4 ;l l:'J d Cl"+p
.srl-s
c:t\ clt -b tt-r ,5)- \ 1r* t-sb+p ,6r
u*f ,tt
'p$l
"$ls;l gJ csb+py ')tc ,r,'tr s! ?-P JLtl tstrrl:, L-ltlr b5; u-r^r 6b
?P 6t* oJisorh'.,"| drt t,6-t c,.rt rt .s,*,g orli:-l , ssttrat glb+p
.*,g s'-.,; I vst 4. r.s..rp ,tlc/ ui^L eri t- .jtt- Jt:-i b
tV,$L_ FJ +J & t tr-e ) u.l-.(Jit^U-l, p,uJ (,ila-\p ,t:;L ,jf; Lfi--,
t ,e!- J 5-."c ,sh*,lJ r5 s;t 4.. GLi 6t^{p ,6J (J;lrni i)trr ll :x}u.
,f:^U" ,4tU-4 .;l---J.,g LF"h & t u.l,- glL,*;lJ I g;..at sitS. 15lr+J
csb{i,
U_l
www.mohandesyar.com
F"
t dri.rt
Jier crLf.r
:t
J.rS Jl.r.I vrtV
.t-ig J;i,- ,v.+,rt^{t, t t+l
o.; ..sb.$ .rl.r ;Li; .,iJ:i.,l-s p 6la g;.-. t vrt (J;b+p f-\ \,f5;,r
4 +tr ,ri! ,ri .rlr {C} ; u-V (J;rbl *i ,sb, ,* dls" {ii ..s'- Jl S #
,{p r,.rh? I ,rb2rL rrrbT 4tt } ..rss't9 ,r3^i uai^t U .-ftb Gti 4
.*t,rrJl ! .ilS, ,tzi r.; .S,- 6 ,-f g J/ ,stt.!, 11;:
1t+l ulr ,tt ,s'-f-b ,$-^,.rri 6rlJ'; a aJ c*l s-\L-l j8y L1j|;*'l
;tt diJ -b t c*kir,, ,,-\ ,c;lpl y-l .1r .:-ie,i)lLl ,elL rs,ea, ,rL*
I bS bV S6'*r,J.u g.a1i.Li b qf o:,.btr=J .J[li $l .SJ.,, ,:.,.* ,S
crt +p;l gt.lt 'aer.,^-1rJ,st"+'i l.# f ,sbl+.x.:L ,r,:L-r-r ,J:b ,rr*t .gloqj
t t-S g JLr l Jf
,;..*- ilr-2*. :,s--J. ,l' xlrzlj' y,s4. lll'as, 3-a. ;l Lf i.-,
tt-l .ts .r.1lr a..lrl jt^ 1F cj\-r ,k ,slt +,i ttlri vb;;l 6Wy 3.rlr.rr tt*;
,jl.;l y 2,,>-l ori JJd ,*rJ.sl"$ ,F rb a;l& S {e ;a ,J;
.c*l ,sf ,r.;,-trot ,-JrlS" ,stj\ J;S ,sb b j3-r ,sjlFl .r-h
,-.
L-
3l;;
,ryr .fuJ (Jt1
u+!
(.'t^rii'
ur=0
ur=0
0r=
fy=O
f,z=0
'J=0
usia.
uy = rst
0e=01
cSta$
fr=
fr=O
llt=0
ftr=o
t\t ,;;f6:,Q\
,*.b g"^fi
ur=0
ft=O
0r=0
f,z=O
ov=o
ur=0
,fi'^,Jto$
ut: o
tr'z=
QZ
fr=
trr = 0
\=
fr= s3
..jJ*,
,f-.e 3r
i 4;;..a., u* 6t^J'i
Y- \ \ JKJ
www.mohandesyar.com
/t
.,*tt(.
alr.r.r9.rr
ti JF
\"
Cb u tftyJtit -l g;trt";;l ,c,l.J--c r!'c.1:'L.'. L daJa-.;
Al;.,f,;T;l o:l;; .l lr glrrre ,-,1 AS ,k* j-p 6b,ufur U-l .dd ,r*fr
jl J-V JSISL-l6trr,.;'t.. .tS,* .r?U. G4.il;-"1t+Jt il .l.Jl o.l. 6lt,
t^ri Cr-l r.er.li;r e ,Jbr3 ,rt*;l ;tS" J/ ,sU ,S s-*,A r.lle 4telib I l-i|
a lK ciysb,
.x-*e .iL #5 ;..**'^b:+,,.r-i1tt uiLl;.il
"f5..:
.g,L;.1r
\-\\
,Jfu
,.,,-b
uibr
rf-lr.1r tJ,e,.S'- ;rlr
Jb.r
tlt ,slti\y ,trV '(.-ill) r-\ \ ,[5*i.2r
fI cSy J u7,cJ-i r:rl *-L, ,7bf c-.> d*r C-' 6y ;s'. 'Ul o-t'i orlr ;LiJ
il c * b rr,-r.l! o.r-1, cb-'[-ls-2r .-,?.4. gbr #ltt E t.t'.,g 'r;!l
c-:.^4jyo-;|.5'-.rr .+t-.f it-t,:br. cr!-c ,4; ct-*l'l-r:
,cJ-l rrlr ub .ff
gt"qp 1-ft,slor6y-l;l .5"- t.sb.JSs.,-t-a;b ,Str66l, usr:,.-. t,*
l+) iL:.; .Crir^.r.+{O..',
e6c^ir;o, ftfu 9 | u*.-st^.p .J 6& P
.JSv. u-.(-ill) r-\ \ ,[5-i.2r.((..iJl) r-\ \ J5..:) d6,p
u,+lJ (-ur).rr,rka l+l
;l .sl;;tc ,* sb$ o,-:J ge ,c-l J;T 6l;i r5 rE,
cE,-o
,s!b )5 tE.J,.lr,rr
JJ.-5
.!,
.rt6dlS.
(\-\ \)
ssia.,sl^+i ,.:JL o-li,adiJ)
f,,+', rlffin
Y' Y
v,fuffi Thhffi
.Cb-
i td,i#
J-1, gll
cs,.ts t&
v7ilh
u-ti ">;;t t\- f- \ \ JKJ
www.mohandesyar.com
f \ \ rJUi,&
{p
etl2l*
tr [::f.jLrl vrtl+
)b .S.r eSy & ;-ln c 2 c^1- 1t 9,a, ,i,-l
o
cr,,
adpproach
(r-\ \)
.a-l *- t tt', Ar.i .5'-r;J isr aapproach ;l I 3
'tib
,k u-l &-l ,;i".- ,,91a.e*l o*t { +.},,(.:) f-\\ ,[5*i;r
dti;l
o.*',c tssi U-l I ,gfu Cg c.rlLl lt " 2 c^+> J) .,|' Csi,ai L- r-:*l .rhil
t l-+ u-L- c-!'-bt.S-- tsL*.* U-| .{g u* r r,t^i,rr.l.:ir: g;lib-l cJtJ-;l
b qf e:,J) (v) r- \ \ J'J.i d eJ Jt .,>-l ,*,-st"+p il .l,-+ 6llu-2,,^'
a:-ilr ;!3r g;rbl ct U-c X Jr L-s,61 cj')bT c 2 c.^a-.r) j-1, g-, ,J|),rr iLi.!
,* q't.l-$ ,4r o,-{ .rr -up; lJt; Jttl 4. i4'i; -&-t (J'jbl ?-1t t'r) '$lr
X-irl *-i
cu,
"ru =
c,t,
t_j Jt-t-1'.
(r-\ \)
Cg
Jx -o
C1-o
Jy "n" -
tf, tr 2 ,.ttSu. i?-j " * c^1- J.! C*' Gy t ,-ij g;il;*l 1ftb,6LlJJ
)5,s. of,J; lJ ,C*' l cro, ,',;nk ta|t '.S-J .s|o:.,. JLtl ! JL
V-)t ,r.
1.,
" r" = aslide
o
"ro c,D, o
=
Cc
c
Jz - Jcontact
"nt =
"nn =
(r-\ \)
www.mohandesyar.com
rfL s(it5.r ,rtrrjtl.rr
J U, ,-i| cnr
ostiitc
t ,ty. ,jj
,f.1r CL t
ttls
fE 6ti
t; JF f \
fcontact;T.2r
.c-l C*'
r-\ \ ,f5*:.2r
rf
g;t)
,c-';j y_l .c*l tcir tr tIl ,-y',rrli.il cb- ,|-lr* iro,,(c)
F * !r Jtrs ,Jb*l c:JL .rr b) db..T il ;tT ;;;S ) ," 2 c^1- f L&st sr^Li
.* .$-t Jl+S"- u* 15t^{ aS c.*E";l.r, ,cJ! y-l arlr e .ly'.,g ,-.- ,(rp
6l^nrr .-ti5r$ .t_L. (4;--' 15tan=i .:JL ;1a-,r) E U 6jlpl a4p y: e ,JlorJ
L
r-
.Uli=?,{+ ,*rJ
"r, -
tru -
(0-\\)
c ,.,
wt-
"r, c|-o
Jz C^
taz -
d,grt ;l *Eb
ut-.:.o.(J't^J='i
" r" : 'uinsert
tr,
c1-o
Jc c1-o
Jv -
1) cJ-i o:l: ;tr c:r-bt
c
-*,,W 6lcL-T;l 2
t-
(P-\ \)
'n,
'n,
,(qF.c*l lb-Jr i1t', islsj (J.sr 1)insert al.2: o5
,:^aa i si I t--J.g orlr g.a1i.Li,r.t(" ,(r)l-\ \ Jtfu,
.rt
,6n:L tstrJJJ) drl:J aS c*lqjt" .5; ,-r-l 4. +,
\ \ ;$;;l.1lS ;;;L rtS;l,s! ,y, .r;.r g;;L.26;T,:5^i,r^, J-J S e:rr
iK".,,'i;.uLi ! 'rlr-
(v)f-
J.{lt" 2 ,fii SJ;;,y--J,t -b.ttr" 2 c^{.Jr .>er,(6)l-\\ ,$J
,t y-$e-bttlr"f, rblutLb-t +ey * u.a*,-l ;r.; Gb.\.de
Ce J.S b c u, 6ust-ta,
www.mohandesyar.com
f
\l ,;;t(r dij
J'S'tr-,.
pf
J,.-:. ,sD,:tr-r ,s4_;lrl g
J-[SJ.Fl,rJ rre& +^tJ le:l;L;,.>lr;l;l , ,1,., g.l;l 4z 6rL r!^;-2r L
ir:r ,ll 2$ u!'s 2l2t 1s s ,,x-J., -b .tt l, uLi pc ,>lll d,f;Ul cJ;l++
.+n* ! [t]
i*r,, 9
f..,. ,l4:r, ;r.l;l :1 ,]91.s!r .[f-A] c*l
.c*l .rl;trt=* ,F-ri- t -ro*+d c,tJ;
"rli,
3;-;t5,o
'#;
$rs'a[tu f-\\
,(.j.Jl)f-\\ Jfu,-2r.Ja:.rr jt; rtq s-LJ g:t44*;):l u-l cJL:r f-\\ Jtfu
c.ti 'ri a^e *.sto+i ,cJL ,s-l tt )Su. 4f rtl 6La; r).,,aL uStlS, 15r!
i5 ,;5\ ,sl, & )"r fr.c #, r A-j ,rt r".op
Ll ,r..r: ,:_-, y.tljT L1t GJ tt b aT;tS,
,rrlrcr ,liL r*lr ts)bl L1: ,,,:..1 111
r, f :,'! t-J, cJL (.r)f-\\ Jtfu.rJ: F+br opr c^4. f,,, t,l:* Jtrl {t)b
;tS, +J,-J,.--'.;gL,cJL t-r_l:..$rc/ ub,rlr-, t,-*t+ 6;? i*
ft1"
,-Ff bc*l ,bT:,,[r ,-&-t u-;l Ll .rlr .# jl-i,el il;tf. !r,-1 ,r.2lr ,F,r+
Jl'.t-;.,1 .b ,48*
ufS*i -2r oJ^i
orlr
;b
br,o
c"=';, ,slt $
.r5 rrl: Jtl",S t si tlt-t 6>l;T L.r:
^,.
o
,itS,. JF 'aI:* ,\ J 1 6t4J"oi -2r
(.;tt)
d;e
ilJ;l
4f r!1 6l.;i.rr (uJl) tsal. .tr; 6Q--;9;l g1j cJL 1r f - \ \u|l*i
6y r;e ^scs:*",c*l or.r o.!L..- tl-tr 4 (:) .s:;l*.r.rl.s r.;-.-1
+
-FU
yrJ.,-r.
..'!.rfor-
de
--rlr rssr;rl L=* tt
www.mohandesyar.com
/L sfaK,
strr:! ::
ti JF
i*.pf dlL ,t)td.r6+ (.;Jl) f-\\
J-$ u; p
:l
f-A -b t u.,* lr ti JF rt ,JA:,r,r
JitS tstpy ,F u-|.rr,u-hQ.r,iL c-ilr.,lri y Jlc;F-: rt,1t5,
de drr l,'uY-aK' 'F;
b
orr;+
rJ^c.1r
(v)f-\\
Jtfu' o:'..4
g.'l;,l c,L.yr
ri-t S
:..Ulr
y-j 'al:*- ^-
.r-21: r3,-9
J- t -r)b j-! u.rr-itS, ,A;
,s:-,:
tJ:S J;:S
d u,-t^U-! -r):,,! ;tS,
JF
.\
,-; J-S .l
grlrLl -. r,rh Jr eJ t2* ,stl;T;L.rr ,sE-b f og cJL -er c;-/L:;l .'Jy .f
.{c}
.r_11:
r3o.9
*;l,i
+J d u,-tnL-t -r) r.r[:
t'-6 d.-# LsJi J;'S 0- \ \
;l q5lo:Lrt-: cJL FJ "br, ! I it(, .J.6 J;5'al:* ca r. &JtL,1 ,[-oiyr
.5-- JF
r"-# ts-;tJ x q* b *U .,SJ[S, (J;t! ,\ " J|.-; -tt t)+ .ptf ;VT;-,+
;4 62lrr .(il.-; n\ ey\ 6l) t-i Jrb. ,jti:-, lt n #5! ,;.tI J-#'altu 6
,q5)bT L.yr .5'- l. rla t rls rs:r; J.J \ ,b :i JF 'aI:* gr1,oLi, s)u a; t
'de:L;T
.C++ ;,*c/ stls1,,i aT t 6 ,,.L-,.il Jt -t-tr ,,rf ,st"rl qrlf fut
s,$J-J f 6 t'r ci-[ u;t orL-rt-: l.u ;l *-lLriorL Stt ,slt t+i-lr,
,6-t
orVr.{e.siLJ}
,s-rt
atrab L{- t ,.tr .de
orli.:-,,| ,iT
L-^.
+. &e*7b eS {'l *l
rssi ,s;-a+^t .tlC -b ,tt O-\ \ JS- atL b t * b. fi JF J;
jl Jt rt-t-\ il-iL/ b :; ul Ce nl*bl p a r;, ,far,, pl^..ti u:f";l
.-iJ ktr,-r^L,,S=;tS, 61! e.l: a.-,' r5l-aoJ.\i.,.- .n 6tt JtSt-l c:i
.rt t o$Jl-tl ,s:i L aJc*l ,f" ,L^ -r ,ls,ti , Ji 6^l;s. ,S 6r;t
.,>-lk"
L-
c*l a|
f"=k"x
f-*ilk"x*fa,,,
(v-\\)
(A- \
\)
www.mohandesyar.com
f \0 2-r1.f f:...- ,s:i
J.{
'ran r+..t
g
t-..,J.
aa..: ,g.-,- h,S
0- \ \ JS'r
J# g!-s.
,S
cr;:. ,f" *2. !
aJrL.
U-l .Sl
(t-\\)
f -mk;'i"+ f"* fa;,,
c-:i iliLl,'-r^i,':-i tr::tJF py I
1-.r
t':
a=mkf,\
0=
f"*
fai,,
;-*e e-i ,* J;S ajti ,r.
f = * k;' ['io* k"t|t * kptei* f , * fa;,, (\"-\ \)
t r.tls 6riu.' ,Ssi ,f" 5*22IL,Ssi ,fa U,sti clL; ,e! = fa - f" ;l; ^S
f-*t,g il 4.,lx r:-..*t,f:J a*I^^! ( t " - r \) n';li,r Jl .,t-l,L--,.
Ey*lc,yd,y*kpyey
a:r.:!-1r 9 r;q4r
tll J-J,l.;rli-2r
lt ;T
(\\-\\)
-"
i:t JsW r!:a l..l
r:lic.c^-+ ,|.- ,.l ti (\"-\ \) ila!
ttS. n|;rf
,forr,
JrL; tl ,F{.iL #5urtiil b for,, o.rt '
o:li:-l .r.1lr r3,-.3 ts:+, rb af .ur,r,
,k" 6 ,r.I(;.l i r.;-s*,ob
"r-l;l..:*l ,.-*,ti ,(.:*l
ib
t-t,
cJL
,*u-l UU).-ll.,Lt- &
(\'-t\):
(t-\\)
6b.Jrl,.r
p-rl6
J.J
rrl,i jl b f0,,, r.tV "iU"
,6
l,
aa;; ,r1l; tg[.C.tr*:,, i^5;rlr tV -p tb ,e--bjl ,t-t, .:JL J=l'*i lr ,-o, j] 9951.,-
www.mohandesyar.com
/t, s*tt5,
tlrbJt{ rt
ti JjrS Y \7
s-/
J.tV
!= fa;,,
"
t l .&*LE; Xlrr;*; -)?
Jt
.up ,j.+ t-t, c,JL 6tb
,.rt++
F^bn
,136T,1,:t"'.,,1
(\"-\
(\r-\\)
'rr+
te
rn
k;'
kot iT .tt
\) #5,.r.5rb.2r fa:1 ,(f"+ /ar,.r]
J.r
fa,,,
'
(\r-\\)
\*o
dL 6V; ar.-:;rr ';1.J.,g.S-Ja,(.:*l ,tU-l.rJil) -u[ c^t-, L{.Jl
.rr: slri -J +V+,( \ Y- \ \);l k;
6lti t *-E -2r ,( \f- \ \) -2r o.t-ia*L,
de rl+"i* b t: J-J uyli ,#t i,..^t
.-rt-t,
f = * k"' lio*
cir 16+ (\f-\ \)
lc,r|t
kprel+
(\r-\\)
fa
JFryti ii tt $ 6l.:-,rl.u ,; .=- 6Arltr,t-\ \ ufS,-i-2r
.t-r.l.e 0,.t,-: ,C-l
*,'l5 cJL.2r
Jb.r,-lcJl t, ;:ti, Gt-4 :i J-J cjr,;)"e c,t!-)1" *
6t^J:..- \* aS c*l bT Jrl 'a[^- .$e $J ,S+,2- \ \ ,[5i
,r
o.r^i
orlr
;t:
www.mohandesyar.com
f \Y
&
/-ft
f,,.",' Ltrlj
JF
,rf (si f-rllrg\*
,-&-t
orVt
.J::..r
-li .lrro
...:*l;r[ ,15 JL;r 1., ;tV: :l ,*E *tr ,n.U sl^r,,: t+T.r, E 64\.,r[-c .1r .f-.rlr
.n.rrrr ,lt -p \ -rl1. flt.,*+e-lil I J-S e+ f ia , io ,s4-trr,ddi J)
'A*I-. trlr ,#, i,:^r {9 ,Jlrlr^r1--t q qJil c}ig...- g;bri ric*l ;tT -&t c"db
jl t t,,i 6* bljd ,f " = k"x br tl .ry; ,br-i* t.e)rr c;i* ca ,i"
k" i'"L.,
,rSJfS. .sto:;! :l qQ,ly-i,c*l;dl-,3'iltr^1. rt-1.:.211 c-r\ i" =
,!-Le,rrL
il-;.d,o-l.i rL c^J.ib tt c;'-S -b tt il ,f,.J.2lr c^c- e;
.-18
,r^)*'
;s$,:.lll
qt.H
U #JirU
.c-l
[kotk"' "J
- k,yi]*
o:lr r,L:; V- \ \
(\0-\\)
fa
,J-{ ryti
,y-l ,}A tltr
&er J.{;6J- cb ,g-sri,Jtal.t; ^S c*l il V- \ \ J5;, e.sl".=.-;l ,.!
lL".5..,- bV i; J.S u;ll:l it.x:5u, tt+,-l F!:; iLi;.S,- ,le,y tr4. t',.-J-1,
o.t
,$;
...r;...a
k" L^,,'
r? \
-1r
tt, *lt
$Lc
s24.
rslt
Jl&t
Jl.Jc*l ;l .:.21r c -^.-al rl=* r JL.f G\ S u-&-t'altu
ti'f*-tJ .c*; lrt UC ;Trl.li. Vl ;;u. )V J-$oytiy,
.riu, -*:; r;b
:j rlb jl-i.,f a-2.J. 1s9,-l ,,,f -rr t=J-;tJi ! g^lil ,0.u51b3" ,-'l.y Js
,r to,r+ t ,s-j.,g "i-S.b t5 ,?t U-l ,# .:JL r) .* .rep )t .rt-: k" 6;- 3
$ r-#. ,t t-b ut*
.rlt, frb k" c.l.*;..[b r, e
mt + knx
+ f4,",
www.mohandesyar.com
/t u{iitf.,
,-rbrq ), t1i
J;rS f \A
urEL;rl: ;t:; ,L,.L; gsti J;:S 6lJ J;S urb ;rreT c*rd,;l j.u iiJb
,J; U-l :l'-ut+q 6Q;. -2: .c-l ory bcS; ,?t il| r&l: (J;rtp,
"r>ri'
stL ot* i.,- .S,- ,pb t b iT s,c;L bli,r b ei J-{ ir u!-a ,S t} ''p,lr
r.:*; i;T lt rrSL.c \ ,l-:t-i J.J 3r P.S- +;L ,rf^c .,r .:lr.,lri A- \ \ J.fu'
! .; .t-t:JT .slr .[\ \-\f] s-*J.cl ubr!, c)Li Wy Cr-l cy r t-"; JL yt:
.in:,..:1, [\o]
f-,.,+4 ul
j;.,-;tS,o ,#; J;rS ,-itt t- \ \
,;u5,r, ortp'.*l r*-iK"
#:t il 3 b J.S r-*;L;L ,,-h, u-l -r,
'#;6.15
Ce ';'o
h-FA .,iJS) ,j5rtS" 6t\
,,t ,2,s$+t 1: u,-2.5 tsl+l--;- t, .srbl L-1s a--r,'tr il ,tt S t g;l'rL cJL l.lil
.s$bbt-.2r e c*l n'L J11lr f lr C', ,rt ,JtL cD .fle -b tt,:-21, -t
.r*i.-.r,.rl.g; t t"+, t+L-t.sb-b S {',
ub},0:4^^.t}e Jl.(t-l ;e-r,
4.-c j:1.'o!s+ iT 6r3a- S ,k" ,;^-'1. ,s^Lt .r-t+ ts-*..*-t*!r",t {C}
ct ,.>a2 t5 tr,.c*l ,-L; 1s ;2)un O* cY c^t? Jr & t
.t5 ) 9i J-J ,
.in=.: l, t-\\ Jfu .f--,lr;! ;tt" J-J r.," 2 ,c X 6la4t! , f e \ 6[L-L .c*l ,t'a 9,;-i6- ,,--SJ J15'aI,* :lr,cJL ,t-l tt
.t'$ Y J-L.{ JF,p=3L l*l: l,-..s!, 1 "l-i p dgti sr:SJ;J i{-r*
{C}
tr
www.mohandesyar.com
f
.up-.rtf-
,#; J.{ A,
L
.CL
.t t, ,-k
JL.rr 6:!i L.rr a- !
";6r
rat .rS;li
13;1;L
1- \ \
Jfu
G)i tr::SJtit .r-L ,r5,r, J* t c^+}
"t r:^a--rrJL tf t5),rO-: ,;1S,J...-.5.,- "2 rcX ,51a4--rt Fltd
.CJIJ, ! (,-rurl& 5.Ll ot; -* &-z
i; 2 \ X t xl;4 t 4.-c 1|ryd,-o, -*-;,a*I { +- c^^-t ,'l|*Jt
;L:;L:"e: ,:-r; ,-{ *.tt' +b sr,.tr6, ,gl. J;5 fu {1.: ,r}i ,*
t,'!,^" t rI,6;K,J...-.5'-,(J;rbT ,.-1s a-JAtt Al-r.$ p:Le ur*lr,$J-S
J,g-jL itt il't^ t*+lJ ,iI +i 9F t ,',l;,r aJl ''J L4^'' ,1-; -'- '-S-* plS ut"d-i, ,r:* ll: *-2) Jr.a) ;Lr d,-J,=A" ! .;t+Jl tll u>3s p
..u .up JL;r
J-L Ap,e JIL+-lrr.l_J -btt, \.-\\ Jfu,;) oJ-i o:l: aL:; *SJ;;S
.t_*,g LP4b ylrr .5.,--2r )i st.;JiJ.Sr ulS, 6x4j5;:lr ;Ll; ! ,q5i.r5r 6-r;q
at'l .t--l J-{
Y- \
\ ,:n
ys oJ..l
cd)4
3T
..t;lo.r.?
j*
,slr ci., t6+ (; t it5,) J] t: w 6lr S': S ,st+..,-yt
'-u JtJ.5 .S-ert-o rl"rcl;l iT-b aJc*l 6-b.r*;JL, S ,r-:l
: ,z-l t3-9. je >tc S' ,r--r1.1: ,:-21: 1519 '-5.,- r.tc ,t ,r-tl tt
,J*"L
d,;4rr.c*l
i;t j& J/
.ulf :,19 .S,- rle ,9/ ,r-tl1r rr_2lr t9.) r*a r.Lc ^9 ,r-:Lrt d,5,-lt t: .5-j ,l
tsh gtr-rJf t-t12-aat S' r S 6k*-r[ ,(#/9i-+ ..u J"lF tltt :i J] :,c^-ilr
,,S 1 ,sl:lr. );;Ji6. J^t ,{C}
9-;t43 J: 6r!1 4.t5 } clt St tS" J-J A; ,F
xlse,;tL Jt:S t ,i J-S 4; c*; + Jl ,\f ,t J-J * '^il:, a- olle a
,-,.
www.mohandesyar.com
1u
.r$&
,,rtrr;tr
t ti J.{
f Y"
tu
t.u
Ia
.15)bi
L.ssr-
l,irtsr
Lr5\
6lr,;J;$JF
\o- \ \ Jfu
.tf C -hjy,t+T * L"t cir .5t^l,b s-b tt-r -* -&-t iili, u il.;-iL ol;.Jr
4tt bT ujtS. 6t^tt; ;l *>-l ,i J.{.>; u;,r 15)bT L..1r .S,,- d.f fu dJq
.t-;.6 -bi-* tsrbl
\ JEe r
#!'n.9+cY c-^a- p .;';S.r- I ^S,t-\ \ ;fS.,i.2r oJ.! orlr ;.J'a c' -*',;3 6lt
.I-.1:T c-)al b S' S ^9 ,St+rJL ,rl.?,r, t5l^'
C_L,S ,r-tL -b ,sr.tt'^il?J) i/-l ,sl:l+,J.;'i .,tS, #5+t, 2 t X .sta.tili. ir
+:, .-r_ltr i15.. tsjr isJti d-!-rKi/-l .F^)c/.rf .5'-:.lc
'* ),ryi".rr
il/i,,slt ,l& r=,.,t 1gs21erAil .Il .up JL,r rsrr,,r
e-JL,.tt .Cg -hj*t
p-rlr a+# 1; 5 ,-\2)ut ,r* ,-b ,sr,sl+! t l^j- 1rli ,S'
Y-\
;11
g=11"r]
(\2-\\)
s'=l","]
www.mohandesyar.com
rY
rr_,rri
,#; J.{ a,
cdJr t+t-t ,sb..,-t*;1.1r .5 .r-lt cJL ,sb. ,#; t#J/ \ " - \ \ j5*i;:
jl ,rsJ': ui.a g.c-l r.l.i .rlr ;[.i; ,x-j.,g U-!,^^ {C} +p ,nt[ 6tr.rJr.. L
b
,-"r.t e t.ti s-\:s#J s ,{rS r:[: 'l ,l:ir-15a,, ui1,, (J;l.0Loi tt 3 e#1y
ork-l ,{C} srt=31 *nrb } s ,plsrot ..JrtS. q)\ t ,s!, ;tT:l d* dtU-+
,o ! ot*!r-D st;li!5 $. ,c--$ 6 S,g k ,slif*, P,Jbr,-l cJL -2r L.l .rJ
.:.21:
{C}
-1: g;rlT
c,L.r:
jl .i-
ll,r.pt ,r5Jtfu 6ib.
q,t! .i- jl il'... ^S ,sli23* \ - \ \ Jtfu, -2) o-I.i orlr ;Li; ,F; e-r5$5 ,-;
i .tFd orL ,j-26r alui^. t ,* J.J p:* u-St6+ t ,#ork-l f tt ,,53tS,
6:ry 4? *r
iljL/ b *U,,S=;[S, ca\ cSr c;t^alrL, at\.S,'-+r ?P
u;b.J:[., isttsT cry)a ,slt Llt il jl ,\" ,Loi 1s 3,LJg GtSt d-o:)--rt cll+
aJc*l iTotf ,t-lts ;l-l u-l .g-rt'or[-",,1 ,:,'tr iti J] + L"-, JL.-.;r5r
,
rlr 1t+l u1*
t J.$;l.;a ,.tr6.: 6Vi.2) oJ-i ^;'; ;Soti-r J.u S.- ,sjt6+ \
,SVf jl Jf-. ggllc7"^- t:1;ea,oLi a*t',, J.L : ,gb ,S::\ :l 4-,. ,:-..-- ^S
tt E u;lorL J-J jr:l tltr-.,.6;Lu,L; t ,fu;!^c 1t+l;l ,1, .r-Trr bb
.-5 'rLi:-l ,s) tS)lre Y' \ \ ,:4
,FtS,15t!;=,1"_r 6tral:', L-\r.,('-r:.56-.-;l;tn bb \ \-\ \ ,$;.2r
+b*.u l: st+r il 6las3,,-*. it12.-o a1; L d.t l' * pV;l ra*,..t, 6, 6L;i.2 r 1L
.;r5, ,S.,t--r U;baJrL. ,r-#; J/ ,jy rs dt-'.' y-l1l orlt-. "l $, + .utg -b+
u;taal:L ,s;; i,i.^ t .x-r,g ti {C} $ vaL33 I ,;.-fli s
;
"$ti.-
V,ttt.tt
.\" J--i.;) o$ j*
t tG,tt)
G$t 6;Lrlc,-..;, \\-\\JSJ
www.mohandesyar.com
Jat,
.X,J.l.t
{C} +e ?-ftr!-' t h-!.l
;1-.5'-
'#;
Jt ar,^r.
r-u:.fJrir
.116r
s(yt5., trbtt{ rt
ti JF f Y
^*l-...li vf,rkt t #
rnt .-J;tt ca\ cltlt
cr6t 6;LrtI*. ,-)tt :l
,{"-:.-6; f" t l, rr u-l c*l ,i6
,ftS.;
i;JJ;:S an
i.56 : ,g-lcsf Ol
,'-.-J,.,t rla,-l crrigtut
orti' 'l
c*)al r5ldt-n*; cs:l-jti
o:lr ;ti,; f tr ,r!tS. tst! .i- ,slt ,Ft a:SJ;S ,j). tltr \ Y- \ \ ,$J -2r
..slo.ui *-..ij Jr, *-tttQr'' f ,g-fli e ,ri.L,-r u;t^al:L, d +5 a--.3i .c-l o.ul
c.*,s..>.-et"rl9,JiL..A +i -. f,rkt 4,>l-oi"',-'5,-L+,}.ti ,,$t^;1 6toalrb.
6tCL s*s_*,1 ^*l'u {C} +c*; j4sGV; .x-;. ,g rL+ {C} +n1V +-o
t..r;ts.1 rta.-l .9
,r-tV,st+ vHl [ ,{C}-2r lF ;tiCJ
uSttS, q'tq \f- \ \J,.fu,
t.p,g J-J ,ja ul + 6 src/ ib I ,slU
.f-.tsi
;--. GJn.,),i$f
'li* ttrt ctrbl L..7r .5..,- $5
st+-l J) -r) $5;.x-rr JE ,6-si li-r- L-;tS,
6lg:L:;il '+5 xljr-ls,c-l ca- c--ta;,Jk.l-l ;tS. cir.c*l ir Gh- 4
Kin (0)
4to,ril + G,(o)
AL:;l ,JtL
,slt.
.t_t-*,rtK".
,sr;l*
cltt si-b5'-
.c-l
g,l;r ..tJ rll r,-lll r-na:l')ll
o.ui
sr:5JF
\ Y- \
Jfu
'J;
iiL
rc-.c.r*
):'bfu,
crJlry
;rl:
,O.-.
.,:-l
.r,,i orl:
,r:-i
,J--ai
www.mohandesyar.com
f Yl
;-;* d; J-J,iu
.+-*,g lt ,-*,,COSMOS fu J;S u,6? " Lxrat,r5;tS. g;;! \f- \ \Jifu
;-r5r".- u;q;:(l1l ,oli 1l+l ut+{L;l-,,r .c*l ci! ;;3 s.,t;'b-l ,t-(tlrrr $5-..L-
u-l
.[\
"]c*l
o.\.,.1
o:lr-*,1 \ Y- \
\ ,$;.,2: $r
16+
Ga \
*f ].5
G-tt -t
'i
cjr ,4J i,:.a t .S e, b 7:-* t ,ls GJi
eQ ,s-* #5.r:5 L;- lt -b t y Jtrl 6st xlte,sjts, crt+:L:.il ,rtr !:
.:JL-2:.c*l JLrj* ,riJLi;it.-,-te \-b n, c.&-s-r-rb & oS 6li9K*
.[\V,\P,\f] C J-Slr,-s-4 rs-*,r5:Jt5l.r-,hrrf f"^bn c*l irS^",uI5
s"K,:" .c*)L )I:,-. L*' &
f-tj ,ft ,L-o- t .,1t+ ,S-ry r-L; ,[^;1s
\ u J-J,il ;} i-t1e.a oe- Lr-..! ,-b d
.is s ,d,g or{r-"*l -b
'fu
.Frd tS+ L)t ,r:;.- tr itS, JF,(rbT 6Lzir, cSe) $\;'-- o* ,)*
*>*l .,it o
c;t l.l ,Jbl l ,_s-:i
&
'fu
,? "-fr )tL* 3I ;:;,,*, 3 1s143^, ,g4 ts-* J-# S L,tct' -b^. ,u-lr.\
,t"/ .,*-.)1, otJi t, ,,.k f fut .afrrr .:,1 "up fL, ,511!l,r;[ t --.
.r--&Fi, ,c--k+ j- p. ctltu l. )tb ir & tlie
*lb ilS, EJ+ ,b6: ,itS, #sr:r5! J^r Ul ,,rJ-; et5J,5,-,r.rt.6;-r,
3r4,1,^s g,-l tdl rtt'-rr
.:JL I .tJ,t 1t+l ,{C}-r, r*t:'. ,slbT L._r,
f
.:JL
f o! 6rbT '*tt 3 ry' o:lr uia5 ur-b +q t *d &,sr
,J\ Gln GIE
L.
L-
l-
,,,r,,5
t:
www.mohandesyar.com
JAL
s$itf..
,-rtrr,ilr
i ti J.{ f Y f
(J,sr J its, r;b.r+ ,..- .!1ti .l!
Ls-F.sblJ (J;ld:iL- F.d U*lvl rf .ur,r. itS,l li-bS- ,r..-Si tr5$5a" ,{C}
1,,..;,1t ,r:i- t ,jtJ"i F e" L,str tlly;l qQ*1r Ll .[\V]tJr6+ .*t+
.r:$lF *_b,Alt6:*J-Jt ltr iti #5 3 c.t*, #
'..'-ftJly.-' (J;)bT c,L..2r dr]|*,lJ.r)
j-* J;
u-l
t' I
J-S
A ulll
,,.1c
,,r5..,1,-: J.u
;;;;
d& Gjr
Gf ,p
s;.b5- 6;#5$t
o:lr-','l
ob
cs$U.u J-/-S st*'?.1 V-\ \
,?lys:x J-J ,G-;S ,P rst+t*r.r.r,
r t \t .r,l.s .r1* i-ft il rit .t::e $J rlS*. ,t:
,sll ,;.j.t,-st"r-lL, )"J lJe ,;;lslp crt-t-.. I iLi :;l .llcrrLc
,_ra;^a.1r oJSo:ti' .l .g!r rS:ta.-l ;)t5*i ),,'sd., 6Ji 6laa-L-- r;-.-1
'g.:i-G&'silFl
Jt i rt
t+Tr, 6 6.64116 ,sD ,&rl.*
.*ti
;l .-t::au. *T
yr .Jil*i
6;{jttr;l
tQ, y,L,rSJtS. ,st":,it,
,r,tS. cbjr
.15,r. rt-.,-l,r-[.i,Sl"tr a.euii -2r : .L:!u/ u-tJ J"-S,- t crtrLi
-&-t Grr* [-r s-J.,g orr"iiJ,-S,-., .ilJ; c-lcl ,65119, ;rr:1
t,
q.-t-
y d.u-;l:,r, 3lf*6;,.u;GIrK jV-r,-st+t1,1 6)) J+J:I .st*-l';T ^S,r.t<,:"
,rSJtS. q'tti )i L-r,t+:*,.]t'.Li 3 ts.r..rp jtr-f c,tJ^r pt+l * yB ,s13ro i
c-;,- 6lJ.,n'Li .l.:; t-,-5.,-.2r ,rfsl <r,r*b*ttr calti ,r.: Ulr ..\LiLr-i,;lLJl ,rfi;l
.rr c/5,Jri,rr iVy -\,-! d Gb Atj
rslt -*"=-" ,sr-*ikl ,,-l'l,slr ckpfu) ,.s o! rJ Wy ;rll * ^*T;l u-;
.! ;\ .sfr. g;y-i,jlL;l t- \ RCC ot3:-, ,t-xat(:-r u-l u--rfr-r .* ,rV ,G\s,
ur* 6stj rslo-F,, RCC.r: d,;L [\A] lh 't(;-U;Trr dc*l 15r
'fb
.5.u
d;-l ir+ rL.c1t L. s ,lt *. | 0:.. c,!^c ,*b, ,r-*ikl JL-cl t
"l*
RCC.JL-r 1t+l + ,r)t sJ prt c,Gi
0: ^5.*l Lrrtl L1t
"i.:\6f CbTT
1|;.,C,RCC ,r ,;; u;t#;- Fl; t .s-'J.,C o:lr.1!l;!r.r ,-s.4,s-*e c*: Er
t+l
7.2r jtL;l Jt'l ,s$y i-fu-l.rls ri b 7 t -*ikl 3*
to-r6 uir ,,!l clt p,st+tr-r, ;r ,1.6-i1.1 y_l;l .u[d Jt-i f
.J/-4.itlrtl
,slFa
.s.*g
.,itfu
slao;11
.,!*;
rrti'"",l
jl ,I-tr uy-4jG;l
tt E rJ o:t.t-l ,itt :l ;.tljg,c,!r.r r) c^:li : JU 2{ 6y)yt lL;l;l ortL-l r-stt*
.r) .s! ,..1; .l,ti ,;lS. Jr=S p,sbor+ F}; ,u5.,.;tS, ,stt\ ,s*lb 6;- 3T
1.,
www.mohandesyar.com
fYO ;y,f
(F,rtsttg Ws\lt)
eL l ,-r[.J il.ri d,d*- irt,y$- .l;b.-ru;x);l ,r;':,-n sst+tr-u;l 6rl&;
.t*rt..rh-l r-qi;Lr Op" 6* l;J + Ul ,t5; ti- +l
;tS" ,sl...rt ,r.iy ,tl tr .c.-l r.r.i rl+ '.+ Jt" rl'? I ;ls ,jy l\Pl g-..1'..1r
,s!b:o ,cV s* 6 s*e.rlrr=i; u.,*,J-i. { d-:b cir f-^a-.1r
cF rtfiLry-j rse+ ijLl I eJL gr-l .rrr ib tf 3l d:*. ,*,6r5t tsrlrl
&L..1r
tf ;*-;
^- 5 rj;
or4
ltic b t
u-t
rP u b Al )i
.+.& -b t
,k
f
cs)bl
qls
t:': l ,/
Kr,6X
cJL.,pr
(\Y-\\)
61lr.ar dc^."l rs-b
: ? x ? ,r-tL Kr, ;sl g 6
!f.2lrle
L:j
bliLr.,r^t ,.JSIS- tsU\ e.f l: i-.*:l,rli:-l
6x
, #;
(\V-\ \) q t
= Kp, /(O)dO
r-
,( \
{ d-.,
t{
(Y"-\ \)
Jr (@)f
s-"{,s..*.;
,ii Ub Jl
(\r-\\)
p-rl: .,rS';b-l c;t^li
r-
'fu
(\A-\\)
J(O)6O
c*ilr F+F
t- \ U A, q dqI
Jr (@)r(e, J(O)dO
u-l
#t :
L
(Y\-\\)
);*.jts. rltl e-nrf t b ,s.f liir.', ,ot'{[ t
,6@ ,;t-L (J;t^e--rb i Gr Jl*i :l ,gE ,i12,-aat lr ;l-L
6I'1121:.5
^,5;l tslr
.Jotc/ ,JLJ ,JiJhi.1 6:!T L1s ,r:') tr ;rtS, ,s-,t tt:-+ Cl+ tst+.
rJ'rti-l * J-J urti jl jj ,J.-L t h;tS, rrL ;r5$5-1r
( Y- \ \ )
r '- KpE + K,E
rh-l
.F&
,(Y
\- \ \) iJrL
.i>l:;l J12,,-oat.5c*l jyslL; E s,?E 6F tr+.st+*..;L I(o t lir ;1T g ^S
u J-J ;;jli:l o:l.n-" .l ,(YY-\ \) il"t .sqq ,\t-sl#L l,l .t-j. ,t.-e,_y; Oa - O
1. S.ttrb*y
www.mohandesyar.com
tt ,rt it(r 6ll,g\9si J;J f l7
JSv. rt+i:,
l1
(rr-\ \)
r -- Jr(6)KP"J(O)E + KoE
,;; \dtlr 61r2.c,.,1,.rr6, igViJt dt+ .s-,ry ,iJ.b l.r c* Ko, il.r) d
$li cs-b ,-f-JU Kp, 'u'sbl 4tt
L,
,1;,,-,a- ,;rI -F ,su E,rr
Gr,"
-""-Cbrr
'b,,J-fliil,rli-*'l!,t+i-l.rt
.xlcrlllg.4 6l? rsb j" stf &,
.c*l .s.1,-.+ ;l-i. u;l;i
{ q;.16r
'fu
,-*j LP
{ * ,.r
;tS,l 1t
c,t=t31 nl'ltt
u;U', +,?6t {Uht 6y C)tt-l ,ili.-t ft4dl l, f;l
4v
u
,sil;*l
b
,6+ ,rr-S ,n;. 6r : 5.i Lt* 6L; S Gl: itS, J;S
jl .t; ortr'. ,l ,-u5,r, ,{:;t* S s.Ql U-:i clt Jl-2c/ :i c,- )l '"r-1.; '}tc ''td
.Ur
a:-il:ra -h t y i'l6 &-l;l ;[!le,&trlai J-- c,t=tt J;3 rsb ilid
.xi ,sjL.rtS*il l, eL .5,- t ,,tr -u:r,
b
.,futS,. (J;tq
,c-l o-r.i
.:J r:li-. .l ''t"'tl
,-st+l :, il cft tt
o.r) i4.t- )ri tJ;J.eD { Ct+ c* ubt:.rt l-ray P
orig...- ,sti S,gKt ,F-, ,* fil L- s cSr ;ii ,slt ilis. !, U!r, gll 'c,-l
at'8,rf ,sy-1ul;2.,s* blid ! l+!r, ul .tJ ct-tu\t "lr':L.;:n u* G*:l
.r5ir:ri b g-Q 6-F L-'; ,$ 4,;J ft-"|
etV
for Computer Controlled
t1l M. Mason,"Compliance and Force Control
Manipulators," M. S. Thesis, MIT AI Laboratory, May 1978'
J. Craig and M. Raibert, (6A Systernatic Method for Hybrid
l2l
[3]
Position/Force Control of a Manipulatol," Proceedings "f the
1g7g IEEE Computer Software Applications Conference, Chicago,
November 1979.
M. Raibert and J. Craig, "Hybrid Position /Force Control of Manipulators," ASME Journal of Dynamic Systems, Measurement,
and Control, June 1981.
www.mohandesyar.com
f YV e?lr
[4J
T. Lozano-Petez, M. Mason, and R. Taylot, "Automatic Synthgsig
of Fine- Motion Strategies for Robots," lst International Symposium of Robotics Researci, Bretton Woods, N.H., August 1983.
*Automatic Planning of Fine Motions: Correctness and
[5] M. Mason,
Completeness,' IEEE International Conference on Robotics, Atlanta, March 1984.
t6] M. Erdmann, "Ifsing Backprojections for the Fine Motion Planning
with Uncertainty," The International Journal of Robotics i,esearch,
Vol.5, No. 1, 1986.
t7] S. Buckley, "Planning and Teaching Compliant Motion Strategies," Ph.D. Dissertation, Department of Electrical Engineering
and Computer Science, MIT, January 1986.
[8] B. Donald, "Error Detection and Recovery for Robot Motion Plannin$ with Uncertainly," Ph.D. Dissertation, Department of Electrical Engineering and Computer Science, MIT, July 1987.
t9] J.C. Latombe, "Motion Planning with Uncertainty: On the Preimage Backchaining Approach,"
it
The Robotics Reuiew, O. Khatib,
J. craig, and T. Lozano-Perez) Editors, MIT Press, 1988.
[10] O. Khatib, "A Unified Approach for Motion and Force Control of
Robot Manipulators: The Operational Space Formulation," IEEE
Journal of Robotics and Automation,Yol. RA-3, No. 1, 1987.
[11] D. Whitney, "Force Feedback Control of Manipulator Fine Motions," Proceedings Joint Automatic Control Conference, San Francisco, 1976.
[12] S. Eppinger and W. Seering, "Understanding Bandwidth Limitations in Robot Force Control," Proceedings of the IEEE Conference
on Robotics and Automatfon, Raleigh, N.C., 1987.
[13] W. Townsend and J.K. Salisbury, "The Effect of Coulomb Friction
and Stiction on Force Control," Proceedings of the IEEE Conference
on Robotics and Automatfon, Raleigh., N.C., 1987.
www.mohandesyar.com
tv d*t(.
ulrr;! e 2p
gJ
YA
N. Hogan, "Stable Execution of Contact Tasks Using Impedance
Control," Prce.edings of the IEEE Conference on Robotics and Au-
[14]
tomation, Raleigh, N. C., 1987.
..
[15] N. Hogan and E. Colgate,
Stability Problems in Contact Tasks,'
in The Robtics Reaiew, O. Khatib, J. Craig, and T. LozanePetez,
Editors, MIT Press, 1988.
in Cartesian Coordinates ," 19th IEEE Conference on Decision and Control,
[16] J.K. Salisbury, "Active Stiffness Control of a Manipulator
December 1980.
[17]
J.K. Salisbury and J. Craig, "Articulated Hands: Force Control and
Kinematic Issues," International Journal of Robotics Reseorh, Vol.
1, No. 1.
Drake, "Using Compliance in Lieir of Sensory Feedback for Automatic Assembly," Ph.D. Thesis, Mechanical Engineering Department, MIT, September 1977.
[18] S.
Wrer F CL l o*&-cb.lt '* g;Lr4ri [\ f] \-\ \
q;f;
;L.- JS- rJ I '$
{C} vxtt{" .+5 w ;}ct Jfu et
,flty
rf-lr-2r S v.lsJt'
ti
.J..lJ
,cb-Flrq
iJrh.
L-;
\- \ \
or.i orlr
y-;
e.,:
Et *
6tr r,
i/:,,
k,tdt
Ll* Gln,
ir;ll (sb.b(tr.---1 L-#.-,rst"+p flJt[\' ]
(\ f-\ \)
Y-\ \
:+5cf r+;i" ,rS;.5;l ;:+
JFrtli jl ,rli'.*ld{+, il; IY.] f-\
.r.t+lcf tj tSlL'- i1rtr. r .(t-\ \)
* (kt * m-'lt")"r = rn-'k"f or,,
G| th,l ,sL loor+ vb;;l d.l+t ;t; irn+-.r
,lJr-jJtS,l ,.t.:L pL, ,ku ,b*. ,P
www.mohandesyar.com
rYl wrC':.,ib t, [\
ar
- .;?.. ',:::
.
t
.r":t g=a
{A} v*rl.63 i+, p
f-\\
olooo 1"1'1
-ol0oo
l"tA?f
V]
,i..
o
"
'd!,'.
tJ
,21:-S-2; rl>r'
Su;tr" tt
l;;l
Au
= l-t'"
Li;'1
& {B} vn.,l,33 ir" r G,.'^Li; $Jl- t
.r.:!
x \ ,51;-S-2r;
.,|ry
.+.lfT c*:a, ,c*l
i'*l: t,: [\ V]
o/0oo olooo t.r.1
otA?? olooo olo
l"tL?f
A,t:- l-'ro'o
Br -
b?
olooo
| olooo
\/ooo
' '
g.1 {A} *xrQt ir"
1, ,51:.5-2r;
6t"
rJ
,l:rt Srstie
7/"
?t"
At,
ro
6r"
o
ro
ro
,* {B} e*.,kt iv r Gt i!i; aSlL .2r ! P x \ ,2|r:-:3-2r;rlsr,
.r--l:l
c-:o ,c*l
0- \ \
www.mohandesyar.com
r!t/
.,S:nil5, trbr.i!
-a1;
J.iS
Ff "
.itS..i.rr v15.5,- arl: tll bly (fJV rt; + [\A] t-\\
.45 .;=-; b v6:l2 6laJ.j p
uS=;tt" 6t lt iL-:{ .;lrf r) 6- t;.-,.t 6l.lt ustt-', ,rr+ (J;t"Ji [Y'] V-\ \
,.Aj *n19.-' .-r;j,; -b .tt b :V t y J;-. ,rt ift.a.5 Cr*; ,rrt
-'!, =tSrr ty >f:.
'$ r' l {C} t'u
gr+ .st"+i
+L:,-i,sA 6 r :l ul*rr1 ;1-il4 ,sD b
'fi-,,/t ,,-J*tS, r-r:.rl il:[Y',rt]
.+r4 -b t b:V
JF- ,rt iJ*.+Sc,..'ry
A- \ \
.+;i *-nt$
P,.srll-L,r ,;-, 6.G>l s;e,V- \ \ uiJ,1p & cir,ryyr [f \] 1- \ \
uSrtS. q'r!.S.,- ,sjr c*i ali.+ (Yf-\\) il"I jl +5,r1 .V-\,';k
*-ls ,sV-,2 Jt-t-L.21L. J,-;. n ^56$*) ,; ,rlf .,1 '$ub: Jtu
..:*l;|.r,-L.t:5 J-J U-\ ,;i, bu, K, f ,sD d+.5c-.1b.(l-r.rtb
\"-\\
p
&-l :
,s3r
a.Gtl s;e,V-\\
"f,lrl-i,-t'? :ylr e,J!r [fA]
"1,
,r-iL
c-ilr
&| :l S et.f,l.rF
e
Gln Glf e
c^-J
,sjr
ilt-l".(Yf-\ \)
'rli:-l 6lr.t;up t Jiu,rSJtS. tsa\
t*rl
Ko blte t-I.(l-,rtl r-b ,sV-,t rt-t-ya\ W n
^5612L^,1
Gln Glt' t+-+4, i-lSrr p ^S t; ,fl] 6t* O;l ,r-b ru-, b
t$[ a:.rlr
;15,,-;6'r/"'1:+O*-t,;l ,\F-\ \ Jfu, t, atL,Jfu.-'S. Lr,-...-. c4- [\0] \ \-\ \
;li Zl,-V.1: ,-L; .:JL iJr-l eli-l ,it \..:*l rri J.ir tsllr) ,J"*s+
.+5O..- b tr-r ,*,.stoq.i ,*\ t\t ,e.*5
lt
r,
{C} i.td
L-
-,Jg',
(\ \.-J) ,*-ilv,[l Usn
J/ ;.,=-'.S,- ,!!, u L sgllo,i,n c,lr:,, ;l o.l.i 6;14 cy\ cSr J/ ,s!"
b,-tfl:.x-r$r5n,c-l rri.rti:-l (Yf-\\) #Jrrti jl ;rTrt E lr,jr6t ,;*,
.q:rJ.i {l} -. r,rt{t.r,
rfe tr tb, Krr 9,r.1l.r tV @ = 17" t" - {o t" Y"l"] ,t5-.r)-rr! d'!Lyr
C-l t-;
lk,^ou
Kp, =
ro
ka;c
l.;.
:+,5 U;;La:i-,i.
ro
t-:
;tl
,-J;ll...,I qsl^rf
JLrl f K:. q !, jrli
www.mohandesyar.com
rr\ w;
o-rJ .r=L
j2s 'tt"-2r1-rlf:;l e ,,-JJ'r!sq ,,;;-|,:l ;tl Sr.t Jfu
.-'l (f,
\f-\\
J(,
.g*l
4\ X7 c^t-J) {f} -. r,rtte iJ.,.2r \ N \)t e:.n
.:-*,g ,lrY, c-X> -2r {l} -. r,rh ir".2r \ N \ )t e:i
k6;o j.tu ,ii c,a-rr 1!
,slJ );f 0*,; .;L-.iT l', .l,-i., ko;;c s ksmag-/-)ti,
'*
q95 crltu ksntan P,*r c^{- J) ,i.,-L, & cb t ''u--.1 -b I Sti b
tc*lr.l4 t-t, c,JL F Jfu r=i ,.i,i cJL rr.r) .r++
.t-J.,g
.\
.Y
www.mohandesyar.com
www.mohandesyar.com
tr
g,tlr.l 6Jlr*UJ.
asLg,Lt
j s ki",.:.,,r
u,fie \- \ Y
A$Vj '.J=-:) '(t:.i,u J; ,J;,-r-l.lr
,f|3;-;Fl'+-S :l xltg oJSork-l ^S c*l '(;-1., ,F * il-ea, .rutun tU
..u56-2lrraor+ ,J.i sl+L-i I o.r)u!r*. J/ t uSiti.
!r.16 ,-;.8 \
.2r y-.1+.tir1 a-y!-il.!-Lr tL s rnt ,.JSIS. ,sl.ltr (p
.d:i-- ifE;,gbtu-i.l
,C:yb:t c-^.-.rl E o\y9 .-u5 rrlr' 'l '(;.:",J,-i
'#-"
(;
:,Q 6lir..- u ' ,ki,al c -^.rL .{t .f
:l Jri j4 c.ii,rr,
'f$
:, fa
+t
st-y
| ;:'".-
c,tr,,9 oJSorlr-.*l ;L;l
atl'#,:lri.;t 'jff"[Iil;t'
*y-i.j,J"';b r.rrr. u.t s,.--r
or : .l ! .S{ ,Jy_-L,r..br4 i[;-l+t- ttJ;l lg,u ,rt,,5=;t5.. ,st^rrt .;J.,,_t,+,L2.
"1;a_
c,lr+ l1 ! rF tul-irl,crl.;Lr6 A5.,Ljl,,l,_Lr.r_L l ttnrl csl+'"."-"e truL.-;l
..te: ,$ ,6c^ir,.a jl ,_;V
t+ ,-rrl, cJL.rr l+T rJc;b )V++lr ,r^L ,rtjtS. .rt"ritr ctt+,Lt ufl1i
;l u,;t 6Ja3..^. J:6j.s!r,.x^r.r JJ"s It AyVil o]i A;l uf,ats * i
6lr.l5r,-ji; ,dh 6tf-*"-" ,rt ,,S.1lS" 19tt{ q t-.5.-.J.ti c-,1 gS-. 6,,i1l;*4a;
,a6 c[.L,j!t u-I- .1t.>536.11I-,1 6$ $)- g.I.b.-l;l ,J.iU t+-1e,&lrlri
6ly-rg56- rf c;L L"r.J"-q L.,st* (,!'1.;Lr6c'tr.fu, J12e* bl',f b
,st^l! 6a_1+.L2 ru.;;i.2-\ .JS J.;S \ sl;rlS ,! rri pt+l o!*r .Jt at-rt lh
www.mohandesyar.com
et!.21
q6 J*.S,--2r p I !.,r. r-sbdL
62-1+,lt
6j1utsy. ,sV\:,t i+s
ff
jl G?:',ta4UU,,lU,rSJlS,
.t-*,g
crlr.r
.*
"i.S
.b.1r,a;Ly6
csjloul 6.# u'
.$Uf
Y- \
,(;.' ,J,.oi A u-r*,1+t y ct_tuEt clt
-r-:lr:l J:*, .c"-l,u f+l
;t )ttl 3rL 6Lrrx5 ?t + o!-u urlaoi:t [;S ,c',:.-., Ler;*, ,6115.". e/ .rJd
tSa-1*,l2J,it'l-,St+:rh, Ll .rglr .:ol-i, ,.riJs.r5q .-,,ti arUtl J-J rSb 6
t5,J,Li; t+!:,, ts22ult Jtt.- 3,xiSr,;. 6t*S
r,s1-1u,1t.2) oJ..? Cb *;
.c*l ;T;l
rrJ,fb ct*6
,or::JorLL: .l
'e
u'iiU ,tp jl ,-pjfi
y: .Jri,rr 62-1+.l.12,,,,,E6.UFt{lJ ,t.b :l ,i:Sti af u;l'}.i, { ,(-" ,+J:l ,st+!r7
ot:,S ;r. il: r{ d .5l.l.iL tr .lT ,tl, : ,-t.i,rr .:,-l.u .i.u iLi; q ;!,
*g) ,s,-l
crlr-r,, ,rJ::J ortr. "l ,r-Pj-fT'aL). ; .x-tJu. L-z ,*n olb; 4p rlF
1tfu r,
u;lra.'- ,r-)j-fI6t^a.'- .t-|r-l c--l-u ,*i)yi-*:l ortc-l L L-3,c:*r q !1
J-{ b,,tr6, .i'tliI 4t5 } t- r ,r;! W t ;)l-idt+T &:q aJ ,-u:---a ,;,,ls^Ss
6l^a.bJ,: bli,f oS,s*4.,:-21: :j>.9 v[d;l s by:T a[^Ll ,taa.r- u-l:l rft_,,) .)j
,.q1, ,rrl*il|3 6r.lc u:"-t-.; azJp ,;iyT 6t.la.'- :l v-t.tj is t+Tr, I orL ,P-
cir
t -1,:,
.src/
r$;.-urb c^AL'. cir 6t*S6t+Jt+y + u5*,-b:l:
Sri,-\r.5-- gi-1-El ,Slt ,t:yT::r" .5--;l o:Li,:-l JL t,
ssJ.-a:a,\-\Y
;.1.5 ,rrZ,:-
g,!-u cst1u\1.
eJo cJ;'t+Ltj
t+l l, rs1-1+,Ll LslJ Gtiba rl-L;,.:o:-o ;l+" * il:tls uts t,,stor-r"5rl: [:
,e-j+,!t.-st+!; U-l .t{,g ql*l ,ct-r6,st+t, t or.i,*9;(J;taa"Lr;il*5a;
+ ) ,5--;.Ll Lt, t+!:, 6t-.tui1. JttL-, + "5:i;rlr olo).: aL"-r-- IJG ,,1.t-=,,5
t(Re11 cr!:.r
1 af 6t+; "=*.,:.L=r.2: .L[.f
cs]1Lo!1tSt+!-; I L6;T ,r[Jr C,.^a
orti--*l ,lb ,o.t-i hr- ;; ,t:yT i.:-.;.*.li
e,.XrXz<e;!l 6;21anLr1u!; 6-
.c*l
liT
tr.--'
n(!-l
i
l.
fG
't ^- alr t+!.;
cr-l
t+:-lr,
.xfi ;23U; y'il,d,trr.r 6y-1anlr2 cst+!.;
: ,i*J+ '),5,.-1, ctt+,Et
6t-*S
r,Sa-1a,,lr2;!;
"*6c*l
Robot Programming Languages
,drl
cst+!; Cr-l .cr!.u ,s,a,ati g:t+t{j .\
gS^, Ll
,.r;lo.r.i
eyt+1,:,
e-*
www.mohandesyar.com
f
l0 ctls sJtuUJi.*
.tt .)-;.,g
o:LL.-l
+'
,k;t r;t 6laLi 6.1K327 ,-J;l GMF SfA" a\u)l \- \YJifu
)S'' 6a1a^ltlt c'\a Ul ,G)-ri Znt ;l o)l;--..1 L qs-"a:,. l+il
6111
st+!r,, J# aD a5c*l VAL,!-i,t+t; 6.1 il 6lay,.-u"-irk 1
'* gos,*,!r, J/6b
VAL;!;.-*l ,-r: f+l [\] \,:i+r-J-;
't:
';er1
,t ; .r-l ,):-. .rrlr r!^* ,.)'i lLij ,llr aj-*S cs1-1+^lt r!, ;15-ca; i**l
_2r -e c*J ./-Fl u;6$" t- U:* iLo) 611-:.sl :l-rcl t ;$-c ;t+l t IrG
.:; ;L; y-l ;r*, Cy--l Jfu, ,, ,ll;l .J,;.f #:. toa"[r, ti 4 t.orp ;i
62-1*,Nt,s$!; ,,1-5-, ,sldr.IY] c*l ,-* i]] u.sl-; g,l ,VAL If ;l:"'
.[f] c*i '- d+l :y3l,Ll oK-ll, tr 8,c*l AL;!r,',!l 6^-x
f,-i 1:,-tg csa--1+.lr,,s$!; Ul .)r-t' ,st-*6 jt ) ,sD G\:t bb"t:5
6l-aa^L2s-; ;l 6lal-^,L5 t+i + ,J (JtfuL, -sl") -rlo:y u-3^ ,sj_y-S.sT!,
.;-l or] dljl ,t+|,r, fte
,rt"l ,_,+,;l ,r,_tar."[y tj ,G\a u-1, ;L)L-l ,slt. s,r*_-94 Jtfut, ;!;
.5;) t.(=--1-AR;l -r;l;r!- ,t+t; A u-l:l o-&-'.sGir .sl--l" ], ,rJ
-,, .,r!j :) y' [o] (uJ-rJ;,_l cl,":) -!-*-r! u , ,lf] (t,-.lli..- t&-ri
o1
6la^11
xl:g
1. Unimation Inc.
oJ-J
o:[L-l ,g^r,r
2. AR-BASIC
.;_-r,
3. American Cimflex
.Y
www.mohandesyar.com
et\u csltul4 tsWJ t{.:..l.- f Y?
J) Crir^r ..x.tsT,t
eli
.S,..=? csrls
itr;
g1blr o*.L22-;;l .4teiE.16
,kl
,tL[ g,l^bi.,L;L 4 a*.12,\ JPL 't3;-U;l
.[?) c--l,.u f+l JtS-t, ili .-*Ll
,&[::,r rsy-1+.L2. st+!-r ul .f!.l {.rr tSl--1tv,U1. tl: gll Glu Xl4l:5 .f
6ll,^.Lr22-;;l g9ldl'.6 ,-,re ,Jlori fl+l l-+ L/-t' i!; .i- r>.,s,-a1lt1l
,c,ti:.r 622uL2.st+tr-; U-l tl 6rcr .c*l o-ui eiL;l il q ,cr!r., .f*
KARtrL c,!-r,, 6a-1+.lr; iti; .[V] c*l (IBM c-S; il*'a '.r": fl+l) AML
.[f] .*t+1.: u-l:l -S-t 6ltr;i (t GMF u-q;t1, ,5;'ll*1a; '..r": 1t+l)
.11: Jt(-t, it,; { 6)[j c^atr; l\: u-l
,JARS
e\a
cs
-tu,Et itr.,
c$ 's4* ,sb, d,.lr-264 u;t^a.Et tsy J o* pte.l c,UtL
J Jti. &,r*.,,r.[V] .l:-+t+1,:, ,r.lt,taa'nbr2 tt-ltt t+ti J Jti t'a1t
j;- +!,-[;r
i,,:.A { .t,*,* s,LQrl qllt,;iLr.-,Ldl : b-r:T,.i!:.r ,-;iyT
a e-fy:e,6.2lrre>t+!:., rsb rf-@,st+tr; i/:;L;l '.1-l-2: c-l gS^.,rl'J:
Jorc,/ ;L.- ,.rr!r.,
aS
.()[
-1r \"e Y 6;tao-,L:
.li;t)
)3^i
4igl Gl.:t 6laa.l2.,;i ,(V
./!Lt
,$!_r 4l
cs1-
.c*1./t.Lr 6J1bl1rst+U;l o:tL-l ,c,!:r
1 awUl
u21uL2
Gt^a"t;J,t
crt+!"r
l* u_r
o-r5o:[l- .l ,y7i,.l_1.r, .-r:5-,:L ,Jar ,,t+l ;!l c*l
615 ;lS
"l-t ^S |
.5"- .J5 :-219 :3o Llr; -1: ,ero 62-.1+'Lt.st+!; jl y1! ,1, ". u',L- ,: \ -'lrj;-s
ctQ;Ll^c pt+.| <iSr 5;$l t-b+ r;lt ,-t, ,ctt:L' 62-1a"Lt t, .tL,:, e
xl:g
,r5-t5" ,sstL. slt +! ;.-=- ,ss)1:1o,,J,,*r-,,, ! 6",, t*rJt,">U-.xSl1.llt
4*l-r ,rtr iU \ trrt;tS"l ;i tt I )S ib lt ,s-* *U
g,loLftr5rr
'-b+,!:L
;!; y-l .,ek ,r( c*) J) l, 6r.-'r s ,r-J h.t, A, 6, , ,*J 6l.r; ,*t:',
r) {! e-t-Et l, ab*t d/-l 45 ,Gf ,!j -r, oJc*l ii ,ef cttuLt i\)
)S r$t t3> Llrl
.:yl: i3-; L4"* ut, ,Gr)u G1-1auLt,St+t,1; ) e-r- tS2--1+'lt,St+!; ,*
,st+-r^-r, Ll ,c*l ;;L--e Jt Uf tS1-1+"t, ;:r5 ,rL ,sD. G;lXl ,.>V JL -,',
,slnl *ty,-aa'.;tlig It J-;
,storr! .tt=l^r 6r,-1o.o11 ,;J.h 1: ,g1-1+^LJ ft
t,
.[ \ .
l. Jet Propulsion
Laborat,orl'
2. NASA
3. GN{F Robotics
,1]
c*l ,b-
www.mohandesyar.com
flV a;
6>116
H :jrf , l-JI,
r--!i .S,--1r,Jt*4l ..urr, ir- !, slo-u3
c.*l^'L; b ,sltalli a*;6- .J"t.ir x4g,,t+l * 1.,:tr-r c,!-.c;lr$1rSc.^.".i
;t5" .r.;* 612 ,c,.-l ,P ,lQ fry + 6 Ut.ts 4;l .s-*e J/ :p-6t d
4 (c-l 6?" V3u,u[5.-:.lr oi),stK JF U-lf .\fd orlr.- .l ,.Jti; r,sr.r JrS a'Li
t-fu ,*; e$.,-ji;..:*l :W g, t5 si SJS,-- a, a5r.2lr tfs P c,!-r.r
,PJ+l;
tW qt.2r I otJi a\y.Jrrc/ J-r c,!l
$' c/'u
,sl+L; af .u:
,sb. b
fr
,-iJf
iI .t,S,g
,'
,.-t)
,s-Q
oJW
& u,
i; i' :ff,fr;':fI,:r'ffu'f '
,:
s-icl orl: cJr- ;Lrr "Jti
,
iit;.,
alti; ,c*l cJ-i o-I,-r alti; cS:l
.t-irt
f
tsa
+l,r rs.fu-t rS ^'Li,GtS
a1
^S,r.ls'b s
6;J4- r ,tS. ,"*t*
"--.I-f.,, o-L ,fL;-l*-L u+-J,,s
b .vL; U-l
.,jbe c,!r,,..!,J..b.u.S;lj
,etY
JtL
Y-
\YJSJ
.Y
www.mohandesyar.com
et\u
ctJs+.V1.
r5{/15Jll,-*.:' f fA
e,A)f;lort*'.,"| tr,,rS;tS, 15t! .l
iU..tl ,.'Li 1.L3 ,:iJ c*rt;ll; :e^:,u. J/ UL 6t:JJi;t- g*'.J.-,lt tjrl
,6,.*Lo P ) s1,,lrtic,t :, ,rlL c-u:i ,ztJ c*1; ei A.t': J.-t
)Ss. tF b tr
J-- ;tf lli,g ,al-r. cr-l ts .s-icl o.:b-7[ ,6 -* 6D J ilr.*,-1: a'Li .f
,FV obl-r . bl-;.,g b | : \ J-t,-S-' orV^ .rb-j .JE q ! s-rr Lt i
c-)Jr ..Jalt/ &).i
t 1r -Li,.,i1+
.rlr
1ta"l rS.t+
A'Lttt ,*sF gby Flrq a^; b s,s-;.,g a:Jlsr;irt',.5.- ol5r,-ji; jl .0
jy:T s,J*r iJ,l
.t-r,l ot:' f
o5l;: .f ,uT;"u pt+l
lle;.l rslt:* J-J:l
"tts
,,-a '-L21 t,r-.J.,l o:lr c^r)tc 6)--a,1a { ,*uil.: Jtr Ct,615a,-ji; Jt.t-..J.,g
JIS
.$rc/'nturrtr'?rl'!ti";):il:;.,
ut, w.>td st tS.'Lirr ,lS t*+b ,y,s,t,f ,l JVi ,-rlaLr" y-l;r .V
;-*g orlr.lf c*, Jr dt+ L-t-. ,slt tS ^'Li t ,5'/ f)ttl 16:;E ;Uj
*Lir: tV,,Pt zrit,*1s jl Di u".-;l o:$-"'l L .A
crtr:.r .t'.,'J.,g J-V;l;Jl
,-&-t ;ry:T *
L: ,$./ u* , iT ,-#t: 6)i ,th,1 .t't" .s:t JLrl tr
;te.l
.I-f.r ,F lr a, u!;"t} jy
L ori rL- irln ;!:,, .c*l ^;,iJ ;ty"a c-J) jL,;-f 3 t-',. orlr ,.a.i..ii Jt .l
Jl
6).-a.:t t ,-ul.t t ,b 6& Jl ..t"tA ,ll ,btsf- 6a J u-S-t J^' ,t
!1
.rr-rKi"Li ,.Ulr ,U.; 1t+l
Gfa j\-f
c,t]^c 6Gt-r- i .5-J' d orlr ,*.)tc
..u r"li c;l;i;l c,L-L; ,lt-
:;* "[.lS(t]u.,,t+l t" b O bV-l:ly+.s) Y '^Lt b S.r 'e ol21 .\o
)56. ;,VI , Y '^Jo--r, tr
c,t=t^c eJ[ rlr
lq GjS cp,st+!:, '^b:+ al-iC dgt=t^r;l :.e, f ti g,-l
.(c*l Jg. uJ ts:st I .st+!-r, ,slt ol
,rttu. dy .r;_!i i-a; a5 c;lr o-.i
a,
t
,(ts-L; ,c-}:l ,-r;,-',Tl
fu
.rr
rl:Ir-{&l'fU=f
c.-l il c-tr
,sS r5f
-K-, .skt*; utS. ,,r s ,:-f c/ orlr .L; ;!l I -5- ;l 6l^4!;tS. ta; ,J-,s&;l lti; '* j:-rT lr-:\ o-Te cd)& ,.eS- rt-l a +i ! r ,ar-L, o-) :l
t-,.j,r.1 'a.q;l or[- .l [,gri'.^.r.(rr rnlF ol5c.; : Gltrt..,,;tr., t J-6t|l9,',LLc rp tt Cl+tf j:b ,:r ;tS.l a-.96.l 1'lr^r.,.,,ti:,il ,ta.j-i
.b-1.:
aS
;rT
www.mohandesyar.com
f
f t e\u csJtuW
;rU.:
,sl1p't 4F
; S- .1 ,111-26 A u-l -2) r4.di ,: .:rlJ !"J ,F_$- t\ly t ./tJ*t
Jei ,-&-t u*;l .(*:: l, O- \ Y ,.r-r) s.il: F+l;r j! ,r-|, ,-): t ,slt t\t,
:l ,stQ.LU..-t ,l-*rrQ Gf .r!t' lpuir.st+!-, 6lyo9 ,tt5 p
It tr r,2t5 u-l .tj,-i* j t+t,:., ,sb g-e 6a1uNt,st+t ; &r+ 4! t tr:2r6
de ort.il ;T { ,c,!r,, .lil--tblt,st+U u$lt d-:., -2r s V-)su. & }l; rt
6t-tuEt
ut
t:rtlr.r csJlab1 itr-i LslJ lji
llra
f-\
./t{" (Jijuro
ft*"| dr-r9T./: .*)- q,J"l..i +tr.+-r- uJ,;.,l,y rsl';^,*,*9; srt^a.Nt I t+T;l
J: aj t t)b tS*+ ,x-\ ,qg2-1an[r ;!; g ^S c*l LJa u-,, ,-u-i[ ts.bi. +- 6L ' i .2:
jl ,il, ..:*l L#Jq! 6Wi,o[:.u tsz-1uLrr,st+t ; t'b u-]sl:;-.$[ t65r- y-l
.shf,rQ3 t ,4-;:.+-,t+tS. u)ltt ,;t-L ,sL-l:r'a,.t ',- ;ts,S
\fy
",;.:^.,s!r
.r-.J: ,g orLq.-",,| ,..rr5,
+ Lt-,.;trl^c 161 ,slt,sl,;u:-b-; sul) (J;t^JLt if
LJ-n + il-id,f J.i -2r oJ^i
,S* a.:-21.r;t:-l 6Qr,rhr;l .c*l q.fu>.r, [+"y
* r.:.*J tlil
dr
J1yaat I e'Sr 45,r/ or[r'.",1 s-j Jup{ dt-6a Jr.
=*.}43
,sWt,J'.t-i ,,srt-;l a_l+rt*;l; j"re ,st+r,rh : ,;i-J. ,g;! .13!*,-l -. r,rh
.X_irl c;L ,,sJLa
r;[:.r.r il-id,s,*c/,J.L.l !, .,--u^ ,s[l S,p\u cs2-1*.1, L*., #1, t:
jl .i- t + Ltt Brd 6.21j(ti 15ta'i:, ve,-a; o-):1!, t6:*e,.l,tJi,['.;[r.(-r
t+attt ;.1T;'. ^S,L d^',, yy c16 J*:1,#,r-\Y r$;-1: .rj,s:LJr.,LdT
c,!r,' LEt rt t+At.6; a,r-l;l .5.,- f .tf e o-r,,r ,rla:iJ ,V Lt-t g;JK u;l+;tS. -r:
.s-*g ,,a;+* (,-. 9-,-2ta;) "frame" A :l cr;t-1b:+
ctlti
iJ:-^ l.tt{".S;LJ- o.L.l,cr!:.r ,Ss-tuEs..St+,!.; jl qQ.f
d+Jo..ei.rr:,r.r
,-.!-* Jfu
J$ ,;rf EJ ,s.r:",st+r-r;loli srrlj(,[ 15t6f,i:,.
.r;; ,rl: akr .-siU! -r, ,t+T u$it -S-t t ,Wn,t0-^- ,C;L* t- pt*tl
"!iil: ,:./
c,!:,, tsl-,1u12 p
&- el) f tfu r) d s,-t#:..i y-;:,a. ;l
";J ""\
t5 8 ,slo-Fjl t-6.:; ,G-iS,st++ .;ir: -2r ..*l ,jt-61 ,-. f,;[4a -2: 1L.-l ,sjU!
.t-*g o:L,'-.".1 ,r"i o.2l,.il ;l+ l!
pt+l rS;L Jab,r.l^i 6.21j3..[ lL."l ir..t ,ctte" ujU] 1510.--,,=,u s. tt
,.-.'-y;
,,t--+l alj',+ *s) 6j,fs',tj f-- + ! :, d:*yy-* ,[f] ,r.l
tSa-1*,Lt tFt 6- il="u{ fL*"| U-l:l ,6- ol3} ,u-,;tT:l:,t-*,1 j-p f.=1s *ijg2+ .rJ r.lp 6f i al a o.ui,_[-o:,. f t*"1 415 ,ri o:lr cJr' e-,p
a, aorJr[.o:,1
www.mohandesyar.com
eU.21 c1;1-.1u81.
CQb.tJ
t{+:.-:- f f "
z
I
,tt.9
6jU!
'b
tr-r f t-"1 + J.-> cshaL6a
;l
6lr-cy',- ^Q:+1.) ,s.)S Jj-
qE f- \ YJ5,J
.l:5u-
4.":t) F= b. ,L.i5 sj tS ,''Li lbr ,[-lrq iro, 6;l;l + ,Y- \ Y J,fu, tsJK &L
(6la.lr2.t*t
^'Li ,s$r 1r, isI ;,l.ilaos J-rr, ^'Li t g-, d' s-ig 'rlr pltl
t-..'J.,g c.cL ,(c*l o.li g;rli3-[ "bracket" aS,frame r;:t-2lli.-2r c.,!"F d--)
.J\:sj::i;i ttpintt .& rsu. o-u or..-irl&
;!:,,:9 3.2!-2: 6-&JL*1,-lr>ttl ,J.t.i./k" ,sjL*l- fu,Jb{l cJL.2:
I pt*tl S "--& -b .tt le ,-:--*,'>{, ..rl.,, rKt+T ! c,t,:, aJ c*l 6,L" 7l )
,t^d d-ri t ! r.* f ,J-6 JS- t+Jr" u-l .tS,g J:aj CAD Lrt+h. ry,-at
:l ql*; :l ;;ljr-16:-r$t ,,r,-tro:l: ,:4 5*B l', ..u.rrr, cd)4, ;tT ,a- t- ,C*\f Jj f ,6j_s y-l;l ort,-.,,l ;[t5,] .rJor{r-..,l rsrS ts2-1+,L, e.S,-.sk$-,
''-iL/
cr!r,, ,sA k tD,, U;$r>
tfJJ
dreW
J: j ctlti ,c,!r.r tSy-1+.L2gt+L:, -&-t t tQ Ji-t
t llnrl tstlJt tt)b oJt-t5o:ir-"",1,6i-1a,,12 ;r\: uSr 6l^.,J:-r 6;J6+ t, .c-l
;tS.l ,;l,j:-r y-l .:-2 .up (V ,"t , 1) oJ), ;raj) * 6tAox5 +ly: 6i-r.b
www.mohandesyar.com
\F
-Lb A..ru
,.4l*lr ;t-t Ef ;l orll-l tllrr ,s;",= ^ 5 ,jrr iLi J
"i.iq
.l
.l
o,rSorli-. ,4f4'.^.r .s.t:|,-r. eli ..r5rrU' 6UlJ .L;tc*| g-16r c.S7 ..ld
..lu,SJF b cSr &r. tcr sl;.,A
c,lr-u g1bt tj tr 15lt'5r ,s-iJiir dr (c,lrj-r) 6lruJE - u!-[; u!;:-+
r.-je -b.tt
ff
c,\u tsJtuV A\:
,sb
f:'t
L-
t,-
t
,2r2 "goal2tt ;lS-. t ,,z-l b ,sLb.lr
9r, "goall" ;tS.
.c*,-! e9
o.[tri
;11
o.t;2-2r L
,oJ^..i
9r1
,:b
"goal3" a t'vial" ,c-)
,ri,;2,T
c,!r,, { >l.i r*
>:j O*
jl ,d -ii;
Llt;
.Y
a5;T;9.1,,
.f
,fl \
ori
ll-ie,ct-"|
U-l
6,;l'+S
b -lt;l ,;;..
l6u,-l
:VAL
II i!; r
(J;tq ta.j,-I.1r)
AL ul1; t
nove goaI1
noves goal2
nove vial
nove goal3
,$*,t
J;;S
"g^t-" roL ,rSJtS,
nove garru to goall;
ltove garrn to goal2 linearly;
move
garn to goal3 via vial;
:\rJrJii-l 5...='1-;!-u u!;
10 nove goall
20 nove straight goal2
30 cpon
40 nove vial
50 nove goal3
60 cpoff
J:aj
,*& (J;t"uJq- ,,g7-1+.Lr7 t-st+tr;;;:t:
&lF ltful ,r<,-S,- t c.,tr, 6-1,-.1a,L2 tsL+!; d,rh ,d +i tj ,rV + d.f fu
Ll .s.rl: o:L
U;[.65J-
,sb
.ll
1. Intelledex Robot-BASIC
www.mohandesyar.com
et\u csJtubl. ,s9b.:r
,hr,rkt
-\:iL
tf..o-
Jh;,L ,sblt ,sVj 6t) J. u-L-1o$^s pt+l
ff
.
-{b
.jL:) o\--jU
,*lL t 3t|Utl rt(,>) i/-q;, h3>*1t+a luL ,--u-r JI,..it,.)* i c-{ti .Y
..,K1.r5,- . L6.nt1-t i,,xl ,,1,-.l; ctJ.3ti J
,ll1.:* ;l ,,gl*ar, ,ili .u.V cS;-.S.,- c.c- L- cr.L -l) Ji lta.-l crytl; .f
6;3 rl.l';yr.rn-r!.,r f*;fL c,sr*,;l o;\;,bb L-cr xlig o.luSorli:-l
-,".
f-f| L-,tSr crr. [-rt*. 1fg orlr atf..l oJi:forUi-l + E t+ ,il
.$ C,.=g op:a, It W .>tr
ot;,.2i&,cshr,rt{a ,trtr 6,af l;f c4nth t .^r*, .i.u tti.; irt{t c+ti f
..r:-:!cf (Je 6 + J'-z):.) Jr^:, r-sh-rtrh e ,0J.5 ork-l '^b:q
,tUt rt|;l #J
olSo:[.t-l * ,6r'2".-,15 6i-1^nL2.,sl+!;.;ii: -u.;U ,r a\a 6a-1+,Lt,st+tr; r,
;rr ,-.r[, ai c*L', il+ i/-l .;S ,r;.:. b -V ,slnl 4J tFtl orl: alS'l
,r,.1;
$i ,p s,le^.1211 Gli|,a..tirr-2r (vrJ) aiL rt-,-l ,;lb vLd;l s;t-r:T
.J-1lr :.9,13 i t\y ,St-tuEt gt+tr;.r:
6br2.26;l tstt**: t, --E .,;: ;L;^.4 ,t:lte,o;ui JgL;l ,n6,st+U- rr1.25.2r
,1ly C,tQ.r' d c-*l ;l ;bl cJc .c*l ,lrr*-, 15.r;-:a c
:l '-&-t 6t-rs
La
aU: ,r1eS yh'- *
,tJ iU;- ,*+ d;tr-r, r+ t- st jl ,stS J* tt,d,LJ-.c
.1rU rut).l.iL :5,-.;r c,!l .5'-.s,r6.JtCU* I Jl ,P J:.s-*,g ork-l r;Ji,s.
i{-rq ,J"-S.," ;,l:ly{ t! dc^il: .urp trs rs-&.t,>laa; r"iq,(Y-\ Y ,[5; ct-l5
9 Jt3.-l 6ter::-r,cr!:.r rS2.1uL.r2 ut+!-i,2r.-lil ,rp: g.-a t ..i[i J-J lL:,
iLi n rrSLc ,sl1. y crloJ:?:r, .rt+BL 4\: gt-2) e ,o-f ";J -b 1: <t\sJ r,-o
e
,tr11.r.,1
-^.^.rl
.[f] c*l
oJ.i a.-ri
t;'tE ,t:: at-S -bt) d,t::.r tS1-1anlt,St+t ;.r: I-t: S ,S-&-t 9JL
'^b:, AfU;
cl-l r: ..:.-l a-[.--dt6i)lt { Jl.9i l-ti ;trl e,cJL
'fl
tra-L-- -;l a5
L- ,;LJ^.r
P Orna, c,*l tL. i-t, U-t ..ro, g-t, ,SSu. C.i[-t,
slb.t-t;lj,c,trr.r cSa-1a.Na.St+!.,i tl ,-fl-2r .r.9-i orlr ,taa-L^- :l ,hl,Jy,-oa
.[f ,Y] c-l o$ -nl/ larl{-uf
,-rto,ti-!f
csJ1u61
L#
S|i6.*L. g;1--tbi;^ Lr'." ,-&.t 6t,*5,St+!; r.;La ,c,t:.1.r ,Sy-1+,11, tSt+ti.r.r,
LVj .rijLi s ,1,*t sr5 ,roL ,rfut(" .st"ri! 6t-tbEt.r* I! b tt-Et 6-rS
www.mohandesyar.com
ffI
c,!s
csJ;r.tb.y
J\) 6b p't J-)t
iT.rr r c-l ;l 6).-a:,r c,L:; i"1 .ltlf,
"lrt-., tt; s iyjl
'iu:l
.!-f ts$tr.ill aa..L;r, g/|fr|,-[r: .,l,-F,uL2,r-b:rLn tlS +t[[ cr:],f crti-*"l
st+tr; :l ctQ.*; JLr, ,rpr 4^.r t ..r.T.up oy-L,rl g3b6.K;T,.uL ,.u
6.SUn , L*j E i ,+,Lt 6latsLr .5 .r5,r, ,r; ur* !, ;tr, g;11+.L1
b* G!*.",u;ba.ti2;l orli-".'l l-! t+!; tt-lf rg*Larr.r..t:.it, lr"l ,.J*ti.S;.i- ,*,12
..;r.iL ,u-ilr jt(,li .LU ,[J,'.; p
),|^;LJi ,,aEJ,j 6aJa-!-t
Jt
.t-,;.
,;.rll-
g,!:l
l* a."L.r
lr..- f.: r! til. t F, | : ta,-l .J b, o ! r.r 6y- 1 a.1", tr j.,, t rQ
c5t^d..1 ,.- :l
t ,Jc*r *!
r ,ri! X.ey e:i t
'fu1fitS,
'i
qrt^,J:-r',r
then
,elset' 6t-tuEt
. 6tls.,il.JlSo:lr',*l "if ,
f!.lr
.rr $li -ll:1-, tQ E lea-[.-- rrSt c t JtE ,sU. +:
.c*
[aa-
.3-?
"6lr 6t,,ll P
tt
g-t,;l J;li
r-9r c-Jb;l
! c,tr:, <6^+l
i/-l {,dq p
-b t -r r"-.- oLa.; b.u.r,r, ;15,1
"-.=*
$[i; rgr.r .rbrS ot Li 4Uo g-,Y-\Y r[S*i-1r,)L,.r-.r+ a\a +b
"*a,tr#
,jJfatp sr:S J;S * ,u1tt r # b l4T 6;14.: ,K. e rJAr.r.r
-I
.l
o:lr' tr'i.|y'.f ,!rl p,h, ot**,-l *:t-rkt t # rhus ,e."rl-' o:,-.btd..l +
,rot
caL. clt ,u,r; o:'J) u-l + Ll-,.;tr)l!l;l
=b,/"u rr,rtrt
"$1ytS,
;l
u.z+,)s.. -u-:t
c$ J* f
.'-S
-&-, ,-l;*aa;;l
*6
97 c.*loS^, taa-L.- ;,
65t)t;l xl;u.,c,!r.r6t"'l5JF
o:t.I-l "J$ a.; a J--:. LL.-;l o.r.Tcryrdr
jT csy Jdr rp tr ! pL-1le,J:5qr,:L-r.r !,, *.J
6f rl;
c,tr-r,'
^S,q$*.,.ttS
.[Y] :.2lrr1
tt 8 tt:." J.J6t+Jb t !t;rl
tl2t,S,t [f] .*:,.1 6jlFl W l.-rrb t oJl5o:1r-*,1 ^S,ctt+,br, i!; cslolF,
.b r) c,!r.r J/ ,:-* t tr!! t)s,aat l-! rh[+ b ,s-:* a|-;l*l ,>-l .t]
.JSv. J^r t+=!ti
s a\a'(;-:",rln ar-t'+ t+- ,;t:, rSs-1a.Lr;t\:.*J
"r-l
a,
s)tJ,tlat:', c*l OL. ,J:5.,, o:ll- "l G-ti JL- J.J:l ^S ,,-i,+,11 .st+!:.,
jV tJ * cSr.S,- # -2r o-u ,srsTtj d)-; c,Gill u!-1.^; c+t, i;*,,sJ--t
.[f] ;*L c.:lr
aJ-t'a ;tl-ie -" b
=b ,stt Jl.cl ';'-; |b g-si #5t ,r1t4;*1r
'o|s+,
Jt-.i a:* J-,S,AL iti; .iJ -h tt ,Fr a6,Lt;l u4
,i_;
'p
,-):
.J56.
j,o.r:Sr,_L:, ,s:* &-: (Gb:t oil? -, Jbl
ajJi,
^d? -) '#
tfu
.s
.up
tS1-.1an11,.,!ti :.,t, 6*U,;-*,,(#/ir,-+
;-*,'t^-, t| Jtudf t)
;l
ort -.
.1
\ ;.tl-ig ,$J rlt
c).a,
y2t
J,"-i
www.mohandesyar.com
et\u ctlsulil,s9\iJ t+.i".r* f f f
.$C i.-:ar ol;Sy-k .stg Gb. ,srl& ylfid
nove
garn
o:lr y[
-b \ ,ala c4- ;] I
jt
to goal
!rith stiffness=
(80
,80,0,
100 , 100, 100)
with force=2O*ounces along zhat;
g!-U cSJ/a61 Al:4-, 4r eit;
cS>J.tS
0-\ Y
iJli ,c,!r.r tstt*,Et st+tr; gf gbs E1[;o ,?gT rJ'l t+- +t;
,sfu tt t*;t b Jtirl JU, ,j4
i .x\ AfU6,st+t -,r r !.ld +;i uba,tJ-r:
b.de;!
-il[;., 61-1ulr, l\: u +L;tT c,$-c:'.-ti':;l [\\] f.r, illr f,.! ,f 6S cy il c,!:.r '^b:+b a;l'vt ; :tSu. b lt;15- al:*r,ta+.tJ.r, y-l
,1.i(1 itL cY:.--r-r rY L,r,e: J*-.sF 6a Jf ;T,c;lry it, c\; -"rr.2 r\
r ,o* .:-)tt 6J,-a:t 1 ,Jtr 6toF i:,a ,y, csllF ittsT ,slt tr
U-l .,f -*
.r:: slF 6, ,.Jrb ),5,r;r; olli ,:.i, tr SG1-r-;: .taa..[y
-,il
ct+Jf,
t-r-l
L-
L-
-*J) iri{ .:,t$ Jtitl
orl: ([\\] g-.r jD J^- 6-* )5 (fr c.,t$ J[i;l ;$-c ,r! [f] AL LtJ, ,r-i t'
AL AU
t J.'
Lsf.
tt-*.-/
BECIN
"Palletizing sanple progran"
in-pallet, out-pa}let, part;
FRAME
COHI.IENT
fhe (1,1) positions of the pallets and
grasping position of the parts;
VECTOR del-rl, del-cl;
VECT0R del-r2, del-c2;
C0HMENT Relative displacements along the rolts aad columns;
SCALAR r1, c1, ir1, ic1;
SCALAR t2, c2, ir2, ic2;
COMMENT
EVENT
EVENT
counters;
in-pallet-enpty, in-pallet-replaced;
out-pallet-fulI, out-pallet-replaced;
totT::"
insert the frame definitions for rN-PALLET
and 0UT-PALLET and th vector value for displacements
along the roes aad colunns. Tbese sould be taught and
recorded using the robot. FRAME definitions are typically
unreadable by hunans;
COMHENT
Nolr define tbe procedure PICK a-od PLACE called in the
main progran }ater on;
www.mohandesyar.com
f f 0 crtls csJluET a\: +" tt ri7 cs\t.t6
PROCEDTJRE
PICK;
BEGIII
FRAME
Pick-f
ra.me;
ir1:- ir1 + 1;
IF i.rl GT r1
THEN
BEGIN
irt := 1;
ic1 := ic1 + 1;
IF ic1 GT c1
THEN
BEGIN
SIGNAL in-Pallet-enPtY ;
WAIT i.n-Paltet-rePlaced
ic1 := 1;
END;
END;
pick-frane := in-Pa1let+(j.r1-1) *del-r1+(ic1-1)*deI-c1
M0VE BHAND
T0 Pick-frane;
CENTER BARM;
AFFIX
part T0 BARI'I;
END;
PROCEDURE PLACE;
BEGIN
place-frame;
FRAME
ir2:= ir2 + !;
IF i'r2 GT 12
THEN
BEGIN
ir2 := !;
ic2 := ic2 + t;
IF i.c2 GT c2
THEN
BEGIN
SIGNAL out-PaIIet-enPty
WAIT out-Pa11et -rePIaced ;
ic2 := I;
END;
END;
pLace-frame : = out-paltet+(ir2-1) *del-r2+(ic2-1) *del-c2
M0VE part T0 Place-frane;
OPEN BHAND TO 3.0*IN;
FROM BARM;
UNFIX
part
END;
C0MMENT
The
nain
OPEN BHAND TO
WHILE TRUE
BEGIN
PICK;
PLACE;
END;
END;
DO
Program;
3.O*IN;
www.mohandesyar.com
t\u tsJ-su\l.
KAREL al'i; q
cf l [A] I(ARtrL
;:\: + ([\
\]
.'q|.-,.:ll
,F
sWl ll; o' ff?
J.' .16- J) ir:{ .:,G;
,sfu:r c.r:: c,t&
JGJI
JU:jl LUl uj
25-f tl
progran
PALLET
-- Transfers workpieces from
one
palIet to another.
var
-- Variables for th input pallet:
BASE1 : position
-- (1,1) position on pallet
IRl,IC1 : integer
-- counters fcr rous & cols
NRl ,NCl : integer
-- limits for ror.rs & cols
DR1,DCl : vector
-- delta between rous & cols
ISIG1,OSIG1 : integer -- signals for pallet changing
-- Variables for the output pallet:
BASE2 : position
-- (t,1) position on pallet
IR2,IC2 : integer
-- counters for rors & cols
NR2,NC2 : integer
-- limits for rows & cols
DR2,DC2 : vector
-- del,ta betueen rors & cols
ISIC2,0SIC2 : integer -- signals for pallet changing
routine
PICK
-- Pick a uorkpiece from the input pallet.
var
TARCET
: position
-- target
pose
begin
IR1=IR1+1
if IR1 > NRl
then
IR1=1
ICl=IC1+1
if Ic1 > Nc1
then
ICl=1
-- gt a neu pallet
dout[0SIG1] = true
-- notify pallet-changer
r.rait f or din IISIGl] +
-- nait for input line to go high,
-- meani.ng pal1et has been cbanged
dout[0SIG1] = false
-- turn off our output signal
-- conPute targst Pose
endif
endif
TARGET =
shif t
BASE1
-- start uith (1,1)
pose
(TARGET, ( IRl-1 ) *DRl+ ( IC1- I ) r,DC1)
-- shift for roe and col offset
-- gt the part
nove near TARGET by 50 -- nlove to 50 nn away fron
nov to TARGET
close hand
TARCET
www.mohandesyar.com
f
fV
$J2ufr2 Atf; e-
c.,t1s
nove aray
q.ip
ssJsS
-- back anay from
50
TARCET bY
50
nto
end PICK
routine
PLACE
-- Place a uorkpiece
the output paLlt.
on
var
TARGET
*- target
: Positi.on
Pose
begin
IR2=IR2+1
if IR2 > NR2
then
IR2=1
IC2=IC2+L
if Ic2 > NCz
then
IC2=1
-- get a neu Pallet
dout [0SIG2]
-uait for
---
= true
notify
PaLlet-changer
dinlISIG2l+
uait for inPut line to go hi'gh'
neaning
dout [0SIG2]
Pallet has been
changed
= false
-- turn off our outPut signal
-- cornPute target Pose
endif
endif
TARGET =
shif t
BASE2
-- start uith (1,1)
(TARGET,
(IR2-1)
pose
*DR2+ (IC2-1 ) *DC2)
-- shift for rou
and
col offset
nove near TARCET by 50 -- move to 50 mn auay from
nove to TARCET
open hand 1
move arlay 50 -- back away fron TARCET by 50 mn
end
PLACE
MAIN
PROCRAH
begi.n
-- initialize
IRl = 0 ; IC1 - 0
IR2=0;IC2=0
-- initialize other variables:
counters
NCl, DRI, DC1, ISIG1,
OSIG1
BASE2 , NR2 , NC2 , DR2 , DC2 , ISIC2 ,
--- nunerical pose definitions onitted here
OSIC2
BASE1, NR1,
open
hald
shile true do
pick
PIace
end.lthi
end
le
PALLET
--
looP
TARCET
www.mohandesyar.com
c\u csttsu\ cVl)J t{.:.-r-
ffA
VAL II ALl; t J-' d,S- J) irri s,bl: Jtbl
t,2.t6 li,Jt-- 6fu lr ir: otJi J[I;l .-s!r,,[Y] VAL II atr.i t,$ +:,j Ll;r;
,t-!:l +,12.,a-l )Su. j2l J*-,s5S-.sL;ti; ,(eylurlze) I/O (J;kJU5,f,Ls tr!.r, r ,$.f Cb ept ,otJ tVt LQj or,Jorl,' .l L ,r:,-=- JQ.;
& ,s6cJ t c,!r,, ;:lr cSr- o-) -il,Ll,^- 15JS- ,!.. ..u:,r, ;tr)l!l frJ^' ^.1;,2 ry .s-*J. cl osls ,r);2.T;tr-u +Qr";rJ'+,a )l or{r- .l L) 6.u. '^U:*
;!r,, ,i-u.i orl.: ,,3.t:rT tr* ,sfulr;l .5;i;l e,.Sd a*l^. l, &, !E i5
6J.-aLib:+
r*r..-til b $rc/ a..l:l ! ,6 ,:-l r.S.l :'GT lr;tJi Jti:;l
L-
'?t
.PR0CRAM
maino
; ABSTRACT: This is the top level program to move parts
; between two palJ,ets. It a1lows the operator to teach
; the pallet locations if desired, and then moves parts
; from one pallet to the next.
;
DATA STRUCTURES:
;
;
;
;
;
;
;
;
;
;
;
;
;
;
in.pa).let[] = An array of locations for items on the
pallet to be unloaded.
in.height = Approach,/depart height for input pallet.
irr.ma.x
= The nurnber of iterns on a full input pallet.
in.count
= The nuruber of items left on this input
pallet.
out.pallet[]= An array of locations for items on the
pallet to be loaded.
out.:reight = Approach,/depart height for output pallet.
out. lax
= The nunber of j,tems on a full output pallet.
out. count = The nunber of items le . : on this output
pallet.
fsafe
= Safe robot location reachable from both
pallets.
LOCAL $ans, in.count, out.count
; Define binary signal numbers used to control pallets
transfer = 1001 ; Input signal TRUE ehen transfers permitted
in.ready = 1002 ;Input signal TRUE when input pallet ready
out.ready = 1003 ;Input signal TRUE when output pallet ready
in.change = 4
;0utput signal requests new input pallet
out.change= 5
;Output signal requests neu output pallet
; Ask operator about setup and teach new pallets if desired
PR0MPT "Do you uant to define the patlet (y/N):,', gans
IF $ans == "Y" THEN
DETACHO
;Detach robot from progra.m control
TYPE "Use the PENDANT to teach the input pallet location"
f3^'i
. ti.l'"r
www.mohandesyar.com
t e'\u ,sttsu\l a\: *t tt $2i csJ.t6
ff
CALL setup.pallet(in.count, in.pa1Iettl, in.height)
TYPE "Use the PENDANT to teach the output pallet location"
CALL setup.pallet(out.count, out.pallet[J, pout.height)
TYPE "Press the C0MP button on the PENDANT to continue"
ATTACHO
;Attach robot (wait for
C0MP
button)
END
; Initialize transfer data
transfer.count = 0
;Couat of parts transferred
in.count = 0
;Assume enpty iaput pallet at start
out.count = 0
;Assume fuII output pallet at start
; Wait for transfer signal, then start the palIet transfer
MOVES *safe
;Move robot to a safe place
TYPE "Waitiug for trasfer sigual . . .", /S
WAIT Slc(transfer)
;Wait until trarxsfer signal seen
TYPE "starting transfer", /C2
; Main loop transferring from one pallet to the other, requesting
; new pallets as necessary, Quit when tr:nsfer signal becoroes FALSE
WHILE SlG(transfer) D0
;While transfer i.s still ok. ..
IF in.count.(= 0 THEN ;If out of input parts, ask for new
SIGNAL in.change
;Request pallet change
WAIT SIG(-in.ready) ;Wait for input not ready
WAIT SIG(in.ready) ;Followed by input ready
in.count = in.max ;Indicate ful1 pallet
END
IF out.count <= 0 THEN ;If output pallet fuII, ask for
SIGNAL out.change ;Request pallet change
WAIT SIG(-out.ready);lJai.t for output not ready
WAIT SIG(out.ready) ;Followed by output ready
out.count = out.nax ;Indicate enpty pallet
new
Et'lD
; Acquire input part
OPEN
;0pen gripper
APPR0S in.pallet[in.count],
in.height ;Move over part
SPEED 20
;Move at 20% speed
MOVES iu.pallet[in.count]
;Move to part
CLOSEI
;Close innediately
DEPARTS in.height
;Move up again
in.count=ia.couut-1
;Couutdown
; Place output part
APPROS out.pallet[out.count],
out.height ;Move over output
SPEED 20
;Move at 207. speed
MOVES out.pallet[out.count]
;Move to enpty place
OPENI
;0pen innediately
DEPARTS out.height
;Move up again
out.coulrt=out,count-1
;Couatdown
; Count transfer and display it
transfer.cou.nt = transfr.count + 1
TYPE /U1 , "Nu.nber of parts transferred:,', /18, transfer.court
END ;End of while loop
; A11 done transferring partE, tnove robot to safe place and quit
MOVES
.E}ID
fsafe
www.mohandesyar.com
sU.51
$|1u\
sVU.:r 1*g
.PR0GRAM setp.pallet(count, array[J, approacb)
; ABSTRACT: Routiue to conput atr array of locatioas given locations
; which represnt the upper 1eft, lower left, and lower right Point
; of a pallet. All output locations have the orientati.on of the
; upper left part location.
INPUT PARM: None
, O*t*
;
;
PARII:
count = Number of itens ou this pal1et.
arraylJ = Array containing the pallet locations.
approach= The approach beight for this pallet.
u1, 1I, 1r, ap, t[J, nco1, nrow
row, col, cs, rs, i, frame
; Ask operator to teach palIet locations
CALL teach.point("upper left pallet position", ul)
CALL teach.point("Iower left pa1let posi.tion", ll)
CALL teach.point("Iower right pallet position", lr)
CALL teach.point("approach height above the pallet", ap)
PROMPT "Enter the number of colunns (left to right): ",ncol
PROMPT "Enter the uumber of rows (top to botton): ", nrou
count = ncol*nrow
;Conpute count of items
; Setup to conpute paIlet locations
cs = 0
;Assune 1 coluron, zero spacing
IFncol>1THEN
cs = DISTANCE(11,1r)/(ncol-1) ;Conpute spacing of colu"nns
LOCAL
LOCAL
END
;Assume 1 row, zero spacing
IFnrow>1THEN
rs = -DISTANCE(u1,1I)/(nrow-1);Conpute spacing of rows
rs = 0
END
Compute frame values
SET
frame = FRAME(}},1r,u1,u1) ;Coropute frame for palIet
approach = DZ(INVERSE(frarne) :ap) ;Conpute approach height
;wrt frarne plane
DEC0MP0SE t[1] = uI
; Loop to conpute array values
i=t
FOR row = 0 to nrow-1
FOR col = 0 to ncol-l
SET array[i] = frane:TRANS(row*rs,col*cs,0,t [4],t [5],t [6] )
i=i+1
END
END
RETURN
. END
: . f0"
www.mohandesyar.com
f0
eb.21 se!1uY1.
cW t ,lt ,!b
crtl.u cJlu\y. trt#tij i o1: $Jd t- \ Y
tS2-1u!r2.c*l .,Vt iit t+t r, G2-1+.12,r-l .rt+JLyr rri ;,t+l utf:rr+, ,f.r
o|jl ;l r^:b c,)S..- til"+ ,Jtu. 6t.*6 ts2-1a.L2 + Lly JFt.- i5 ,l+t y
[r
.[\Y]
#u. tib,f-*
rttV ,-..rib Jtir.,lr .rli'll c;ka Jr,
,c,lrl g'y-1u,Lt P ++ ,rLe$-r;l ,F# t*6 r[lr.2r c*l.i
;L=Jl Jt-- f tfu t ,-uq orL.;Ln.r J.r^ c,ol Jl * .c*,1 o$
ir-l !:r: fu;l
c"#b t |Lls J.r...,rrr ,P.g-tft/,
ar[j c.,iS-i \,sa1V c"Sb ! J'^.
,u-jL
tr :) .uU ;>p-Vr,(o!:, iJ=-r*) L-*l FJ car J) $ t-..J.,g *
f
,(rr': 1t2.113.-l
.-r,-l l-1-&, .,!f-.- ctQ, s ,s-f ,rtit
1s 2 1s^aL& a.b2 g;l.ril .2, {! ,u716 c"#b , ,rlElr J- cr.., aU;
-la.L2 ,,96tj;r .;-b '^i:\ ,6$L); \ ,st-.tult J:l'^L-,.-,;r .rr.3 Li'-- ^.1r, 6El
,s;-*S tss-1+.1r2 .i)br .c*l or::5 osbl is4s t ,tstS J* I ,J:-* c"db ti
o.rlrr u!; ,>r*>5 rF ,slt' ,(SAVE) .Fi .-J-l' 6ort" t+- iT i $ J*
j.; c^r*>t +b ,J1-C ft-."|+! ,t+!:r cst-,tultts,s-.;.c./ (RESTORE) G,!,.
.rt$;\
oltc
cl-t+-.2lr, E::\r1i c.ir iib ;r9 )gJau,arLi'e .r&t, ;ll c"nb ,,-lc7
,f ,tbt.u;l ,+ Lrr) q !, tSr l-tr r.itr iV-r c,tJ-c.2r .-lil .r.2eT,5,. {*
ft4$l
cj:;l jl .,iJ oic*l ,-rlry ,|-lrt &* 4 b>t sf ,5r-r. iJ-l-rr lelx, f [, ..u:
-l) r,,! cjr ,*;; ;1Lu. -iol:?*, e i/-l ;l | ^lz'.- 6 ,-*,r--f .c*l -# lL.y;K.
aS
t{a J.r.
L,
.c*l
;tI
,s$ 6J;i
.r,'Jt !, t+T;K. ;L')ttl 6t d-i4 -\,-l.t ,-uti LP"t't+, f G I 615- Jl
,sl+-;Fh I orlr-.,l t1 [-9,015,-J t c;-t-: tsba-L-'.J:-:t ilj,g;brl ,.nt5!rK
.rl: 1t+l ,o-r,i r^ir C'l'10'-F ult nL d-ti
Cy.-l il ,r, il;. Jl tr $li Jl,or9-, ,t=*, ,ol r, 6laa,[ri u-SW pK:o -r,
,s2i\ 6sltJa6L,, * ,c..,:S;l J.t .rrrlF ort :, b aT:l d.*i ,otJ,.>,'S;t -|;r,
l irj;5 f t3!" tl .c-t4T
rJL I ,;l L-; '.rd ,[^- f L*"1 s ]U ,rSJtS.
",,!;
(
;tJ-c S:..c.;./tq $l cJL t ulr.r ,jtL+ t-r) ,l:.ro-2lj.r,F-i ft-"1
8J 6 Srl rh-l dl""* fL-."|-2: ,6-1tS...3-p L- e ,g;-2t31- ,,q$t,,.5-2t1(;-,
9,15a'xi .r,-+ 6lle'; +lrl
'r5orlr- 'l ,F p) c*l 6rS^.,4er.i,i.1r.-l;y-i,[
;tJ^c jl #'.l.i,'t+l c,tJ^c'.-t;l rj5;,u)_toj)lr .:2,,5+ rsrl$c,tJ^r tt b ;tT
1l,gt
..r".i[ a:*il: c^:, ,jb ,2.,,[:i g:Jt ;r'lc^atr-1r c*l OS^.. E ,vl-l ,al$
ct-l
www.mohandesyar.com
s;,b.u
6Jr..b1cVb.:t (+; *, f 0Y
'nbl ii, .r-L.t
ts-li.c*l Sri6t*66tu.bra Fj g;!r1 r.,ll.sL-l ir,itr q O*-b, gltuBl
l!1!-E .t-Je tlt e.2lS.rri 4',i +,L22.1*tr *- J.S-,t,slc'. .' l.ril ,;1,
c*i,+rtiy &,9f c;lf'" ,i 3c,.-l.rli;-,| .j*b.ffu ,-)y U-l.4lc*,r. J.6 LUJ.
tr jl ri:, 6;la-l.lir
.:JL u-l ,t+t :, ts.;--tu|t-2r .-lil .t-r
6r -t;-r: F f 4T ,s-Stl; f fu *
'ft
jt"
o-Jg,rF
6le.Lr;f ,5,f ct lr-l ,;-tst c;tf * ,S 6la.L1. sl9 .4,.!rL
uSJtS, 62i\ c -,,.';2+ uEt irrc-:b ,[Jlful Cr-l #, .r5,r. :la,,-l Jtful .iLir.,
,.5-,35616-',
q;,f** rt
U:l itS..
",
i u-l
,sEl tr!r)
i,,E:+^^ 9
,x-iL c-ll.s ,j.r-L'.-
* (rrt +lrl itS, )l,,) qfl L-l;t + ;55;
.4lKu.rj'b.rt-i:-l rr-f -,*
a,
7;:t"'
4sl;tS. ,cSr- ,s6-,*.1r ..u-iL
,JA c*i;, .,1 car t ,a\
t
;rll '1li3g -;t -Sr
'e ,6,1Jt,, (r". tf,11. V
J-i rr d) L f* L1t jaL 6I;i ,sln-* 6 *L
tS-. ,-&-t u-;l Ll ,c;lr: jtl ;l 61-1a.12.,r c^i: L. a\g It Ol c,!jl ..ur,r,
tU ,L.iJ,ll -SrrLLra p : ,:,
*; Ltjr 6l jl e, t+- .:Fl
'lAi
"-l :.:
r4;J,:rr.r
,rSJtS'. .st"e;t -2: ,cJL
,slnl ,slt 6 ,*;
gb ,f--t ,br:
L[r'lL:-l
,ri5.*ir r.;,-.J lrr #r *
iri AJ ,lS*. jl ,h, +tr ,rrcr *-i f,*.S- -7: u-V ;ts.
o\:t t ot!:.: .r,-! t4tS,) :3-,
l3L are.r^, ; J,- JI--j; Ll .('r..r s,sF o:ls
,.,;lt .,s.jtfu ts:.r!r)
.up;.u tti ! i*t ftK:" q rti");yT
c.E+J:, f -#:t-.,-l C..cL ,cstS
;lr:,' ctr *'-:,Jtt+
,6tS
c-iry
U;t^aJrL
J* I AL.,s$r e-2t13r n-h;
iL; sb'>L. c*l rL, ,oyler F;l t .S,g rh-l !, 15iL-j ;)5.i 5 ,rrlji1,Jil.,
I o"-t,-2r grT cJL ,1[.: -r, dJI ..:JL ,sttq ttl 6JI L- ,r1i e* ,>-1,. iL.i ! *
,,iIr! ,-r[b rt^,-l c.cL xljg,-ril.: u.lij=:,-2.r c,ly' tful,o-:rh^.Srt3l
rd.d!-,r).$
,.r$ .bJ.sliS .st+*
i
,.52..i Jfu )k- | ,;!,u 616 6lzi, -ig,
6-",. , g ,>Sr- ,slo-,*
".JtV
1l orlr-*,1 Ll ,c-l .!rL ;J'L, 6lzi ,slo-* f oj-s1 ,tl ,t-l )56. -J L{*
.r5:t-.,-l uDtfu.,ir-* ttt..5-+.2r c*l OL. i G$t u;t^J:-..r.1i
151
c*l;4. r[ i,;i.i ,sl, .,5=;e csa\;-,Sr iVjI ffu t
\ AL. trft Jti-l a.uLi Js-o'r J.r:,rr ;til '15 o:k-l + tS ,l-l.f-, dr
t +T 6f a5;T;l g,-,.15a:,-L,:;:+lt a\y tSf tn"^A 9, ii;:. !:r!,gt
tl ,aQ,r: c*l Of^, ,J.cr r-r-lil.rlr,r:.-ljl lr;tI u- bl-;L/,1'i 6)tol 1;L
u*-..T * I r;!
www.mohandesyar.com
f
0l
c,!g 6Jttbr2
r.;t+t{j .tt
r}t
Jb
f;.,.*;r &-r9J.an r5>.l.* + ,t+!l.i&;: .$sla.-l -J 8r JVtaL
Gbti J.{ ft4dl fK:r.1r,i.r.l.?rr.r.-,"i J:oF }ti,y1t 6lf-r i ir 1gtrtb
-b t J;:S Att ey .sb E b ,s-:ic[.7l*l slt,g &cr ,6;; ,Lt- t tl ,,.b
s;l jl
b .r; cirS
i::\ 4*:t t^; Jt-rlc;r : -;V t *L,rSJlS, s:r! s.r.rrS4 ..:*l OS^.
5,i*,|.i:+. u;JiJS:i,/r) ::\,efl: L-t;;sts,4)L;l .*b ,lu ir,-l .rr[f-iL
.,:*l j-..J't-rL -r ,ir[:r., G-21uLa.rt ,;T a +-;
tL; g*-;
,J;;S
g................,.s
i/S^. fL."l aS c*l AL,;-.'- it{" l.r b:}$ F4..- e-b;l-S-r,-(,h.r:q '!rl U; t t41c,6r- a,z..iu 1t , J;rk;f ,ori t;J -btr t+T ,slt $ ,lV
c,tJ-c jf&J) ,L-;;l 6lh tt c*: lol.L; ;.,21 3s1eT,-,L.-a, ,t+tt:, 1g2-1+,La il
Ul.c*l jtr-r
sha.; U--4 jl ut- ; rJar.rr b .,,-btb i '-'.,-t- ul f
'?
.c*trl,t; 621 6'-; ,;"&,t+!-r, te2-1u\,
,r'l+j, c*l
c*l iJS^, ,c.,[:r.r ,sb o* a*j) LI;J I ,-Jf t*, i-$t V-* ,slnl
,L-,.*-;l .sl;rLc Jtgl rt^,-l u;)lr ;[1:;l ,it.tprr:r, Jttit t, ,#[J,.],-!,
a otJi it; -J,:52 J^. 1;
^Li.t- it-ilx ,lt,t\y c-) jl t+T LtL t- pt-rl
'r* t 'CL-;tS' i.+ G-Ul-; frt '-(-.rS1 .tt ,Ftrrr 1tK:..r
c+ti .rlstJt.rrt+!:,, i.56 .c*tli Q: s2L* ,lL; *^; r5 a): #
Jye ql-*s+elil U; s,L,\ij\ y-l ,l.rlr gir,eJar-r ,P- 6j^a s js-{,.b-2: tb V-l ,e-i +,tr -br -2: ,tJai ,;;l-rfrl ,rh:.^, t-J,l
u-l .t-*
"iJ
,rt.r, ,)i .rr- f t+l ,f sr:S; ,sjr|.b:t:rtr ;tS" cltt tr rlr.r ,i-rjl
-b -rit', itS, d GJt' -2: ,c*l Cb-.S'- "[b rt rfr i4 sl JL r, c,trl d
;lrrtr c*l irS-, ,t-itr ,L-,;r;! itS. c,L=i;jl U-,u! ,t-5 -S Ul. c-l gS-, ,.sL.b I cQ ,st+Jb -rrt, . = I Jl..uiL o-\-3 b.r o!:,, c*r;l p-* t ,4.'.K Cb,y.J Jge.2r g ,1iiar; \ 16 ^rl ;:1,,.3 ,g*S.c ,*J ! lly.f c,!r,, tISiT ;; ciJ
t,r?/-rt urj l::'b.rJo:U-"",|:t:l ;tlj,C l&-, ,sdrl:_r, .$ ,F lr ;rT ,L2 t--l o-rJ tr.2 5.;l t- s1b jrj c*) J) jia g* L-l .5:lr .up uti; ,;!r., c*r .2:
.c L r.2l: ,V:Q ir9Je.r.r, .rlJl.rl t-T.5c;t r: il-iL/,u-LJ 6si c-J':l;ul t
,sVy:T .t-..J- +l-f c*-fu, t, c*l LS*, -U ,-Jr ,-i-s t 6lfrl ^S laT j
Jli.:I +.L2 J--t 6t+'... i ;l c;-2* uQ ,CG ,,llcsr|$ e or::Sd-; ,Q oy *
t.6; I t+l ,.Jr!F rS^, ,stt; if* ,sU b |yj r-l .Sii ,sttq ,.,fJ: g"-r
.t:Su.
^;
x--!i .-ut: :[-; rt-i t+i ,slrtl_2r c*
6
)y3,0;)
Jt^:-l Frry 16+ g-6r-*)
,. ,-i6
t-
www.mohandesyar.com
e,\u tsJ-*rb1rsVb.:rtf..,- f Af
tXti-l
t+T,g!rrl6 a.|.,;;l ,r,-ta:*; i.=;
.,*l
Ft tF t5;!-r,, 6y J Gr aWy:l ft4il s,.i{p:^
.s-*c
,sb ,* r&l dtt; r5;l;l ,.1
,*+ blis. b ,6 u-l
,,lsl ;l e
d Ct r) rrL X=" yl .J.6
,rJ:5
'.rLt-l i!-:q ,i-s ,*+ ,u-l +,12 J-{ u
,sD ,-r*f c-l iJS^, ,t3JL y-l;l .5'-.ra.rr .:lr ,,la..;l u) u-l il ,ftS; Js.ot L-3
xl1,4tL; g*;3 t-tJ.,g D.r,r,(-..ijil-+.r:5rta,-l .l-.ra ulL; ).jF,tt- C>t-l
.Jar g.al.a:--l ,f q l, ,".1;a.z:o
xltg,r"t ,rfotS, ,st":,it U;t^4.[J,: ts csil-f ;tJ^s ;l orlfi-l
-2r L; e
F-r, tt! :ta,-l ,r.-J.c/ pl+l ;tf ,*+r-!i u-.l:3 d.rfu .r;L;,qs4 !, t4l
,>3;L !yl:t!; x-V ll-i,s,tdL ctQ,r: .:rlK }"b; ta-r--!; -S-'rc*l irs^.
,.ri-!/ .l- c*l 1;1; csstl-yr, ,F-t 6y il.l.;i .iii,f.-, ,g;loJ;,-!i d.;T ;e.t, ,rlr
A*,31y !:-;-*,g
a-13,
c^-.fu
,.n12
[1]
B. Shimano , "VAL: A Versatile Robot Programming and
8v
Con-
trol System," Proceedings of COMPSAC 1979, Chicago, November
1979.
t2l B. Shimano, C. Geschke, and C. Spalding,
"VAL II: A Robot Pro-
gramming Language and Control System," SME Robots
ference, Detroit, June 1984.
VIII
Con-
Mujtaba and R. Goldman, "AL Users' Manual," 3rd edition,
Stanford Department of Computer Science, Report No. STAN-CS-
t3l S.
81-889, December 1981.
[4]
A. Gilbert et a1., AR-BASIC: An Aduanced and User Friendly Programming System for Robofs, American Robot Corporation, June
1984.
t5l Intelledex,
fnc., "Model 605 Operator's Manual," Section 3, In-
telledex Inc., 1983.
l6l J. Craig,"JARS -JPt Autonomous Robot System: Documentation
and Users Guide," JPL Interoffice memo, September 1980.
www.mohandesyar.com
f
00 W).
[7] R. Taylor, P. Summers, and J. Meyer, "AML: A Manufacturing
Language," Internotionol Journal of Robotics Resurch, Vol. 1,
No.3, Fall 1982.
UKAREL Language Reference,' Version 1.20p,
t8] GMF Robotics Inc.,
Troy, Mich., 1986.
t9] R. Taylor, "A Synthesis of Manipulator Control Programs from
Task-Level Specifications," Stanford University AI Memo 282, July
1976.
[10]
Lozano-Perez, "Automatic Planning of Manipulator Transfer
Movements, " IEEE Transactions on Man, Systems, and Cyber-
T.
netics, Vol. SMC-I1, No. 10, October 1981.
[11] W. Gruver and B. Soroka, "Programming, High Level Languages,"
in The International Encyclopedia of Robotics, R. Dorf and S. Nof,
Editors, Wiley Interscience, 1988.
[12] R. Goldm an, Design of an Interactiue Manipulator Programming
Enai,ronment, UMI Research Press, Ann Arbor, Mich., 1985.
krt
ol'lJi,st+tr; jl .5'-.p t) 4.*,-,i 6la..by [\0] \-\Y
.r-116 B J^.;.: e :.21:; A J?', il | 6l^'Li c,!r, ,T
.r: d([A] b [\] ,,st+:r.-2)
I rf
d* J-F [Y']
"-it+
.+-,-J..: ,..r.'iL 6y-j,,rtt LIJJ .5"rs! glqL,
3 r;tyoa,(,r;*t L-),r-rU 6Lr.r::-r
tr
Y-\Y
f,b-
tw 6bdt{ar.+5rt+;* t -1,r., 6s-1+.Lt r-.rt .r!;.5'- uJb;- [f Y] f-\Y
eV ct* J-#1iV 6ta,rt3'-r +IlO,sla,,F, 'JSf (isr L-;'r'
c,!^s
::r; J/
Aljr-....rrrs cll ,(cttb^,.
.(-r;=:
6f | :i
at-S
t f-\Y u-r) .r,-J
L,D
o-r,-rJ
t,.!r,r
! cjl-r
,+rjtt+r.+, f- \ I t-r--i t5 3 ,1\u r,sy-y,|" +.h itrl { [YA] f- \ Y
.+5 dtil -* ,s:ly c,!^c .slJ ,;Q.S- r r* J/ ,slt
;!*c d-\,*.tl C;l+,L2,c,,!:.r 6a-1+.LySlt s-ny gt+L:; il u! { [fA] 6-\Y
,rt+Jbl tr !tnrl.,', L fj1 ,rl $t..ra: pt+l !1 f-\Y j41: o.r-i cif
"Jb+
.5--
www.mohandesyar.com
ct\u csJtu\l.
t-,[A] b [\] .st+:.r.
jl .i- t jl El.;,r.r--&,-b t,c,t lj-
.g
rsV\)lll;
,3"-t
Yd7
sIlO
|,;W aVn,sb -&_r Fb
,.el; sslut;2,([rt1 U [f] ,stf-.r.'>U.l rsi-r-[: j!;.i-;l rrii'"-"| t [YA] t-\Y
lr15-,, c5! i,tJ; rl.r';41 a..[y.4*,_;
'pr i;l.ll L J^-6F.5"- {,l.i.s*,, JW # ,-bt..lr: pttl 6).-a! { ,L3 ..|i;-5- .5;T;l ..r-,J ,rrl^4
o:l:-
a-;.S-
t1fujl ir: ,*l>r' 3l
c;lr. gjla,,lr;,([A] b [\] .st+'-.r. Ll ,---;-br itr; .i-;l r:li-*,| q tfO] Y-\Y
.5.,- sl, t+T arlr-2!;e,(op, e.;l.ll L ) i+, J-- 6&.i-;l c,,l'16 i:,t;
ir- 'riJli ;tJi rl.u .l-L -[r .{r*,-;a ('pr 1l;ul L) raL J-- .s5I ,(.r.oi, cfu i$t, t-:) i.u .sF ir;Jtr jl ,r,3 ,r.2b ! F r,
.r-.'.J.r-S
orl:-2[
aJ6;
t-s:.r
.$:
c.r)Lc 6)..aL
,*l.S-,s::r J-J'^U:t dJ.-,-i 6l*.12,[r]At;!;;l or1,-'"'l ! [r0]
)9J>.2) urrr,r"[ uSJtS, ,sri.6 S,ft
.JSt,tQ r.Lc Y' q !, j,
t^Jt1.-.rr pt+l ,i,t-L.c;ls:[; rl.b; c;! ]-!l-; JF a4r:.:.21: .7Y0 in
a-; S,- ,stt t
,sU. b t4l c,L-.... iJ ,gQ fry- 4 r ,JF ,f b
"Jh
sela.L2,([A] b If ] ,sh^qr.'>U,) .t
il,
cr-;,,-L;- rt
A-\Y
.JS,J. C..; crt117
&-;l orLL-l ! tfO] 1-\Y
6 +-;*
,# ,n; c*i ',* .S:try b:rl.uL-l C) \ irif .S,':;
(r*
,.5--;.u-t-+
s ,ti:,tt:, ,F;.t ,Asfu,c-r)
t ,-*-l r-*,g J^- cJ
o b 'ast-r- &- otna'. l, 6J;.;; t5l 0-" . i 6 o;..-s ,a-fu ca
lil dt b ,s-&-t J;"., ,rt 4* .4ls ij c*r 4 plr;: ,rrf # 'ht
.{ar 1t+li i*l:cf
'
.lrot,,5=;t5, s:rtrrr il;1T.,;.5+,*,-r.r [f]AL u!; + urla.ti2 [ll] \o-\Y
':t
,fJ cd) f ,sb Lt'td- c*4 ,s-* 6 c*l GARM tq .5'- lti .r5.:
BARM..:*l BARM; -&.t ,sA\,,[ .r-2lr +L:,-i.rA 5car tt b
"iQ
,sf u.- ,s.k i.l.iy, BARM ,rJ9 .1lr dJi 6t^a-1.,.- iT 6. s ;j,J
."uJC.t b +ej ch-tl; t;-t,g JtK* GARM 6t
.(r"S.f J^-
1.,
4lre.!F-, t \r.u,5orlj'.",|
Fj
L..1:
(\ Y c-.-i) .r.*r;*rYl. U-rn
,(;-L, Jti.S,,-,JtS-t,
iti; q u|tt-j .r:3,#j
{ti ,x5o:k-l ,laa.L22-1 U-l utt.],,S jl ,r,.*jL*i ,.llc-:r;
"l*
t
3: c,lrr, .5-- ,.sFc/ ,.J,;F!i 6e.L22; Ul ;tT tt $,JtS*t, u!; *
t,
l. Ur* i"t*f*"
t1
jr5b d
6la.,l.r2
www.mohandesyar.com
fOY
q;iri
..r5 19;Ld:*.i
Lra)^L b tbl : ''&-,-l
,Shf,rkt .r.lr ;tS,l oi.:JorLi-."" I + uj
U;lr",j:-r
1.,
.j,-ri
,stl:T
tl
J,t
setstation (SrelB: vec3);
settool(TrelW: vec3);
c-*i r.t**,-l-. ahttsrelB" ;1T; ^S
JSs.
.r,-f; ,rl.1 6. *nrV a1 c*.; b _rlil
6to 'r:-:
:,;!l
+5.i-t * ): b ,Fr
?36J$*TrelW"
i-1,
-.
r,rh
a,
moveto(goal: vec3);
moveby(increment : vec3)
ttincrementt'3,01-(:-,-l
ttgoaltt g oS
;l
f,rlx3 ai .;*; l, .i.u -,. fJL6q ,rl.at.Lt
)Ss. it? u& ,lil
a &*i .|, i.r"
rl.ar.,,
=*rV
=-nrtF
4; ,sr-b b -\
LfJ,tb * d*q
,-.
LW u
:-,;i!l.', t "pathmode"
6b
l.rnl oJr,:for[-...1a54lr
)U. ..l5 lo,ll.. a.lr, ,"runpath"
t*, t pt+I"3 ,15
pathmode; (* enter path mode *)
moveto (goall );
moveto(goal2);
runpath; ( + execute the path without stopping at goall*)
.rr vhrli-
+b
t5 ))L.
J*,
;T
6 +*;*,15lo:L
<t6t.,,15> LLe
www.mohandesyar.com
www.mohandesyar.com
rr
Lt
CtV tsJtrtUJ giki'*:,.,
en-ri.o \-\Y
af c*l .sldt- ;.5;!:.,
tsl-1uLr,jlj,t (OLP) b gttr 67lob1 P
rrFs t ,s;!'d;l i:+ *J;t a.L1. a\21 ,slt;rl-ig,6j1*.6,.djlf '&t+,;T.1,
LP ;ty|tl 6y-1a.Lt.r, fo E Atr G2-1a"lr2 tsl6.J.' , , ..l.itr ;trr,' 5F a
,!l* r,L ti;.".=., y_l ,fprr.Jylr ,.srL-; c,1-al ,,-$t :, ;Li-.;J, t' susjtyl
c,+ 'l2l Cb t ,{,g c-,; ,tV g,-l ;-2!3: J; U-l I .,iJ -b ,tt tt Aftf
6[zi ;-t; ;l -r:l;rL',r/ r+lF .JLjl t+l *. 3 6W*y.rorcr sltl lr t+^:...*
,,,t--l
6;L.25;T ,,#$ rt-tn\ fL-"| i/-l
"!-L;
,;L;.e 62-1a,lr,tea-t..- rsiL^=*'. ,.r(.rt:,-r 6;*a'; ,-* 6j-f* ,.,S..Jt^+
,srS J* a:-Q6:,bo{l:7r.,, 'ob:q, i;E;.;-t+ .st+t, j \ bl;^ z',.-;
u;LoJrl.'"
*S; ,tt;t 5;Ul
.,.*l o:3, oJd s+uin, l* :l -J tQ ,rp .st+t :, tl:\ t:'t ,ril iar -rr
tStttS,Slt;-\:t.S-.-.-; .c*lrlp: )P tlyll o:{,e-.""| aJc*l ;T.rt--t ;t
6;L':LT s1fV
.J,-), t .c*l .u;t=; l! u4d; r rlj L.i5 t ,4-;,sb, e
.r, l+t::,, .4',.^:; -2: 9 ,d*l .r(, U;t^rJ,: .rS :l -n-+ tarra;5 c?l t5 aJ:*, U-l ,;tj\;
.Jlo"$ dJ 16+;tJ^r tL:lr):.r.rL*: ,rr$, 5 6loL,. 61lSJ3- i3,1 ,ri$^c
:l.u ;rr, -f ,ta:;_25 :l ctQr, cr[:r.r .st++ ./5 ri-, ls #, Ltg -b+
ui* U b o\a;l o:tc-l ,Lu-21a,,-s+ly.-sb:.!; J ittr.Jdti ox-tr);7nT;L-.ui
,s!r Le!-u J Jti )-arl.i^:,.^^.c*l ;tap ,r51;L.qa '^b:+,di;..Lti r- jl
litr-Ltr*P@
www.mohandesyar.com
!i
1ll*
u-l'45
I +-i tr ..rnr.r ib
!1
,tJ ,Si-r-l, 2,*'a, J;.-. 6;Li ,>tt
t+l
"i.ib
6t+=lrti
bl-itf ,
6-rB
6jltbr2 stf;.,r*-
Y7"
E s-J.,g oJ t6+.rt=t'
O:r|f."J':r[
XF
.{L,r, ,Vrl, crt,r, 6i-1+,1t1 ,S $r4-f l>t'n*. J,V
,ls E o!-u 62-1a.La t: d 1l: ,rDl5'i 6t,*S tS1-1*.E2 ,-# t*+ ai .:;l:
a5.t-11: u-&-t u.lt ,s4-rl-*t,jf2t 1t,a,,Et,FU-p Lr ,,4-L,' at+l :, ll .s;u.
,d,)t(i. 6;l .4 r,e,-!-) ,h, rQ.r, &Q .x:L,gilg. ! ,:LI 6lallSl.; Jt tS;
q'qi* g,-r;orL f c?.o-T.r {+ [t] ;T,F-;+ L*-. ! -t r., F et]j.tt
1-.t
-\.,-q
,l9l L..,r .,r
(dt3" J.ur;l -,: tst-.tuit
r) c,[, LEt Fj f t3;" i .t.*d o:$'"'.1 ,;",11.1) '.ldJr i;ES.stil r.5,-.r lrt
Lr^.r,rl-lr J.t ;t.Lil l-tr,(rrcf o:tl- '! +lyr, a!:.r :l 6,s4,'al-t-t5 o;;-sa"
.:JL t | ;tr:,, L*' crLir., l-! ,o!:,, u;t^d..tjJi u.Se t5 .5f t;- t;!r,, ,-;,u.lt
,jlbt! c,t t^c ;r2l .slsJ;t t#T UJI .st+K + b ,-* s vlil,c,l,.Li e ,r-2eT.r, 4:l
(a;rt-: 5 qlS;13- st)y-j*ljc-5;t, ;t& Ut'Li t-) *tj; 6v r. c'tir., d.rfu
src/ e u.ls;^o c,JL U-Jt.rrr slF (--l :, r-*6:) -rlFr.2l: ,t ,Jer e p!;J
-2:9,r9^,i1t! ,.llor'; .,--tuE;. -bt -f 3 6.r,-i,Lc"-S;! oLt-r eJteb a,by Jt5-:l af
*L1. Lt.b,;rt::.r 5f c?: ,hrlil ,Crtttti a, aar:;
'f-rfd,. cl-t+-rlr'{'c',[rr.r ,-S-* Lr"- t',.-J-l'J" Ot$l 'slt + Jl
.4t+ *rt 9 ,ha-[-..- 6a J;E.i; .r-21: g;.2t-1 ,sl-l-r tS ,t-l.f c^-; qrJ,-.:J, Ll
,JL6" ,st+J- iliL/4T rsjt6+ L .Jc*l ,* ft:- e$y;r/l+, t,tst-rS
I r:t: ;l u$1:,,t..11 itS, Jfu 4,,-r-,/- Lr^.
i/-l
,6^; ,;]-c.l I
r-tfJtr,.e yl o:ii-"",| ,slt 6 ';-l u;y.:J .ji5 l- 5
...;.-?l: -rtFl tt b ;tI L"'-. s o\a jl Jt l-tr ,;trr.r f ilt rt ,.,-l ik-.ug2-1*.L2 cp:t fus ,;--lil,;l':-r.r ts1'-tult rsLF",: " J.tiJ 1t J-1u,, Tt
c-*; +,Lr11s sr r6+.Fl, .1-u J-r=a:, t:
d +!l G\y,st++.1: .r-21: P
ub.
GQa
Jr.;l ,xtfd J,s ;l-L 6Vi t, <';-f ,c-) tl G:-rT, qLl ,.
,t-;l .t5 ,fE .tt=J*t p.l ,slt t-t-Et 3 ,l-ly, aa-JJ 1s s ,* o:{r'-,'l g;lor-i
,S.r*,*t-e- ,st+J. ,/o*, g;ta',i:lS J-J ,ft2r .J.i:3 )-9Ja,r tQ. i,;*ilr
Ef ,[a.-l: t+t-t .1:lr cJr-.2: ! or5 or[f .l c^;l;u" e "5,J.r^": 8J 16+
a5 .r; df l l+!r, 611+.Lt ,sb i u-&-t,st+t,;
e-JJ{ .lar tsrL- ,;r5: 6Loi .1:
g;lo:l:
q
,t+T Lrr;tJ^r :;tJUj
,sW-i uAS+ t c^;|.;;.,, o.rJo:lr: .l ta;T.1:
,r,,-b,Fr ,t+1,.; u-l :l ,ft.1: ..uf ,*l'.u L a\a (J;t+.:,:sJ ,(liul, t ;L^. ,rV
..tlcirrQ [Y] 6lt.S-t t,Dl'< t qr cslorl: cV:6;L"l-:. |ti+lr, !r-; ,+,.b Ke-p 621uV1..-rtf,t ;, il-i,f b ,s:syl;t:r,, cSy-1+.V2<'st+t ;
)eJarr
.tt-6"
www.mohandesyar.com
Y?\ un
J).)a...i cS2-1a.La.;!:r riJJtJ 4
e4 L-; +lr,;trl
'^U:+
'J-i lt+.;l ,k t
tsl+!; '\L.5"-t i-b
,fut.i[l,r d- t- ,,rrJLb-J-|, .!, 6,,u .l.;.iLll eL st+tf jl bltLr.l+lr,
Ita"-|.134:, \ ,-fi.-, ,tg tsl gi,,a;l ,,314:* ir:+ f .:J crlr'.".| ,Ut* b G.;l
,ctt Lr 62-1a"lt,st+t,; Orl Ul .:-f ,g orli',-"| ,.S;L;l ,$qV) ,sjltsls c'6r
tr-l-r).[f] ,5.r,-',)i; iT,JF" ,i ,.A !+l .s! ;rlJ-:4ie,JloJ.oLJ \+s\ ,--j,
tslr e.t" .,1--i t.u;l r-! ,5;L;l ,** i;Ef ,sir) c,g^.' 1e"1 ,sD.,Lg+
.r.r5 o:[-*,1 ,;1T L*^. s o\lt
a5,.lrlrrF t(TtP).tt tr
6a-2*.L2 crlC'. :". t(1tt1L.lrt
r5le -*':,u Ll
,o*l *-t \-f cr!:l g;21u12 uolt il:."^ t{.:;,,,[..oi o-lt5 + Jl
1Li:r: 3 ,-*-r--r.t:r6{ ;o cVrSr:y-.t,a,1;2r(, .t(; t \tt ,slt al-ig, OLP
E i-t* -Jli;-;;s4 jlt,g I OLP e aJcr-l ;;Lt_f,-l BL t+;".="" a,,_l;l
g;t^CL-/5a+:--r): ,(r*t, jt*
't!rr y21ul*,t * $";.tf t:) tf 6tt-Et ott::, ,+ly
t++- .7-l ,6r:,"^a ..-.*ilrK; !; JL I 6-i\* d,.r, { jli./ | ,t:3r*L;l
6;lo:lr ,-rto"-[, ;:l:tL;yl 6U blrd b
-2r orl+-.""1 :_2.e" (CAD);*5.(Ja,
'?l) iT ,3,j.b!; t Jr-.,' &- gb'aLr.
3:Lo' ,l !,tar2-25 c.?1^ts.a;JrSo',J5,o"..
a t $ (J;l'aiL cs! 1-;1 d/2u12 lL,: ;tl_y,-l ,CAD L-?l) 6;tao:lr il eU
.rl: ,,:.rK uj^".:.- alV
;Kr::Sor[,p-..,| *s tt-y J:U, a5r-11: -e c-&-t ,sl-ly,l+!r, b eV tsy-1uL,
dJJb -\a cs1_1a.12. jl ,gE c,X;. :l LsLt,,r-l jl ri:,.c*l dJ,V t+L:-r,,;l
'ol"-:+,u-::.;..5-i c$ J-J*.'f.," d r-Jr-l *r
t+T;l c,)tS;. ir,l.;-+ .ret;
t-Jry tt15,a 6115):a; j;V; ,s{-;l*l Jtrl a+J r) .t-r,g J;5 ,>1.2, Ll;,
$ trg,*
,6yL*j cJL t, l+tr.r,, tS1_1+,Nt
J-lr yr cS2-1ult g
"r--&.
,s{tl-;,tt I tsrt=-: ,.;ru-* .:r b5q-.fi.h t1y ts.jSdcl. U ,rJf t+ | ...-*S
'\)L/;t=";l
6a-1a.lt.st++ *
,OLP e
.5-_
l,
"1 ;ri
't+t',:, tSl-1uli, +
*-t ia e2t.a+ {! I t.- eE ,stt..[i,,
ctio>L .c;l:
6t+^-.
Lt-,"
":,
Gtr
.tt=Lr 6t-.tu?t 15[4^:...=. 6-1 1 e-,e
;et";
[
y_l ,,.*l c.,!:, 621uLr rt,; S- J ,#$
;.,1-;.r-l "5
ft..$Ul ,st**t, ;;;L f*!i t ,c#-tx
y-l .:l: ,-).5,c./Ll^.c 621anLr;
';-S
3 GL: b .+[.r uii .i_ra-|, Lt Wi 6AS+ : ,;rftJ ust tL),^s ,slr. ,*
d,t=I^t ,gl-:tl t ;5LJ
o.l5 o:[-o' ,l ,:; Ju5 6-s,-.1ulr6t+^+ ,FL ea
tr-,9-l-* l.r-b u-lJt ..ro, +.1:l ,:F ,sstt5LE.' ,-)-#e,o-u '?l++iUl
-r,_L
l. Task-Level Programming
S.yst,enr
www.mohandesyar.com
!j'
Y?l
6lU' csJ-1u01i,rl+{,qr*
t'st4; -* ,-)-# : ubri ,sb ,*ltslqt, rs''oat OLP
b;u;,slhl,r.e,- c,tii;;l $ir ,, ,;rl.,K':u23;:l c.tQ,'t-*,g 'a'J
y;tu-4.llc;L l, (,-i J ,ctlii u;[^oJi;ll/ ,f, 1-#6 uit-J ,rJ{ a- crt+J'u)
.J+t ,alil; c,t{$ 1t ,uii-a c,t J-c 2 '}tc 'OLP csl+;"': '
-b t.tttr
oLP ,
6a-1*,L2
OtP
drr,t-JrV *i
)5,s"
gil&i,*,="' -)5
;).el trJt!"
Y- \ Y
cfp r 'l,! dJL- :l'aQ'',-h ,t-ltt
4 i-ri;l.lul"4 ,&e,, >15t cL+t*y'aet'a. .s-*,g
tt-r oLP ,st+^:^-*
cra b OLP e
tsz-lultirJi,rL
.sly;L..'-:t-.,-l ,OLP f
oJ:So:L*ut
S;-;a).a:
-*,j-#I;Llefl;l
S t+T;l
.r-2lr csrL*: c-^.-al orl5ortr"-'l ' (r--'n
rf''i 'c*ta;[r.r
,a)21 ueti1r.c*l 61-1a.ls. tf
a,fub ;r*lry.;t"";l'Ji =
Al-i.l J.rfu ;!r,, ce2-1u,1r,.;,;l#;Er, -i--ri- ! 'i5Jlr, ,-r-l 3 -t,g -b+
t
u-llr-J. g -F*;T ,sl--tuEt,;T ,r(-i .,-yb ;t:* 6j5 r'*', 'c*l ,l-f 4 +*': L ;T
U-|
,r1-#rr-S-, '4.rr(;l
Ll
t>,F-;J ol;*a;
tt' a b U 'bt,
'fl)'l:-,
,-st+!; il xl;o;!y iSu J ,Jti ).-aJtr5.ulciL-.rr aft 6.,c,!:.r i6.l5!-t
jl .xi.t ctlsto;1,*,*,1-o 6i)4,x-*./ o:f l l+tr:r '!.4 q '5(RPL) ;!:,' tS2-1+'12
.
,r;1^-ol2 tltl ,sl:..-$"
'[f] xrB u-L-2r !:.i P P,st+t :., :l cstQ, a U-l
,ltt LVrl ;ti:,, \, G)yT::r".5.,-;l o:t-i:-l tr ,,gr[t rlril .u;:tt tltl ,slt u-&-t t
tt-tn cs16"L 'o'J
s ,s.,6I[i: ,*l; #r 4 -e ttb[r1 :lril .xl15" f.t- .lT '. b -b
,tti ,jr; jl ,,ta:, ,l-l ,, ,u5 r*+.xj'l ,Sr.l, RPL ,st+!; ,a'-oL2 u-JW
)Ji6"
c^,-l-ra
OLP
!:;lfl:r;:flt'r?
,'
.*'|#
,.,-s -b,r RpL at+t,;
'(;-:, ,F ,S-e 6laa4,o' il ,-,5-- al* +,RPL ,t,; 6 .'li 'l, .5 aJ uJ
,-st*-"* t, 3 b ,s-t#tr 4L ,RPL ,l',; u-l .t-* $-S ,5', ,or5o:[f*'lr t\a u:.
,g!1, .st+t, ; rl ,6:,Sna1cst+t?-i ,>\:" .-t-t, !l: ,-rJ.ll: c-=^al ,-tf ;tr:,, tst-tu|t
,-[: .J,-F ,-E1- ,Alt)l i>- ,lS q ,Lol1t 1) -* ] ,sl:l+ t '.r5 o:tr:-l 'J,/f
it
*r+ rri$;:f;tt:
<,ri-u RPL .st+'; .
orti:-l (c*l -F*J;l ,raysJ)
r:-!;,U'
{ $-, JJ il -r,-L OLP e.2r ['l'c*l
,g;2-1aal12 c^r.; ;[2 6t-*6 e$;"L.J ! '-F" uLoi ,s;l :l
;4 ':]
'r+
.:r-t,
www.mohandesyar.com
f
Pl
or,P qrtr;.r:-.1r ,,LrlJLLr
gty d i,q ,J_L, ):.rK L or;fo:U-*l ..ur6 JJ i ;11 Le. ,
,(.r'.,:,.
F ,rb.rr .ri ,H; $$'12,;e 6r) r l, ;rf\f f t-"1 t- !b sltrt
;t$r4^-tb * 'S:itJ'r'..;*e o,.u:5ort.t-l O:. LVj q|t r;"&,oll5orti-"*l
iJFL JL*i:,.rE;;l ,sb;rlje,,j.t l-,st-, {;l 4ie orb;b [i;,,-b;.5',Lnsl)'i-t,
L-
.:j
tu,io
t;rf\; Jt
,hl rslr 19:tl i-.r:
! cu,-,l"6;D ! J cJ'J6'd,t;.; ,.;jyT ,r4. ,s6t-*, jl A
";;
tsr6 ;bli : t+:- ;l 6t !. a- 610h" c,;-.il: c*) J) t .c*l ,.Sj$'a,'ip t !t rl
:l.x,.l .i- ;.r.: ,lrti t , (r',-)*, J; .>r;u. ,,!l u,3tL1'l.r^'. ,6
p r,
"r-l,OLP
.l
6y J It LW r.r:6 ;tS.l '$ orli: 4 gfrtV 6;+ ,sl,
q!- t st''
'b
D-,c t,.y!e: ,s;+
t&5-1r j!r^;l ,h-l uf Jtrl 1H .tS
",.;"^l Cb
.1, .(jf la,:,,;l ,s-5,:+ t: ,.51LIr1 Jtrl y-l ,r.,1-25 u$l-t
pt+l
"!6
.X_*,g LF^^l,rr.,.i
g;;La*''
L*.
-J.c*l
(21^.L.,1,1t).srlr :!/laSr^ilr .up
fL, C) 6,,fu,orlo:h.-.".15-* M
,;thakt
tfr tt..ua, 1t+l ,it_t, b $T il ,b ,srQ. Jtrl ;l .SS t Jslt
OLP P
L-; il-iL/ t ,srtr rlril i1=n-3a, noJ..i orl: ,_):yi, cWr Jl-; t
o:L 6ta+.\ u_l r;lj,g ytl 6l,ur,1a.lr1 .tj *t RPt t-\-i &:J; 6[a.,J:-ra
,Fj;til ,RPL ,. ,--;-r ..rlar ,-r-lil I iT ,.Et+Jb -e .srls .* npl rt-t-a b
o:ti-. .l
.tt1,ld t'l;r 62-1+,Lt U-l ,sU b,/043,1,
6ta:r1-25.1r
6.,p$l uto$
6.r;ti. a".r UUtJr.
qS J-F5 c-\-3 ,e;la;;!:,, ,#$ J:--;,OLP tstp 3 fy 6W,_r;l FJ12e*,rs.r6#- I tble ,&Ll,.i ,uT,sl+ , ilf: ;t1,, *-! u5g,-l ft+il 6;2 *.2*l
,s.tl,;l t- .it'b Ju tJ* j ,+,Nr1:ta"-l c.c- ,r-Vl rb
.,x-* J.u .s.l'1o- f L*"1
^
,-)-#rc^ir+, !.rr.r orlr-"*l ,r,ry>y;L-l eb + Lr.-n CAD fu-.r, d
u-.r:-: G;T { s-x.r 6laorlr a-SUl , jl-i,f .ctu.2r CAD rsl0;,=,u blj1l:a
.up d;)blr ,1-i'^L-,.t rfl)'aLr.;l CAD t.^t5 q +J.;.!-k t o-., t?.rJl+,
ti12,-a* ,f t_ r ,.r.i! j,p., CAD ,SjUt cft y,*.5.,- .i OLP p
d ,t
.
,J-iL
!-";i., .F
Ji:..- OLP r:..:- Jl .41 ,t CAD ,rl) fu.1_;l ,r4
"-t,
..l,.iL c-:b !,t+T;l l+J.u c^it--r: L ,CAD ,ir;,sl+;.,.,-- q tal.uJtAl ,slt *L
,-st+J! Er ft g;! g;lo:L CAD p
tl
+q t OLP ,,U:*. i _* .51.,)
"F
+ G\a LP^* 6h'rlr ;r5il ,sb, t- s ,6tS J* i ,;.1...-rr-c.csF r + L-t-,.
;11
,,
O"r.,
.t oJFrr 6-r r*;l
or: c.il,-.r) cAD6l+J!
www.mohandesyar.com
-h; 6rb 6jloV7. drli : - f ?f
qQ,J) .c,*ljLi .,:t;i ul+lJ* U6+ u:"-t i a, .OLP 6t+,.:...:-., t ,uF r*+
,#|t u:.-Li 6b SJ;-1r ,ryb tr: j+ t Ct-.iir: .lJ*t J: j,;!*c;l
.r, dcr$,...,"=* cb G-f ulij,Js..:*l;tr,rF-, ,ki ,jy.-usc *;r-"; ;r,-t
.S!-l q 94tU-4.o-l l-*li.rt*r ,c-l
C"-,.Uq .S,- ,sL-l u!-L;.,Frt+T
t, il* lt ,*;[t*
c*l OS^,
,,-s+l
,rlr
;l.J tl-*
r[^c -2r
,r:^nL ,slt
'^L
1 ,.1t-il ,y.
i.5-*d ortl-.."| +t Cb'^-s*. u,:"-k ;llr;21; a.
'#$;tJ^r
,s2^3 g.e..J".,
\rr-,i- & urr,6laLt',e $l:-2r +q,Ct-.5-- qrl J UlaLft
.:3-i o-r,r .S-,t Cb Jr. .5'- u!-t-.; 'a^;p .st) J Jt
tt*i.$Uil gr;L.rtt-ii-2r ,,n--- ,-rl+J- Ls,li,.4- Lta ,.6a ubrrru;l ,F- 'p
rJ.A) ci.:u tSstfJ.c-Li 6;L.r---i L"t-'r,
tb ft-"1 Oe ^S,J.l(;'a ,-$-t orVa, .c-l
.$tc/ ib ! 5t-itLyr r.r, ,[^, ,o:l:ytt--l olSor[r-'""1 q.r5rf t*+ OLP P
lal ;l
,,91a3!^,.r,-L ,c-l r!^e cslt-: u;ta(r-rFJru L ,;lJi j|-r in GW
^S
^,
d,rtJL ;) r,l:.t?rr^.rrl; t6;l ,,(r5-- \ c'* ft--"| ,?t ttrt d;t^+ e
,|.r.:.e 4L ,c*l 'jLU4T t ns tSe t* -&-5.-rlS:l w LlAj ! ,,Ltl
Ll ,c*l ,1,*t 6M.L fL-."| ,slt r-{ cJL ts.lt-*J 6;L.16*il +Jl.:;,rl:1jl
.s-fcl f$.l ,gr a, ,.S-rf CF t-stCr..rr
,,5..',tir- +lil
;l
+,li; ,gL3; 6;la*: J.url+rl ti-.2r ;Ll ,],Vjl ,F,--l;.f
\ 'ia 2: a1 .s;lju. OLP p ,iyls.SJli* ;: .c-l o.Li cr;L+-: ;,\s.t f
,Jtl Ga _1s .r;L tltt LVrl c,!r, sr5#5
6lidJrL. or$1" sl-i,g OLP p
I pl5. ;LL g;Lai rr &!r.r ati o.1l.1r s ,5_* JL.y trrs$S irrb ,,5=;L*
'.t,l#51 ,q;-25r al.o=;,- tr c.,!l jt5, ;i 7:: tiu -2) .Ja) Jti:;l '15$5a,
tw 6D o{L '^U:+ 3,iylt,,(=,t+ 15t^alrL jl ,lc5JF u,? s,tfi,l #-.
qgtr.r.:-
gr,.-
,tj3,'^)S 1, t,-Jt JS,s. o:U--"l ,c*l oli o:lr crLg g;t+-+.,5,1,
.2r .Jl,f.iUT t+t :r rr ! rr[. b[i; t.ri l.'-llA5 Ga;l orti:-l ,;tS.r;L h: ,t.f ,t
uto r*L .sj*+ ;tI i-;-s ilb ,Jtt ..* 6taal:L c,t:-r,, t 6b,1-,*1,,J1S ,-)y u-l
.up r:.rr ,-tr6, eL y: ,d,!l ,st"'.r:SJF L c,tr)lll JrL; ,q.*y U-+ .tfig
vE*l p, ,iU
'J'92
*.st+*b aiu*r b cr-+ ,-{.,}+,6ri c,tL),
d.r 16^1 u.-,l,st{+b J;t:; +tr,;L+.; Li o.,
"xSJ-{t)
'^&s*.
c.r,;;L
E ,jstl,,-5tt+,Stfib;l
oVf .r:!
p,,S=;t
;tS:u;L L-;;!-u
,6+;rsrls)
,.llo.li L,aJ"a
al-n 8 *L 6lif",
,r-L
6rJi':-.
,T
-r,-tr ,;lb ,,S';L+ yu$l,.l.Jr5.i +li; ,6;Lari,ltlfr L-;
www.mohandesyar.com
l?d oLP g;t+; : I
.
u|zt
JLb
r;e.>:.it1s6?" U-r.jl0 J-.t Jl >Y,.rJJ- I 1,=.(,-,-rt+tL,ctut-:;l,rhtxl tt
rlr,l .5'--2: ? s I cl^tv oj rll
t-r-l i .srl,-s -r,-+ !, o$ dJt s x-;.,g gb
t$J.{t,
i-ub,J"t-e* tE,Jt-t)l ;l-L,sl-ls., L* l+, c-l.2rti,i,L17
'l ,ry 5,t-l-^' \ 7
orti-.
.5.,fr-.Js,-,E:;l bl-b: y-l;l |,ctu|.'l 6loJ.cti;l
-r: dc*l lL + Lty,F-' JL .-\:J+l;; b $,,,5+ P-t&l n-S t 4L OLP
;l +1.: 11,=..'.,J12.e,s21i.1f r:E;;l vlr u--$-ti,1iS^. =lr * ,t.;l il
qs;la; ; Sl;);,stot!; :ta.-l;l b .xi o:lr-.""1 ,vSJ-J.t) d.r ,6+ f*-t-JJl ;L"
-b I c,trr crl^or:S J-J tt ,?6 I ,+, (s6,-::l ,-*- .tF c;h ,,el: ,stt\
;sf ,r;.*
f ,j-16r J.oi,,' oK*, -r: j.u .i,- i/EJ6 ctlti ;f ,g atJ
'?
+'E q civ ,J,-s ts-l t99\.t-J tS* +! r;tr aJc*l (tL, ,shlrt itr;D ,,"l-tt
a;l f-t&t
rr vb;; I sl;u. OLP e lti ,r-t.ralp iJa;'^U:+
t.1
.r.t
=l*.rt
J[.; 'I:SJ-J t
Pctfp#
,5;,.,-.)* +!,,,lt,};tS.(J;ttl (FL-lJL.::-l ,Js:;t*i* +Ji;: oj)c,OLP e
fu ,S u-l iT 'kl ,al-itt t+!-1.2: .r54Jti; c;: a y t L;i -2: 1;L i,1*1a" o.r.i
,st{*,-r-fJl ,t-l s,l5 6;L,u; b a\y et5J,J t) d,.2t5oi (J;L6-i-rFt "-t, OLP
,9;La1..llc,9ti:,JL*, ,.jt; ;tl-u;L 6rLc-l rt-f F 6tr) ,sWa ) ,elrl
.lylr c^.^.rl ,;T L.--:;!:.r iV lrt6;L,rts-il .b J,o$ o)3,-,, *
G-15 JSJ'
.t-..i,g or[^-.",1 ,[.]:.11-16 ;V; 6laa-.r- uh.,h,Jt 2*,r,L; 6tla1.a ,5;La*:';l
,.i'i, ,sjL a*; ,tSu.r6(F-, Cll ,>r2la.rr')i) Syt u,L.'- g c,!r,, d.f fu
uh,.-fu, + ,ly LfJ Jt 9 ,,:.-l ,'.i) b:tFr 6:r: L,r-':u:ii, ,sb ,cSr ,iU: ,lV
1s 5 gseL-,.-sbr,,:
Jttl tl t f;;& i.uj- $L) s;L;L;^" l,. rItJrl ;X..i-.
,c*l;l.: t-'l-q c^a- j)E
.
LrL"r
-r-I,e.,
OLP ,;*
* Jt
l,
c,!r Jle
,.ro, fg;,l
,sr"
! '-u:t#s
.*
rsi-r-h V-tfJt 7 +l;;
Ef-1r ,rS.-ti-: c,t-i.o :l al-ie,lSJtir;.;[ cstb \t.b \y
,---i';9,611J{t ,rJ-- L-p L- Jt,st#rrrr Ll .tf -bi-et!
c61a*, ,r^;als
s.r; c:L*.i
cstq .,fub-:6;;LJ.u lfu taL; b2l -l.iL^-:'.o-T,l J-* crttyr[,b 6t^U; ,5,.g tcl t6+ J-J f*-.,fJt s ,$.f , orlr cJ.r- aT 'c*: a aS u.l.al ,f[ uSrtS,
t,&!r.r ;)6*t;,-il ,16 c,t-')ttl eJtt,rDtg. ,pl- JL.rr..:*gL urSJ;S
ggi!a*; i1,-l ,tCL rlltt Ll,r.2lr rj,-.9,,rirQ: U;;L"=.i a, lrlr ,k ;:tlJtht
.ttsT,lr! t ,r..:, OU;
www.mohandesyar.com
!i
,r .8,g
6-rti
3Jlub1 r.rlF :
'
Y77
cs{:V \ cs:L*r
tui;+ 15Lr)i.r5 t ts
6;1t(.r ;t5- ;L+.J, ,.o ol 9
,rrLo ,....,* ,JlI;l .L.- ,dJli; a. ,:4 .J.b I^El ,lrl: ;!l .5,_ t{.5 3 ,sr6,Jl+y't r)B .l-L OLP r-- ,r!r c,=--r r, ..slc,!s t !l"rl qltt ,sb -&-t,-el&: t.l;3 t- 5s
t,
rh-l slr .rt &,J,-S,- ,>l;19e4 !, t+T .st*tt^i ,ul:e: .l.:! otis-, i/-r+ ,sjl* i
,c'^11/d-{.Ii! sl-.|f r+,y!; .furt orlr'*,1 s2et Jl21;L; c*l pI ,c.:.LE gr-l
,sl*l t
,ry 5 tis ;llu J-J LU
JJ- ,st+t,r,, ;l .i- t Lsb bl-ic/
3 "signal" ,s|ot-j*,: a:5rl .tJ ,s:L+; l, ,aS J* ,F rrSLc ,ba..bri cr-l ;L;^r
.8 ,-rset ,,-;'uls ttt6.uJL c--rr l]1*.r/ rrb l t+t l, ,.!y itr; a, "wait"
,6tS
laa."L^>
6trrj:-: ,;!:.r
6tla..[;y-2r lcir
r6a6tarF:.:i.: .S.u.r:,r, ag $J
sgil-t1-;
ft+I
c,UtL
,r-l-Ll . . . ),(I/O) vtsr l,st1r1 ,,ellL; ,t4i j-p 1 d{ ,-L.i dr
6;L^1 uA nL JL-' :t-.,-l .2r OLP e cJti ,r!: O=-e ,, .[0] .s.rlr
y-L l LVj qltt:,aJEjIlO d.,i-r ,tea-L.- t ,lSper ;rn *6 crl.ar2.rtt
l.1.2,,:_*-al ,t4at3;:
6iL*a;9 l.la-L.- 6;*a; q-r)b dJOLP fu/tr.S./
Ll;2 6;l;L;^r :,)VJ c*i d{ ,c,!:, tSr;t+l ;til t+c,r:t 6l.:"_|,.rr+
.s-j.,A ,rrls E t\y
,p,st+!-l, ;l 613-rirr"J ft: rOt'i"?.
tr
.,slt,j-sdlii,;!:.r
e-r:S4Jyro a5c*l bT,x-s.1'^a;T q (r-.r,-U,
Jtfl+l
.st+t: z*; ""[b.r.,-L ,c.iJ'.r+ t+!-r,, iJf.2r OLP p jl il;. S;1 ,slt )Sv.
;.,-rl-il lstaatf--r y-L:)
-ule,rilr;.rB;;l ,ctl-*ti/-l J- 6lr,lr.d.rJrFtti;E;tst+!:r.1rortj;-l :.2.e,.
(.;t+) j.u c.,11;r orli-,,,| :t-r j\ j c-t i!; u_l ,.1,-+ ,r e ,OLP
fr..? Lsb.
^
.c*l OLP p I .ira Oil' tt ;ft crt^a.bJi Jti:il ,F-.r
+tti ..:*l
=b
.;in ..r;.rlt Gk*, *: '*:, gny ! Lj'*, , ,OLP ,;.,-*-2r d ,3_st 3:
t-s!r cttta .(;"t, J"-i .S,- eJ'Q l aJ.sloli +y OLP q,t+i ,:". illrl:n
lt ayUil ilr; r-+ u-Jtt- jl ,rV ,st+-.,|r, al-;.d ,if E-f ,st+t,r, 6y-1+,L2
.r, d,rrt(" ,i+,oJi-T 6rL tl crtA-). 1 ,OLP t5b-- =.. c,;). t,^,ss.t-S j-ht
+.. rla.-l 191tl L- y .c*l L" -n,:e-i cr [r' l c, t*:, ilJl;e +ti t- e e.l,o ;l tors g
jl it'ltr-l ,(d*ir<,(r',-:-, Jj .S,- ) g2luLrrt ; &-.ru.;L) c,.r.ria 62-1r,1,
t.sb, aJc*|.;+ ,t-s:L-Tl -b:l..l..i rnF ;!-u t 6lr. p U-l s-tb;l 1216
.
www.mohandesyar.com
l?Y cim,t*.-ll
r (u,;lLD OLP e.5.-;l 6 oiJ -b rs ;.1;11Ll ,o,ir^ d, t*S..FS.5.,- c,!-r,
orL ,rr!j a Jtstr ,-tkt ,-i\: :l +.1;,, L*;,(*;tci,--\ -t-j. ,g n-ti; ,rsf.t Jt$i
.:.21r u;-r[:-t c-^.-.ll OtP ,510.]*,: . 1> ,u'Vl .,!ti ;!.rl g;lo.$lrrr.l, d
,srS
.c-l .-t:=l ..l,ti*c
,slt ,s-t$y 6
6lak-,- ,J.t. c^i:
,t.up
J* a*|i6
lJr ,rpb t{-bt * ctxS u;;lJ!
-r:
o:ti:-l .-.|*U .rfu ,OLP d..* .2: o-s+:Jei 6taa.L,t
,AJ'-.,,- y-l .^"^al ..$[ a:.:lr l3'-s
fr;, b,t[$- t22-aa ,6sE J* l*|ft5
.rQ rrly cftt> Lt C)lr Gy-2ulr,,.fJ: L.-..4 a19,:,21r ts)[-i ,fu rr.16 Ai +
1jI t-s::r5 ,t.Sl.c*lr(-, ttly il-;.;t+ib
ot!:),t!.- r:-a6 uL:"^: r-;,ol:
,g-bS OLP6t++,JJ-e.'i orl:
')i-fT
.Jla:,rr
c,!:,, '^.s+,,c.,,!:.r u;-/5!h
c-:;l b tr
J,,r:'
t,n .r*it
9; (f t +;tJ^c,tary.;5;l cstt-,:.r)
- \ ultg l, a\a t # M ,*,t J:,)t .x-,"{ -b tt &l'i .S,- I b Lb-r
,tr,b1pbyi15o-+ ,[a,,.,trorl: ;r2l ;;;l> L .rl: ,-;iyT;!r,,)f t{-:t ,6}o;lxl
*)1;e rt .t-S +6. bljL/,.u.i[ rd .u.ij CAD e.5'- c,L-:;., tt 6 s;t-tn
"r-l
t !, at.i; u Lllc*l j5t3;J,d'ti J.rr>.-sttq
;t^J...c :l ,stQ,.F"r
"f.,J,,T,-,t,r,
otJ^c y-l;l ,r,-taa.if ..u; ^ ("^l^." f...".5.,- { 1:.*; ;b!i c,t&D ?t Ul tb"i
6-25.i5,- ,Gll-t ;f ,F tt u'4,.:',stoy.*r6 ilS &;- ,slnl itf :t;l 'slc',rLc
5,g.rr3^J.,6;K.(;1 ,Jt^- crF '^D:+ .,1t*ttt ,,F-iSJl ,.yy ti.a6;3z,.rlt
rt+-l')ll, .s-*,C 1t+l
.r:s
Cim ot*,*.11 f-\l
tLJr cll, r, d t OLP J-S
;-..*.5.- ,Cim 'tK:*,-l 'a;....a ib ,,-h ,-r-l t>
Ll+l
;l;r .5,c*l ,.:-"-* ;Ll c*i r(dt..a C)r:lt-fu C., drJ,[2] c*l 'u
o{: I pt-.tl ,>la)&, tL s,Les-,;tl, .,r,-L;i J.S..i' r,i:.ri,,jt3" J-r" .5-,6+,slt kV 6t-aa.[j ,]-+ da:,,,ka Jx,sit-V Gu,.^lL Ll:l.2r.r-21:
.ri
.rel.e'-
&JtL
+lb
,-,.u t
6taaK:-: g=l.rul
.$F, QJ.r.
.
,rjt-: uli:,".^ 1$4, CAD ,st+J- c-l-2:ti Cim 't(:*,.1
ts.$ c^iL-: t u^oV CAD 6ta;-.* -;l ,(q!l ,#$ Jrb ,-,1-;.:-.) rIGtrS
!-,.i..
F aljl
1. SILMA
t+l L-:
2. Initial Graphical Exchange Specification
www.mohandesyar.com
E
gtL;
csJ-/o61g;ll;,:.* Y?A
,iL-, I l";r, ul .r-J.,g o:lr ;l..5 ,r+- [ g!* 66;'y u,!-Li ,t-] :l l-3J-r. ,rr:.
t;-fd,Ls,.(rJ Ch- t & 6ta..JD.u ;l u2ll,^-ca.r.., ,*SJ-J r[lr.1r
t{:;,t t"4 cr-l 6r, S;t LW *J,.S-,t Cfu,11 .!'",t"n ,st"+J ,J.L (J;lorb-2b--L
.S-,t Cb;l 6las9.^' ,t'J.b';r ;t5,1 ,c*i ct-l tt )Ss. oFi :3'- -2r.2tS,-p & *t;O,$-f C.l- 116lo-ca ',,,')b..r-21, )r:-* tu3,.,& .! Jy.aa;
J.u,.G;5 Cb* i{*:t U,tilJ t-'-; t oe).c ..u-ar #."-; I il;-l .S.,_
CAD 6$ -* \ J.5 e
;sj i3;L ,sla ,;,,*"^a.s! i ,sLJrJ,*t., ,J"ti
dt+;,Jt, ;l 6las2 ^.^,t4J.u ul .L^tJ -b-2: ;T.,r ;* | tgl&; g;t{Jr. ili ,GiS
.Jla:,rr ,|5.5 lt & ,.Lt-," c,tcjll Sti
5r:,-)tt :u--,.5.-,r5 Cb t J *-;n .,L6h",&Ui,slt
d-t+JL.. \ \ f r$.-i .:.21:
,,AC 1a ,:-;"L .-ra-:,r, ,dbl tr-r oWst gt J b
.*l g:l*(-i u&ti
c*l
gS^"
,j:t:l
o:[.p--,1
')a
! .rF.f yr.l#z-t) rs.b".-J*+;l o:lo:.--'l ! g-^t .;to+l .ri-l' '5
*-i*..(-,/ CF t J.:-:-. .st+t- ,n* sW:r;|.*QJL \- \iJSJ
J-r" ,,5115-: J-r" :)L {r-^> c# Jr(j jl .c^cL
e ,6 6-u, o:;qL Jr. ,,jrl.; tp ;i
,sL,,+-,* c-.1-J)
.a:*54 5-i-i o:;a1L J-r,
www.mohandesyar.com
W\ cim,tl:4t
l;/,sklfu jl4t. LE i|iL1GyU L jLt iL
.r:t r#,.l b r4 '.u:r3
e.t" ,jy:l ,GtE Lp; iL .i,
Lfu ;t;.5 t,!tci, L$;4r+ J.u rh-l,s! .t .i- .r.21: ;LI,,;U^, e,cl-lriorL
ro.fL, jl yst.S-,t
Cb fJ \.c:*l cJ.i orjtL ctp e19l c-,rq : ,JJ. +t
.iL .rt+-. L$t,jTr) ^S xrjTg {-\,. t J-, x-*eib t+l cs,h :'F-+ ab
Z-ibl- ,ja:l rlylc-;*,1-rltlf,,-r) {! ,o-U o:ja-L J)',-;,J,5;-t^; cs!,; ,Jlo.u
Et tJ-'X G:*; 'ra.tJ o:[r--.,1 ,a.jl: a, U-&t) al:, ]3t 7l-a.,;3"o' Olk,slt
.tt t5a ,F 4 |ex 6s-2,-d rt+-l: ,.S-,tCt- 9r g.1 t-st"+J 6;a t|* ,slt ;tl-irl
..,1r, r ,ry-i,./ ltdl ,'|ts t u^L- J- r, f (y ,rtcD ,r-rt 6;L;6;T
6;L.25*:l c^sr &lil #, q .l-*J.,g o:l+'--"1 d,t-t-,.. ,slt &f Cb F-[;l
dg-[F t, .5-J.,1 a*1.,., jLx; J*r,-,, gl, f L-o l'^:S )lJilfg;talr- fu ,r ,F,
a;i.1 1S*.
r*_rfJl.uL :rjo7 6;LTKJI r-rfJt.i_ ;l ll-i,-1,{lJ r-5 J rljlc,;
i,l.-t ." ,sU;rltg (fu--7):51.1 Jtt';r) L
[V]-2:
'*$jtlc^i.rJo:l;-'"l
,Cim
.:,1
LVj
pl
u;;L.,6.i1y,
tt ,r:tt-&l_;l
,ty \
't(:--lr) $+ E ,rt
JLdl ult 6 61$lc.;-", ,t-rfJt tt-l t5 .:-*ct o:[-.,"1 ,;1i;l;-lS tl ,[A] ,t a;ir rs+
J.4 c'sr + ;r-ltL/,t-Jr-l-2ll o:[.i:-l tt-f 6bi. L- tfr il:l {1,: t+.*L;q
.SJ.f
,stu.i. u
ra.- ylsldi.- .s-ltr.i L -r5,r" J-ls LF4b f+-.5'-t ..-, tl
6;L-2t5".:l fi&|.,.*l J-:t.. .,^'t .S," Lt 6-:)y LI'J ;lg ,r-21: F *. ,st"d
:11> 21 rtf 7 q_.fi
"A" f-? | t.r-ft
';U
.i t- .r5cf J-ls "A",ll!J4," ti t+.'t-+ jl .t-6a t-T d,t',r--,b .\
61.,,
,S
11ei
,*>a, 6;;ar ,#Jt,
,t* .ll+t LJL, ji
,[;ls:;t* bjrf i^,- ,(\) iLr. -2r o-u l+, .r$;,q t 6b.Y
',j qrub "A" I't* J u'l-Ltt-it F 4srltlp L\;l orl.i;-l L ,6rlr u 4,,;,v; .,Ll, (Y) iLr, .,t Jl .f
,^ t: ,
jT
.6,*t&urt+.,U)+
,;t);6-;l;la, ], 1t-.tl '+-S rl-;.,1 qjl blr,,a o.9)tc ,Cim.t3c--l
+) xrjSo!-S- ,15:l L6.-,!lt u-l ! ft--tl "5l a-tCl.- i,<rJr5 Stir,,*l ,!"22.
.S ,sjLrU';i ,(<.ry',t t.t J"_S_ ;J e;b ,a;t=,tr Cyt.-l
4T ,slt S
./t1; Ju s ll,.ql
o'Li r.;L ,:r-i,r, 6jua=J 6 tsh *
,,-t,r,
t
,ct*
&rt
It
l,
9
,S
,...1
,;i-S-, ,jlt i/-+
c-^.rL jl J- &tj ,r.-- / tslo:l: rBL .,i:a:,rr ,.rLii
.5._
www.mohandesyar.com
!;
6.rti
tfJlobl. grl+;"":.," f V"
cri o;-5 -&-t Ji-t;l orL JE .-l s.u: qrt^o:l: iril ,slJ jS rsl+ :
irl:lr \ aljr-t I pL-tl .t*,C 'rlr 1L.-11 f< *.61 'dr-27 ^S c*l rfir. ,t
.rJ'-;i Lrcrlr 6triti,l5.rr,tJJn U;ti:2.,6 cb,:,c;L t+l Jr.
.S,- li
jL.y,>L,
.lt
set4,2$
,;;r: ,rDt$rk;L 6 tr-t-* 1t-.11 dc*l ,*
cft r.- 2+ \ 9,c^!.2r ',^l-t 3T.;-- J-r. af c^-l;;rr-2t:iL L u*- 'L.ltn\
r:5.,, crrrlj(-tj * L*tb,Cl fL-"| .c*l ;l 6t^r;Lii (<n LL, b a. t,!r)
o;I
js4 r;tr:-2biLt,.*,'.t^i 6;;Lq=; ik" J5.("pn-al/link3" i:,)
,r5-i o:lr t5f t#
,Gj .4;g oJ-.ti "world" ;l &-, 6,c*l ,r-- J.u .S-1rL ,'...- J ,,ft r* 5- 6f Ll ,-lJ.,, 3f 3 iI (,Ct f t*"1) g;tra;b i!5
t,
6-p .S- ,;t::, .5'- ,J"Li ,:L ;ta2 J,u .S- il JU, ,-,r'15!"t'
t4+.t; ,Jfu u-l _r) .c*l o-r*? o:lr at^i.; ,crtrl ,tlt ^-1,.S,- J ,(g=,,) .rK a'l i .5.,-
,ctt+
.Jiu, cP^t It f )5 tE, c$,, 4- J-, .5.- rhl rs! dt tS, qJt^or^: Jtil
15t! { rg^:-rr.r,a .xar,rr l:t, -!l L.b U-fT + b g-Q ,S-,ry,t.lo.u.lrJL;l y-l
oJ-i a:lr;t: c^.r;r_2r.r-2lrr1 t o.l*i 6j*a;6n,4
Jl,a:,r,. ;lil ..r*3 6iL^;
"gripper" ,"pumal/linkn" 3f 6ler::-r '^U:+, b U\ altg,Y-\f ,$; -1r
.r-29T-2r 6f
t ,(e-,,) "bolt" t-J (,-t, if)
#rt c*l 6,5^.. E GV J.,.rr sfyF-r fL*l ,.1-Tr, 6f 1,s* 'Kg
8f jl '!r" a, ,t-eo.ua:JLo;l r3;e #r+ e ,.i;rl: ./k" F.p;BL .tt 6 ,#:
L-
.-rt+* J.r.
;L.'
i,L
/
/
\L-
I
-t
vLS
L- c-:ftt
.dt64 J.r. c.-rr )l
JL
Y-
\fJit;
www.mohandesyar.com
fV\ cimoLl:4t
)S
;:--r- J12,-aa.,J.e-l o:lr 6f -t-tl d
'/+l'^-ct*,'aL.l
zxs:'u..rt^, rr
t4l ,rfi"."rJtil 4b :,.tt{" ,;-';r J.u; I t4l ra- E- &1n
ut:y.r) o\b:t J[.i:l
(fi0.213
,*j
;l;l ^S b ,slo!r,,;T ,t5,
,fi cs6,-r;l ,F- 't? +,d& U-l G-iS'd*l; )5,s" Lra;^*,f-SrS it+a t
')L .rl, 6r op: i'L; y a ,i;U;;l.ut*t-. ,slt ;tli,-r b
su .t-*cr oFi
'j + t'*;c ;54 df ;!r,, LJ ,l*q 6 'slE .l-: -;l J-tL ^: + .s-tnl. ,slJ
.s*grp
,BL,Jrl) ft-ql a, .fut;:"u ?Ljl
+ ili,j,rot ,FtS, ,storr! -r:UJ"--rS"- a uL-.- ,s$,tt,Sf 6;*a; nL:-, ^
,Cim,tft--l tt .5f n2l, Jtt+-,Jlo"= q,,it+" J.u rr rBL g;!lr,...- r,t
a d,,-,!:, k\ eri crt ,.,5-;l;='" ,5taa-:- g,-l
tS+ ,t-ir-/ rJlF nn L,f r
.tac-/
.5'- q aS u^-.--o,
'Kg .x'Lu".f-rtE g--1 I Jit+- 6ta,u; ! .*
,,.5i-rrb
f*." JtL+ g;taoJ:L,:J-l o:l: ,.5f ;Lj,c-*l '-rJ. Ja, cf-:rb C.-t
,Y- \r ,[5.:r: (6,,) "bolt" cJ,- iLt ttb ,Qtu-4.r: slF rsb, ,5? u-l J
5 Sya, ,s!L.b'r=JS s ,5-1-J, !r-l "pumal" ,sylz,,.l.it-+ c;t^dJrL, t{,g Ln\
.tS .Sr i t+T a; ox)J.oz f L;t1ya -2s Ll ,r,5,r, o:[r-.,.1 c*,. ,J"t+ 6$a J # r]+,Cim 't*-,-l "1
oeue. u*u=- 6Wy jl .tt tS^.-,: lt,stlJt (J')]r ul,f-"r,,c*l iJS^. 9tj
,FtS, 15t!.S,-,f-\f Jfu .#ort ',l L+-*, ',tlj,g -,: -\st til)rt &:*
,L.1, U-riU-.,li.l 6-,-,st+tr.$rc,/ itJ I qS J*.5.,-.2r o.tu: u;;Ld,-*:J^L
.-ut+lcf t+I!, i5 6f i*lr- ts iyls,-5"t^+ g;balrL t;^r5^.
dJ* x;l-i,g s ,x--;.,/ f r t\ tsr a6-,g;:1 a-.:6:a t yEL 6f l: 1L--11
.-uts ,J,L: ,cJL U--# t'b ,fijw
a5:-11: :3>.9
K,rr.Is,
.r ,.tt3.1
pL; a1
o-21-e
..
. a
a -l
tL-l
4., LA-=.....
,;[..:jl
.i- alr ,,t(:o -2, fr f { ,.tL*" J.u t ;["; -r{ i\tl yL:., o,
a5,c*l lV::1.*b CcJL 15,2"a.t-*,g
,;";,- ,$r r6a *_nr$ *r
g 6r=K:a-9;tSrr*;
OS^.. ,^LA-r^t:.$rc/ c,*rar ,i|j jl ,eE tt-f+b f
q'tt--'". 6;L^; i_t, u_l :,s-*j- #r.rL0" J.ur, f-" i/--\+ ,slt-* !,-ri '*,1
.$rc/ #."1; b ;t!',o
LP^h ,ta \ a., ,Cim 'tft*,-l_;l o:tL-l t ,r!.f b -*-,,r trs u$l.t
jl .5-- f .xt,g tSr.b
Llj; p .w g;..-El ,J-',. uttr RPL i.tj
o:l: r.;-..,i
"..,n
"r.lU:
www.mohandesyar.com
!i 6:b cslluV.lrJtli,irr fYY
t, [4.t.I
+55x-;.e c^"!,rl a,o-r-irf.a:.
-*?
tr,.*t+
sy-c5.,-6QLt f-\iJK,J
.r:5.5r ,;!l iI ials.J"t^;- 6b;l ,:lf...l
,ja^. ilr,/ b y.c;L LF^h cjrr' l_
ilr,g I *U" LlJi U_l
"A*l-^' ,slt It SIL ;L; q s;l+,L1 ol::.fo:Li-l '#1J'*+
#t u_+ .# LF,* , GQA
,,soV
;c,=-al ;JL".o.ti.up
,*_r&1"^b:+ o;uii..=r; gt+f,t[4a jl ,;*.4
..r-2eT r*:r, CAD qJLAo:l:;l o:Uf .l ! *i'-".,,
,*r.1"-F l) b.,...- Al-?,C ^S c*l ;l
(c*l Dr: uat-i,'(S"- ;l al--l;Jl62l*r g.'rrkt t .St b,s-*,F-\r;$.*:_2:
"|--s+ E Jt- Ul tr .c*l or.i $ CAD J-r" .t_ ,sD. gr
;l+ aS $)u/ dt;
.c*l or-i s1l2 ssJ--t CAD e;l IGtrS .^.j
lj .{"1*,r
./t*? Ct'
't\)t
ot-*,--l
)J.6, lL_l1r,-,;)L. alo-* r:i; ,11*tl a, o.r^: orlr c^.-.,.i cstar.^?Jt+
,ri,t-r ,e;L,a; Jl .t, -r..ap JrL .*l: ,sto,,-.- [ ,i-* .rfut-_r ,5;Lr==; Cim
aS
s ,u!.i'
.:JL ,-,jL-
-*'o/-sl
,(J;Jt
,st+b r) f..-t
f 6.b;tS"
.6;l
6j f.l
,st+J.;l ,Cim ,t-L_l ,,rS.,1,: c,JLr) .s lap cn!,f*.- ai + Lt-r J/ ;r;E
6f t-t ." ,slt s ,sSun o:tr'.,,IF-, L-olr.roL u!t(" ,-st"r;t, 6lj ,-)f
,S+lrtbt'-&, pta1 ey ,s$tCat g_r&lrt+l J-S i.,r19, ,o.r; 6;La*: f t-"1
{rt -r-rb r--- ,}.:! -b t.,-r GV cJL ,#$ ui"-t^i Jt.!; } t> t-Jry
-[.ts, .*1.9'-_7: ,Sj$'a^i-,u,:,-t^j gb;l t# 9 ,a*l^u f L-"1 '+# ,sU. .|,, ;tS"
f- R""g*Krtt
www.mohandesyar.com
f
Vl
Cim rtL:.-l
.CAD
2;;r2lil6r"
,*"-- 6lao:l:;l
c-rar.:r
f- \f JSJ
jT
GiS'all;,,fe ,F +,u,i,_L; 'a2,ite c-:,^b,
.rS #; iL; tr r; c*l o(^,
E b ,t:Sg 6-ltS^A J"-S"- t d ;t r, t4 ;;lics,,r(,1,-: .s;L*j cJL -2r
_tt 6 ts* '^U:a, o.l.iJ[^c I .stor.,l -)l t -\ae: 6l e--!- ,O- \ f ;[5.: -r: .>] ssjLa;
2r--rlt uS..,b") e g 6;Lc: tfu.,r .Jlori d*ibJ"-S,_ ,:-21: ,lt4T *
f
g;r-i + L-t-,. GU, ,s!.,1b 15t+.:-u, :h-l r ,tao:lr ,s.,sTtJ Cim .6;--l ,,J,6
t-J,g orte : l, ;rjCJ
af ,:-2lr
,fu
o.ui
a1
SIt ;L;
,t;' J-; t
o-) :l b ,sttrS u;t^a.t;j xlie ,;!:.r yl o.r:5orLi-"""1
"5,.r:
'L+-*, l- ,<t_t--G-t,>
.2r ..u5 6J-JG.,[1]SIL * + Gtxt,ci2-1u12 *t'{*l:+
s
,
L
(:1r) cJL
o:Lnt
*l
L
jl
o-U-:,--o;
,a.lr,
;lJ^c
rta.-l
4tarF: l*-,j: !-..i". P
.l
: -r3! ttuEt oJtSo:Ut) JLltr ,et,_r_r..x-*,g "l-+ SIL i!; +
"4*
,p-r;)t=6; -;l Cim ,t-(*t riu, rh-l ! SIL 6t.er.[;7 ,Cim ,t(:*,-l ("u! a3
.xlu, or(,-,*l D-,c ),,A)f ,J[U J[.SJ p 1? &-lts,sD,;*y 6-fu
r-j,A qQ.rl.u; r[.tjr,J&t*
;1.;
6tlr SIL;L;
cSt-lst'ast.r,'\zyz 1l lblLr oJ.i.-!-j ufu,jl ,SVr;l"Sba
,r1trc;.,:*l or.isju-;,
.S,) frame,f l:r1 .S) point ,(c-rts ,sla;a*. Jr J:rJ ,6,, uL- ,gt+!:r) ypr,$-:l
moveto LEtt-j,ori.-qrri &. jl Ll;^t-j;l 61d2 , .-&-t'r;r i/-+ I ,(iJS^^ ,J,-.J,i
'fu,j16[ie,a..tJr1
www.mohandesyar.com
!i
)5,r. P.'(r!
L t+i ,s-4
64-*
^S
sr i#
6.rb 6J1ubr1crlF
JL.,5
c,!l r:
0-
ll'
\f
f Vf
JSJ
,Ff JtatL-Lo F'-:. Ja*t 612 ^S ,*'l
SIL g;t'oa"Ett-i
tt lti,Jrl.tilJ
.rl:
t:
-t,:, cs.^tbE-r. a\: ,rV rt ,,-5,-t y-l ;tX- l[:r ro a iliL/,-r:.:[ r:tc
;[iJ rlu;1 oJ::forli-*.1 ty,-g'-l tt b-i,:.rl: g;r[1 c^t^al ,cl+5;LiJ rl-r'; ,]lo
foo 4 l, (tool) -2lyl,moveto((6tool", foo) t*r,ili .rrt-,g )tr'+ lt c-J
.1t-il-2lrra r-5w- -9a,rt-$".S,- ,;)*,.-1lrr1 .5-- c*l arS^" foo ;T tt 6,Ja:,r.0 3f
uta.,F, a, SIL ta-a.J:r).s! (,r!r, J-L.i tii) Glt:t p,.S'- t-r,(J[:l J,,Li lii)
,rotate ,jog ,jmov rrrtov r.;[) -ug,r" 16o'. csro Jt=S -5"-t cst+!; tt 6 6:JrL
.5ad-26r, ,SIL tt
ui:.s-jer 6ba-L.i rl.r';3 Wi SGtr
rr.-,.
.r-rl-r;;! (translate L e
,sIL ,11-; -S-'
p,,J,-ry_l .c*l jL! 6$i.$t"il J+
Jlt
,xSu^
.:jLcl ellltLiu'j ul e
Jrt^. 6Wi ua=,,.:; a'
6lr.-i-r- utS"l:
'FK
.S.;til
,st';.o- 6Lbi
.rfr: 6lar;[; ,st+*-r ,ii
,rb I
J"-S"-
,*+SIL
-2: AliL/ b
.r)
al-icl.L-UX ,)y-! b ry,,L-el 6L-121 ei:l ,sl^-l* ,sl,."lr,* Jl,i/-!q .rJ,-1,-+
rh-l q ,oy ,Jl:.rlFli -&t Gb:'Alt [-r,YPr Qi :l tslo-t* ! !;l
"^5b:,*
ta"[ :-r'; ;l 2 ul;lu" rJn]-;;
rsu^
"-Jh
L;r.L; b -l.. i-ie ;tT tt l1-t,,>*l;o>;J rrl.r;L-l JtLt, a\::l SIL ;[;
.rJ $t-_,, *l:t e
:l ;;lj,g u*'-S,- .Lii i# *-b ! ;b .p rr .'; lrl
www.mohandesyar.com
f
V0 Cim rtls-1|
: ,6$,tr.ii ;tI I D:,:.,plr c.r!l' LISP L='- r, SIL ct-.tuE-r +!, ++ ,r-b.l5,rli-""| ,S v.l(a .slc ii e-*r.1: e[.oti>t ;tr+ ,>l.oz;
SIL;[;,LISP i)By.r-l.f rr trt41 .:JL ;l ,;:-; r.12ei"gb,r-l ,5,-t s,-t;
,t-*-,-l 6b.1.9:-:.;.:rn .c*l orL 'U+ ,JtS-1, ,ct ;tI ,-;W s ,tf n-U 3l;4 lt
t or5orU'".'l d.ffu a4.:J.2r .x-..J.,g +;r; SIL;L-; a Cim
r-r{J" .-rk*b e
SIL;r: 9-JW>L5 urt"-Uri ..rr:,r, ;.# aT ;t;l) -st ! p *tSu. nl-bl
#,Lf ,or;L ;i.i.1 1! ,s! jid lr
*>l tsl-lf q t- t-* rrtr-i ,SIL i!-i
-rt *: Jt5.-.,t, it ; :l lt aLJ'-t ,s2l e
66+,1;22-j
t1 itl- )1"5,-Jt+ q ! u-\i .i- ;lj.r 0tr5 orli-- "l .qlu. ;El;
"Jt+o.r,.3 orlr Y-\f r P-\f 6Leifu'-2r s;lorLrt.*,,s[+l[,).$.,t-rd ,lnl Ga.5.,f)ttl
.(c*l
,;l;l
l-!i
,,sa;r
l"o-!f
.up
.o;lr
,s!l;lS,l
u,*,,
t*+
u-*
{rti
\75
.t:SrljtttJJlj"-rS"- !,lto, iJrt, t, [-r,.,,tf- u;t^Jt, 1U:+
-b r-! t-r \ s-ie orlr (signal) JtK,-.5.;[.eo:l: U.bl,g wait5 signal
oS^. t+to,,rdr u-+.tS vE;.;l Sln irKCrS6Wj it ,;l bl;d ! ,(.r":(wait) t+T
\J: 6Vt il c*l
+ Lt-r,st+-;Lq,.i :l ctQt .8-J t2: ! ola*^,, ,sW: b
crb::,sto' c,i,sD V-i ut t'.:
!;t:,
eJrL,.6Lr.rFr
.';rj;:lil
V;:l
tfiri;,;j;
rf5ri;.t,:Trr,:i
tstQ.d;t Srs.l;-lr r" JfS-t. b\: tt-t-. il-7t-/ ! SIL ,r"o1i ,*+
.-iJ k;r,JJloJ.i nL!;T a1 '.ui- f ,-l,;,;l sk*b:
process punal(is-ok: booleaa)
var x,biu1,bin2,drop:
fra.me;
begin
bint := [40,40,0,0,90,-90] as crl-zyzi
bin2:= [20,80,0,0,90,-90] as ctt-zYzi
drop: = [0,0, 15,0, 180,0] as crt-ypr;
signal (sensor, ready, true) ;
wait(is-ok);
if is-ok then
x: =bin1
else
x: =bin2;
noveto('bolt' , drop ret x)
end;
.(;.rn
1. Bool
a\: + +.; JB.-)
2. Port
SIL ,tr;
* o-*&j
Lbr,
4 t- \f Jfu
www.mohandesyar.com
b
process puna2(is-ok: boolean)
6.1li cstlubr2
rtll-',?"' fY?
var x,bin1,biu2,droP: fra.ne;
begin
biul:= [40,40,0,0,90,-90] as crt-zyzi
bin2:- [20,80,0,0,90,-90] as crt'zyz;
drop:= [0,0,15,0, 180,0] as crt-ypr;
signal (sensor, readY, true)
wait (is-ok) ;
if is-ok then
x:=drop re1 binl
else
x:=drop rel bin2;
x);
.(;.u
"oll""tot'bort"
,Jt{j q L-.i Ji6) SIL ;[; u o.**i
LE'T V-
\f
JSJ
tl*"L.r g.j|.ll?.,
,I-'; orf') ,rx5o)ti-l .J,J 6il+'.|, -t-..- A U-\ c-l-2rb Cim '&*,-l
tra.-L.- .i.;, ,r;L +; ,sb.4ba.b.,a ,l g.(,-25,-s t 6b-lt + Ji-:jrrk-lt ,;l;.r
tr!t: ,r-&, ,-r-l:y' .l-,-i.:
.s-;. ,C C.e., ,l-ra-t..- 6;Lar-: 6lr, orL 6t$Jti :l il
cnlb: tglu,-!,,r J4 L?.11 orti:.""| [ ,cUb-.. g\Jr <slt:i u..- 1.9;L'';
,a r) .4t+ ts-try Oo cirtft ,";lLlb.6f f .t5.c-lJ!tS.1,t.,-it 6;L;5'il
;-fc/ tfJJ.52a 6jt2\-.-fuT L 'L^f s3--ffL*lrtq l', (il * o$]'a y*
iKlr- 6-\:,-!,, ,-rll t )i 3;SJ.# .ssJ,g -Jli;' a\st ,5f ,l-t.iti.tt Jt:n t5 s
)Sv. tfJJ ! .-s+ ,*t Jk-l ,((o-rJ -r1.r.,1, \t;1lrta;tn &"T t : '5.'. Jo6;-r;l crli:.l t t ,rip ei cVa-L.- J ol5:91^. Gb+5,*,, ir:.^ t
. x-J.,gc;l al, r;.et 6; L.1 6..:l
+$,-s!r 6r:"-!.,r tttSl. al-i,; I ct+ (J't{,r*-*
U_l .t;6114,ct,=r p
;'r-r t qS J* f ;ff f t-"lil.i- A gerr3,.A9 itS. ,JtJ.* L-; Jlj.f e-ji
fJk; ;rslt-S:\ g? J ,c,t-h. 1hll cslt ;rp' ;l';F'b ,J'.tj ,5;La='.: 'r5
o"r-i 61La*i rEDs -I,-:.2:
fi Jl.c*l o-ui '.r;b;!i !-!i * qS J*rr f lr ;--1
,! f.-" cpL-r: d;t le ilt,g ,t-J; tV
.sJ
,--,.
t,1
",;..1;rlrJLS=-
.i.ra ,.:.*o- sst+ti; ,u. r*J
c;tr; ,SIL +-.
f."!i ,,ih" J.u I dt--, c+6 r s ,ti-;., 6$i-: t I
',tr LI.' g2l .t15i,4
Fj rl-*t ,k ;ttj;orL.13J":,. o e ,c-l ;LT iT ,t.tS : ,ct1Jiy,
,*
orlr'. ,l ,;!; Cr-l o o-U+:,.39i LL2. ;l ili dr-l 612 ,*l
gV ,;!r,, ,sU. ul,;'
www.mohandesyar.com
f YV Cim.t*-11
rsl+lr;..(r t- r) ..r: 6;L4 c.,L-u iL; q !, il -r-1, .rJ
,61+.Lr;6tr.1l3L e ,d,,u.s ,Vj,la; jl ,G-{ c,l*-u 6trrx5.|15 r5 .zJ.r6q ,Jl+!;
tsl+tr; t ! SIL itr; d tlls gri',*-*,Cim 't**,-l .J.2lr1!4 &:liF-rS.,- t
,(-r .-^.-; 5 u (r: '", t+t*; tt-( 6b G\-A P d.Stlc.-*i .Jiu. et -&-t
.xl:J2 (r-+.b,
;r-*,U1,,l
,rL.J,!.sil ,O;l -* i: ,?r::' '
.rt+..{b .i.rn a!; 3 4lu. ++ #, U-l + ,srl'j,r g,-l .c*l
ulrj
LtiJ.S,-.c^-+ lfrrj.u ,;-.=.- tt ,# .:JL f 6 s-,..l.,g 'Jt i,l u,t-6" ,rJ.r. a, ,SIL
ru:.ric.r 3.c*l orJorl.i:-l laox.uJl;l il.ttc" J* 6b S
SIt
"-.& -b l!,
rJ-i crlr.tt{" J.utr s-tty.iJbi, ft-"| t
Y t+T itt d,c,L::., .i.u .tti; a,
gr:g ,.uL tro-u.rrJL;l: ckr J.r. ;btS,l sti .i.u e
Jl .Sc,,Lil ,c*l
! t{rj;l SIt LL2..1t Jt,*-; i,:-^ t.c^ir-*.r.rp; | 6l+.1;2
-r, d1p;!Lc
c-^*i r!a1;-2: .c^.,i|: .up; ;lSrl a^-.;,:.g^.i ork-l ,J.2lJ r3'-.J .iJA .Sf"$y
,!; q ;ry y-i,.-- j -b;l SIL Ll;J. JM t +q ,Cim 'tK:-,-l 1s a-.>j r*-t&l:t
.i.u itr;;: SIL,-sl+Jb r b.,Fr :1'-.r lrr L ,r.: { t+ ,JJ^; g,-l .r;lrrs j.u
,,Vr,,S-,
at
;t
.tf'c" itr;
.i-;l
.r, e ,:-1lr gi.r.1J:,
1Je t i E lt,s-S-t Jbt-.- e r;l:4,r^,
u;1, l^a.tjJi u_| .+-&F.tt ! v-\Y s?-\r (J;bt'J.2r SIL LL2;lorL JE e:
I (.-,. 9-Jt4- v-el rel c,t^l^.e Ll ,,uL,.i.r, It vntV p; ^S 6l.15#5 t J[.i:;l
hal.1a.2r rel ,(Lt ;l +,L2rr ;^ r) t Jl .xl,t: t;-S .b.,r rJa) ;t+l llrcr
P- \ f J,fu, LtiJ Ersljro tt,c*lr-i (0.-.y) JUsl V- \ f J,fu, ,.,,EJ Ll ;F orli-.""|
8 t-fr;.r"ts .;-t+rt .c.rr t4; rel JJ-t.v-\f Jfu, LbJ .t5 .tJ a-.>a il.;r,-; lr
.t-S +L-. # rl b 4T ;tA,C,;!r g"-.r + s 8,c 6-J
t+l ,-rt+tb
^.L.,; ;1L-2.r,
*-l.f 1s g2ls2^, JS- t SIL LtiJ l:;,.1 .$u. 1h,1il J12..a* l.-* ,-Er.J=b
li; il c;tA",J:-: ,:.f d;VI ,.^----r;.S,- t': aS c*l q5;.tJ i.xarrl-L; tJ * ;1T.p
\(q;,.rrsr,)
,iJ J2,at2
6; "go to" ,^*-; t*t ! ,"go tot'rr:-:4 t i ,JLi-..a
+,ll csf,1-l 0:-rr c-l OS^, a5.r:.r:.r, ;t.i.i t a.l2.,sl3',t, ylr4sll .:-f,C
,f ,-,+.(:71: c-;c ) ,arf .st*-rrrr ,l.rl t ,fu t+l (r'L-l) lr:.; ! : xF lnl
oFi cJ\- ,,\ry. .5'-r: tr-i s :-*,t tfrJ,hr*,, ,ttS ,;-& -b -il SIL LUJ
,iJ.r fu ts St _261 c,!^c : W-i t: SIL c,!f^s : Vj i-,-li. jl ,r, .x-,-J.,g
,.tlci;.r6a1 jra ,t j r, js2
il 6lara,-c,!lrj :r U-l )V Jrrr 1l o:lf.,"l
,,J ;rI irj rrb ,slt ,;b
ry:a Jl* ,a.lr; j4i :l ,J * f .x-.J.d Lfi^^,
oS
^S
;.,21
L_I aS
!
l-"q"""tt"t
:-21: :3,-.-9 ,-r.-iL
a:-:lr -irJi:j.,y-rb
ll; j.re j\j i
oL.LJu.ir,-rr,rnfr.S,-
6rSt*,
www.mohandesyar.com
S
Crb
6jlnB1. urt+i
:,.
YA
or[' ,l .i.u i!; rr ait ,6+ ,:,:- ;l 2b tty rJ Jl r .$! ** ,-ll2> -St ."
l#,.i.u itr;.rr r-\iisi,-;r, c,$^c ef .ur ;t: J-t'; Jl .t".u!.; ,2),,t-.>j +.Lr1
>tp ,if;.f 1., oltV y-l ,ru.5; ,*,, *,L.,a bL-n-.,, d xlc;J ftri .;l+tV csst t
.t*,t11!;.rr LL.,29 t+T eb l4s,asecAi.t-S +L'
,,.^., lLI/ O 6b.,Fr J tal L; L,J..Li,.Jr 6 6l+.lr;
6-,-,li L rr-i,r--. ; e.l;t J l
;f-f .i.u tst+! i ;l qlr*; * SIL Ll;2 $*;) JtlJl ..>)j .trp
tt , "
,J:5
l*
Fj j
,-#r*+,Jrlr ,3t,-iT;.u,-st+!; 6qi-r3l^. f'. .s.,,K;lfrO'
[\'] KAREL i!; q 6l+.L2.,4-\f JT.i ..l5(J;-rlr)f ,J,-i[a^-.; SIL c;t^a.L,
if 6 +J +j .$rc/ ;l.i; ,c*l V- \ f ,[*i y: f r-:4:i1; SIL Ltjr l*i aS ,lr
!, ,.1.u orlr aLlJ 1! l, .5,SIL Lti.; er f )5./ or[', .l rel ,(Lr ;l KAREL
A; zyz:l) c&
u!-t-.; p r*i; ol4- g-r- .t-S *t
'r4F Ul a\: a bl-iL/
tel;u.
PROGRAM PUMA2
CONST
IS-0K =
SENS0RREADY
VAR
X,DR0P,BIN1,BIN2
POSITION
BEGIN
$MOTYPE
$TERI'ITYPE
JOINT
COARSE
= POS (0,
$UT00L = PoS (-0.
$UFRAME
$SPEED
O, O. O,
O,
-0.
-950.
O, O. O, O. 0, O.
0,
")
O, 334 . 962,-0. O, O. O, 0.
0,
")
= 346.4t
G336::
BINl = P0S(400.0,400.0,0.0,-89.9994,0.000508,-89.9999, ")
BIN2 = POS(2OO.0,8OO.O,O.O,-89.9994,0.000508,-89.9999,
= PoS(0.0,0.0,150.0,0.0, 180.0,0.0,
DOUTISENS0RREADY] = TRUE
DRoP
IF
DIN
c0T0
[IS-OK]
")
THEN
G329
ENDIF
G0T0 c332
G329::
X = (BIN1:DR0P)
G0T0 c326
G332::
X = (BIN2:DR0P)
G326:
MOVE TO
NOWAII]
END PUI,lA2
.KAREL
u!; q t-\r
Jifu, LUr
i-ry
A-
\f Jfu
")
www.mohandesyar.com
f
Vt
cm
OLP gr[+;":*
jl)
)i Cl rg.r
cl16a.,Jb15.,-
ar.,,b;.l
g *j;e,(.;*,1 Jrt'. ypr q dtKAREL.1: orti:-l tty
.c-l
tj
(mm .,,
|
"i.S.b;r
a.;*1tA5
r)[{j
yr .r.;3 W t; r5!J .;JL.rr &[:r,r sr:5JF q ci-r ,*+ rJjrl Cim 't*-,_l
Cim ot(:-,-l L .J5o)lr'",.1 d.ffu ,g\ o!:,,J o.l-i 6j*,a*e cr!r,, ,.:JL y-l
,sb ;,\:t 1l o:tr'-""| ;tS.l ,.t; ,, dL .r;Jis. 6f!-S"- U ,S./ .,ltt LV,J
eltb,./t0" Jt 6r"-;6! Cim 't^(!-,-l a, Lrorlr Jli:jlr,lL-."| ,[^. ir[e: '):yI
rlr 1t+l F..- ,*+l .r1.,:, ,-)r-rT bl-;.d,;uiL Cim
c,!r,, Jl .t J,g
't-(!*,-l ;,lut
* "'u*'pt:J;'f;,j;
fti;:r:'"
o.rui 6;rJ t,tsvs,-:
,cir
rsa f-rfJt.tfllr; ortji-l ,c,!r.r L ,-i:-rT ,c-):l4T ,sll.olT c*:a,
u-l ,slt
4- l J^ r,-,q "[^, 'r*l^. ,sltb (c*l - \ :,b,.lrlo n) ^.-;*'aL; n ylS
b S.r a*l-,- ! o.l.: o>ls ,r),y"T L6; ,slt, RMS ;tS, ,slL;
fu .t2u. t6+
.;S ut\ttlb tr 4;t JL:-l s Jl.a cjr Jl; oJJ:5or$-",'l ,r*ycr-+
,sr+rs,r
J-; 'tu*r"..., ;rlr JS..:r+ 6b al-l,gi v[ { ^ 6r3.-s ;r',*|A5 ,-i,tt -il
(P il ,Ga U-l .tf orU:""| ,dt. iL';: v 5l!:: G:-rI ,:-):l,CAD J.u.-5'-;l
vE ,gt * | (CAn jl Jl,L) 4tl .s-B p
s Se ortf,."l c/-r otr, ,stt;
;tSr)l,r:- JL crrrr,orr56tr:.r: I o.r.? 'rl:,rl;5".T Lli; u:-,-. Ul6 rslt..la)r/
tJ al,S,fi ffi:':*
t*
'4cr-l -r:
1-\f
oJ-i
o:l:
J:,;L,or.a-,,e
;tI ,aS J*
Jtfu,-2r
Crlt t**!2
.tj ,stt-Et
G\ a,+,s, ti,stJ-/-
5 6;L^=; Lt
il-,, L-/,
oLP rJhi,*l.u J, ,e-f c/u.r O*bil f-\r
ao-[,r OLP rsb -"*. I jl-ie 6 l, tip, u$lt uzt a,o]l- .,*r. ,J5,.
i
,r.r5.i-;l ,,h ;r-*,-,,J l) r;lt,-t 6i-, ;r.l 4 Ce aJr. ,a;J ,S^,
..ur 1l+l t, ;-..,
,sb" i
,_r_l
.$t"il t.h*. e,!r.r sLt Cr.+
,L- ,*,OLP fu- e{-rq pt+l ,.J:b ,slor6 u-4jl ,F4151 Jrltr"t .;jtS, CJ't! d' 6l^;J*,c*l 6;6Jrt-.i-;: s-ikir
c*Jr J*,*.u1 ,*lr ,s-,*t,-b
s iy,iI ,-)u +-26;['Li L- -!:.,
".Jrl;
t12. ,,s16
"-Stl;
lti
www.mohandesyar.com
b pb 6J1ubr4cb;.:'
.[S ,sr| Jrt'cvi=r
4 6;Lt;
Ji-t ''-*,g r$l ',-5-i J* :l P-r
)Sv.
A* ! ,xJ o:ti:-lr5 rK tli
1-
\f
JF'J
r[1*: oJd
t- c.,!:,,
f A"
6;*4'
lel-
-2:
'tt-'
J--. .$U;l 62a:-a
"jtV
,|:l: ,:;,-.J.,g.-,.o; (' :i , I) .f 6y J.'L-,f*'"' t+!r, .+ S t+T;l 'rlr ,'tz.,l Gl+
t{T ri!,r3: ,P
6-;iF=t ,o-*:ll-, *c*l
,r;6,115 cJL-2r,c*l t-t' 6t
'^-\rsAV,F rsxt^-,
a, c*l oL. *
ir-l .r.4, ft+il ,.S-,y';tJi * o!:r
t- c,t:., .*
tr* d:t ,* il ,r. I r ,rts ,r+b br!- ,]tctL*
"Al;
tt*y.i:* Jli o\.tt e*l il ,t!r: ,tL* J#t.:f i];;" 'aLi
.J.1,
fL*lL
c,r\,g. r!- ,ly.r ,6jl*4;
oS
,16 rV ;tli.a .-ri l+, ,rF: rsr6 Lll;
A J*; tt 3'b
.,6q --rt-6n ,Q;rT tr S csttt5,l\ \] g-.y ,t.6J-b-2),-[ d)r
g.,-''aa .c^-l *J r$ c^'. t.,-r ,t-.,J,.,g dJ
c*l 6$ JsL,.S;t ;l
"AD
ub.
z=LS a.
aS
.41-
sF)
,,- 6iS Lt-'+ltq...elL L-tr, ,s!\t tsb-+;:, !';lr.r
c.,[:.r ;Tv'
;,,,.4,5;Lra-4, S >t.ft.:l ,S.S:b
,rt il ctG ,,sln-* 6a J,r-i lt+jl ;ti-i-'; Ctr OLP P rt Jl ">-l uJ
,>1i .r;r tiJ -b tt i [\ r- \ ?] Gu: ,b J o$4a ,slo-r* ,-?l] r ,[\ r, \ Y]
1-
f"mtbtttty
www.mohandesyar.com
A\ oLP dll; rt.tl e,H.r Jr,/l.jl
=.
e t t# d 6.16J5- cJl=Lt ,sll^ ,rstbl L1s ,,:.) t .tl r, :l elrg # ,bt
eljrl,-r,-t 15rtT L..2r .S;Lyl ,si-r-b;l uti'. "l t .,.15.rti' -l ,r.2lr1l; t;rbT L.rr
.t\ Vl FJ 6;*,c,!r .2: gJs 6tCL t ).tri Lr::l
f
o.l;.J;.oLn
.iJt il 61fp
"l,'
qKa3z olLc ;l s9l*-29
oVr ft4 ,slt,,F-'SJl ,sj
i'Li i,r::
a--d fry S-.r!l 1.tl ul .s-'.J" }.i- ;tJ-c
-l-.,t,G$rlttstS
.fut-" t*+,jT cstJ o.l.i,.---; crlJi.S.uta;l,rr (J;)bl L2s a- !-:, ! 6lJ|a
4tt i.r-tr -i! c-l 65^. ,# * i .x1g orlr cJ-r- ,c,!:.r L iL;- :
tSa-1+.lrr r-)iyT g;ha.r-;l o:t"' .l ! ,k#
pll ,o3>yl..l;.lj l:^tr F* t-,srbT
:t+-l ! .fut-" tSr i/-l .S;tjl r**. Jlt d (fu.r3,-.e ,.:JL ,1lr: .x-;.e
.[\4,\V],r .up,]:tl l.rt-:,.l;5
uoV 6l&b +!,-&-!.,
ti
J.;;S
,s;l-a-a
q'jL+d ;t5..1,lr.:,rr orlr u:"-t^; Cb1U:+ f L."l t:5 dt,o.Li g;yLa:.; ;tp rr
u6i-t t-r;.rr {! ;i pt+l ,slt s *>-l ,l;s rS ,t-l.r.1ls'r3'-e ,J Li J-J ,s4-;Fl
jl k; ijU; csto+p #J.b f 6lt,rS-1,-r j*,ap jl s,\5 tsjur. It Cb
,-{&l 9i J-{ ,!r^ jlJ-f c,tJ^c t gtLn-r ,;L-,,' 0.+ Jt.rf crlf .l ,u,tJ
[\ t] c*l
1,,
.$t il Ls.L'j
,aljtr ts.t:,,L-i -h:1.-lil ,,r-.ue c,X;..; o3)c ,l+t -r, tsj-1uL121t
yl y-l .:ylr rf.r cth ,l-j. t
tAS J-b \ ,slt gg;*,a*e d r.2l: c -^.-rl .,,tfu
;!Lr*+.! t+t r, t;;l-i,g,{*,.,,-efL iti ! 6;L,g, sl+-' : .jl ,;t + Jl;} fll
.rt+lr+ 6i_r).Ju:....r 6i-r-b ,stp-t$l sU t4l.:+ tl ,[Y.] .i\:,5 6;La:
LVrl
o;7-s1.
it-.n
;tT
cy -t ti:i.,.i ,i;51 e 2,t-l oJl?::,rl=*: *xSrfip:,-rt"+li ,slt .j.t'41:
;rliee .;*l ati=i; u-l tsb Jb.r,_l 61c.,; OLP e.[YY,Y\] 1lr
.Js
,c*,lj.. ,s4--r61
"i;3 ^t-U)t
u+ ,lr;.,1
!';1[ir [AU;5Jt.il ,a\:t)
n, lxl6J.,$ c,^, tty -*l,sl+.:^i,.rr d) dtji{ti + bl-i,f l, OLP p
c;Lea.-t..-;l ,r:iL--1r 6lrcrlr
jlr,,,&,.sl"tt-
CL,s;LJ.u l4T;l
ul.r.'.""I
tS
,alS,rl)-i c,t')ttlr tt; s2,-. 61j6./t+" J.r..r, .[Yf,f f] tr.r_#&l ,]6b
i;E; c,t,t^c c*ijJ, Jt^:-l ,,,L-:.tl .tt b fr *tU_4 : ,-iJ -h ,t 1., IJEJ
www.mohandesyar.com
}}
ilt
(slJ ;-,-GuL.-;l
or[r--."1
a'*'l
6.1li $2!1utsr2
rrt+;
:.
f Af
'ciL [lv;E-rJ it5." t-=.,
.r-!;! 'l! c,Xi.- 65l-
OS^" 'ob rl-2r
{r);
0-\f
,r!ri. ;y.l ,;:'t-- 6lari-r5 ,r!, , Lt eE ,st-te.l'i;1 g;t+J*=*
,sl, ,rkl U--W.rJ orli*,| ,.Jil , c,E;; ,j-# : a,lJ 6112 ,.ela,-!,'aJ5:'
'r-#
Ls\,,:"".. " s isyl e-te Ga-lulaclqi*, iV sry>l- i#-t, 'OLP calCJ*=.'
t+l jl Al-iv. e
.c-,li
616 ,,921+.L2
e!V
Progromming
t1l R. Goldm an, Design of an Interactiue Manipulator
Enaironment,IJMI Research Press, Ann Arbor, Mich.' 1985.
l2l s. Mujtaba and R. Goldman, '!A.L user's Manual," 3rd edition,
Stanford Department of Computer Science, Report No. STAN-CS8t-889, December 1981.
t3l
Lozano.Perez, "spatial Planning: A Configuration Space Approach," IEEE Transactions on Systems, Man, and Cybernetics,
T.
Vol. SMC-11, 1983.
[4]
B. Shimano, c. Geschke, and c. spalding, "VAL-II: A Robot Programming Language and Control System, " SME Robots VIII Conference, Detroit, June 1984.
t5] R. Taylor, P. Summers, and J. Meyer, "AML: A Manufacturing
Languager" International Journal of Robotics Resenrch, Vol. 1, No.
3, Fall 1982.
t6] SILMA Inc., "The Cimstation User's Manual," Version 4.0, Available from SILMA Inc., 1601 Saratoga-Sunnyvale Rd., Cupertino,
Calif., 95014, 1989.
t7] J. Bobrow, "The Efficient Computation of the Minimum Distance
Between Convex Polyhedra," UC lrvine, to appear.
www.mohandesyar.com
fAf
g?h
[8] R. Smith, "Fast Robot Collision Detection Using Graphics Hardware," Symposium on Robot Control, Barcelona, November 198b.
19]
SILMA Inc., "Programming in sIL," Available from SILMA Inc.,
1601 Saratoga-Sunnyvale Rd., Cupertino, Ca^lif., gb0l4, 1ggg.
[10] GMF Inc., "KAREL Language Reference," version I .20p, Troy,
Mich., 1986.
[11] B. Nelson, K. Pedersen, and M. Donath, "Locating Assembly Tasks
in a Manipulator's Workspace," IEEE Conference on Robotics and
Automation, Raleigh, N. C., April 1982.
[12] T. Lozano-Perez, "A Simple Motion planning Algorithm for General Robot Manipulators," IEEE Journal of Robotics and Automation,- Vol. RA-3, No. 3, June lg87.
[13] R. Brooks, "solving the Find-path problem by Good Representation of Free space," IEEE Transactions on systems, Man, and,
Cybernetfcs, SMC-
13:1 g0-
97, 1983.
[14] J. Bobrow, s. Dubowsky, and J. Gibson, "on the optimal control
of Robotic Manipulators with Actuator Constraintsr" Proceed,ings
of the American Control Conference, June 1g8g.
[15] K. shin and N. McKay,"Minimum-Time control of Robotic Manipulators with Geometric Path Constraints," IEEE Transactions
on Automatic Control, June 1g8b.
[16] R. Johanni and F. Pfeiffer, "A Concept for Manipulator Trajectory
Planning," Proceedings of the IEEE conference on Robotics and
Automation, San Francisco, 1986.
[17] J.J. Craig, "coordinated Motion of Industrial Robots and 2-DoF
orienting Tables," Proceedings of the lzth International Symposium on Industrial Robots, Chicago, April 1gg7.
[18] S. Ahmad and S. Luo, "Coordinated Motion Control of Multiple Robotic Devices for Welding and Redundancy Coordination through Constrained optimization in Cartesian Space,', pro-
www.mohandesyar.com
}i'
cee.dings
of the IEEE
Conferenc.e
6.1li
sJlobr1 g6t{,ii":,' f Af
on Robotics ond Automation,
Philadelphia, 1988.
[19] M. Peshkin and A. Sanderson, "Planning Robotic Manipulation
Strategies for Sliding Objects," IEEE Conference on Robotics and
Automation, Raleigh, N.C., April 1987.
[20]
E. Russel, "Building Simulation Models with Simcript II.5,"
C.A.C.I., Los Angeles, 1983.
l2L1
A. Kusiak and A. Villa, "Architectures of Expert
Systems for
on
IEEE
Conference
Scheduling Flexible Manufacturing Systems,"
Robotics and Automation, Raleigh, N.C., April 1987.
l22l R. Akella and B. Krogh, "Hierarchical Control Structures
for Mul-
ticell Flexible Assembly System Coordination," IEEE Conference
on Robotics and Automation, Raleigh, N.C., April 1987.
M. Self, and P. Cheeseman, "Estimating Uncertain Spatial Relationships in Robotics," IEEE Conference on Robotics and
Automation, Raleigh, N.C., April 1987.
[23] R. Smith,
124l H. Durrant-Whyte, "Uncertain Geometry in Robotics," IEEE Con-
ference on Robotics and Automation, Raleigh, N.C.,
April
1987.
t{rt
.* cj-r)
uS.,t!-)
s ,st-*t
+li;r
jl G.St; ,lt-it
2* tsj-t-bjl
+Ji;
g;.;L-2t5-:l ,al--- 9r
.S.,-.rt
.+5;-r. b ttrt:l
,.tk"
J.u ,aL-
[\']
\-
\f
,aG
r, [-.i-.rt [\"] Y-\f
.+5;-,o!:r b ,*,aL> er
r, [\ '] f- \ f
.+5.;-;Lt^L;ieLil J;;
,61a5..*i q$,aL>i: t- &-.r, [\'] f-\f
L$; .iLr,oJ-i o:jau-l " eL
"!-L;
.+54-; I ilt-.
.+5.j"-ri t OLPJ,TLP,RPL,a.L>er t-.5"-r, [\'] 0-\f
s ,GLj 'a4. g.lt,..^.,,.S;L;l .,*+
t- .S,-
www.mohandesyar.com
rA6 W:-
s,-t; !, SnUl u&"L-i -, ,&^L.
osf ,i:*!15
rlL> er
t- .S.,-
tr [ \ ' ] t- \ f
.+5
ctlb lt\ d4+, ;l.:; ,r:^., &- ,.., 11 [Y'] Y-\f
JL'r-1r l.rr;*,9
'#$
.2r rJ.3 g'.t clLtlsl rl$ .-.-- r, !, .*ll; y-l c^4 *) c*l E;L- Jr-$l *l
.(+rt ;[.I rljlc-i.11r \o o o o .l sl;l+ +l.i
uai.4 (.Jo f.-".5.,-
o*; il:li crl.LtD t: d,JLLg;l ,-Xi [Y"] A-\f
.+5fr+ ,il*ti E gV 62-1+,L" 6ly a4;1 1s 5 ui7J,ut
J.u.i- rr ,[;lr i 6b ct-t-Et p .S,-;l o:l.L .l ,-,-L.: t-l;. [Y"] 1-\f
.r-- lb ,r-21: ,,1.6;!;- ;te
I,S,c-ij rl; a^, 45. j,-t rs-l f 6 t rt 6;L-26*il r*-.,JJ1.r, [Y.] \o-\f
,s!;.l 6l; bt,'! jl ,t tl; u-;+ (11-.tl ,A rtj.,lt + +j !) c"r..;,
a1
t,1
1y5Tu.
{*,&brr
(\f c..Jl
U.rn
.x-$ -b .tt lt ;.tT 6pl 3r.1: oJl)pt' .S.rIf ;: t .1., .f,-'*--i-Et
CL.- Jfu .\
Lfi"h;lri ,.$)f 9: J--, c;.:lr ! d+-,_* ,,9la.l1..FErl al;{u .|, Jfu
i/-l U
;Lt -l i;l |-# t tti; 45 dt +5 b,
rj
.llaL-Li .5.,- ,1.,[; &+ng;t-oo'g, ;FD lt ;tT ;tlj,l
tt\,e.+5.;-.r-,.r,-lorJ 6iLap 6,gL.r,F-+.,r |
"[5-:J# #
.i l- :ju. Js,a 6stf, t-T d +5 u* t,.r=er cJr- 6*
,sE-b I b
.t-Jr-l it12,-a 81, ,strrt i-f*.r.50:['.."1 JfuJr-5 ,s$.b jl |,\ \slt
.-t=S
"4^a
t;
u
ult
cst.=,,S:
,g.6-b...''.,J.r:6
,#Uf rl-t;
Gl:;btil Jl
'jtil
.+:*,-.1x ,tstS Gei -t5 )ft
;'ue:JJs
,sLClr..5
ur;L
s,sfut(,
tly
^S
.d
L-
.url:
,-f dt
t+T
tl
a1
.Y
.V
www.mohandesyar.com
www.mohandesyar.com
dJlci.ut*,
.,i
;l .ll;rV
0 L_:l:6.;1.!l*
[r
lt
;Ll
o
,sla;.p".^
Jr
UJ:-.
jb-'t ,.
L"y o\-rt
o I
l" cosd -sin0l
L" sin d cos d
Icosd "\ sindl
. |
Rr.(o)_ I
l- sin d " cos dl
Rx(0)-
L),
(\-.iJl)
.J
(Y_.jJt)
fcosg -sind ''l
Rze)-lsi.d coso 'l
;l .ll;rLc tiJ
sin 0
cos 0
(r-.-lJt)
rl
c-i*.;rS
c-"..ot +
Ll-n 6ta:L;l
- - sin(-0) = - cos(P + 1oo) = cos(d - t"o)
- cos( -0) -- sin(d * 1"o) - - sin(d - t'o)
;l .rlc,rV
cos(dr
sin(d1
0, s 0, ,s\lt,
(f- Jl)
plf t L* n-#: q-*
10r) -c\r =ctcr -srsr
* 0r)- srr = crsr * srcr
www.mohandesyar.com
-ill
-0r)=c\ct *srsr
sin(d1 - 0r) =.ercr - crsr
.ul.e \
tlt,-:l: t e#
cto+stdot(;T,.r:;L C s
fAA
(o_ .jJt)
cos(d\
c*l
e-3,
e-*
16.-,.
Ltr
(2_ .jJr)
B , A,.;;*41 ,saq, Arr;l ),c ),b .a,:,..[,u.t,Jl-lt Jl
t-r.l t tj U:4 (L6.#.r-rbD
At = Bt +C'-lBC
cosa
(v_ .jJt)
u = tAn,r
cos d
sind
\-zr
\*z'
(A_ .jJr)
Yu
- \+ut
jtt Jr Q ,ltt bbss cD,
Q' =Qcosg+sin 0(K x q +(\ - cos 0)(k . ilk (1--:Jl)
$o:[,. .l &.tts.t Jy;;l
r((s)) Cry3,,, -1, ,L-1, 'ast^.^,,
,0 ;;lsla, t? n-
Cll cS>lttlt cJL ,h : c.-.?:.1: Jrt*o i!:, At+---r[
..:-l o.r"i K6D d*gr,tr',.1:.rl: ,J"t + L'.12t ,;a t
www.mohandesyar.com
!rgr#JCA,
Joc4,
o
tilt
'ru-t4t LslJ S6rka:
c^-,:r1 rstArlllf
; I .s l;,
Ry,y,s,(o, A,?) =
Ry,g,y,(ar
0rl) =
rl) =
s13
|
-sospsl I cacl -rorpl
l-rorprl f sasT caspsl I sacl ,o"p l
c\s^y I
| "0"t
-sg
lrorprl f sosT cacp casBsl - ,or,
lrorgrl - cos't sacp saspsl I
I
saspcl - casl
,prt
l"or0r7 - sc,c l
I rO
l-sacB
sacB]
cBca -tp
f sasT ,o"B)
caspsl
I cacB -caspcl { sasT
Ry,s,y,(or 0,,l) =
.f,-:l rs\ly'ast --or1
-cgs1
"g"t
,orp"1 | casl
lsosPsl ! cacl
Ry,y,2,(o,
L-c
c\c
sasBcy
I casl
casBsl
socT
-c|s^t
-sasBs1
I
I
cacy)
cacy -sacB saspcl * cas'l
f-sosfsl *
I
Rg,y,y,(or 0rl) = I casBsy ! sacl cacB -caspcl f sosT
l,
-rPq
sp
cgcj l
l9r
www.mohandesyar.com
;7
cacA
-tf,
Cdj.,, Fl'
- -scr'c? cosPcl + -sas7-l
l rorp sc.s13s't I cocl sos13c1 - ,oql
cos13s^t
c\ct
cls^r
| ,p
s/c''t
-cgs^t
| .*nsB --sacil-s1 * cacl -.sacBc1 - cosll
f-.o.rd ccrcp.s-y f scrcT cacl)c1- -*o-r1 I
sl3-s'r l
l ri
-.sPc1
l"ortl c*c1ic1- sc's7 -cac13s1- ,orr
cctsT -sacl3s1 * cocl)
fso.*11 sucficl f
1 * cacl sasB sacpcl * ca.s7l
f -soc0s
I
Ry, y,1,,(o, 0 ,^f )
c0
rpq
l-cac13-s1 -
s/c^r
sac''l cas13 cacBcl
sosTl
l":.';;:;,',f: ::"';*.").',
::,'f,i=,':,7
Rg,s,2,(or 0rl) =
|L
::'*,)
"':"'l
cl3
s/cl
I
sosT
lror0rl I casl
| -tgrt
0,l) =
::,"f"'; :
rlrt
lcac[)c1-
R2,y,g,(ar
- soc^l casB]
-sac/1sr I cacl t"t0
c0 J
s/s^t
-cacBsl
;l Sl;rLc .-,[
Rxv
z(1,0,o) =
lcacg
lrorp
f
Rx zY
(^'t ,
0, o) =
-'O
l'::f
l-rorB
o)
- slc l
sasBsl I cacl
cas|sl
,SL-lr;
'ast--',
o:;19: 3
casPcl + sosTl
sasBcl - ,or7 I
c\c
I
c|s^t
t
-'o'o',:'"'^''"'P:'";,r'""]
sasPcl
I casl
-sasBsl
cacl
www.mohandesyar.com
f
U-151'+s,2.at ,sly.
,;tf.ttar-l
s-*
dt^rlr-/lf
* cacl -sacp
sacl cacB
| .ordr7 |
sB
-r/tt
|
f-sasps
Rvxz(''1,0,4) =
Ry
r?'l , 0,4) =
^y
,Pr^, -sB
Rzxv?r,0,ct) =
lrorprl -
sc,c
(i , 0,4) =
cacPsl
0, a) =
s0 I
I cac1 - rorPl
,orB )
casPsl I socl
-sasPsl'
sgci
I cocl -sacpcl - casll
I sacl cocPcl - sosT J
s\s''r
c0
-s\c,t
l-cacpsl - sac^t casB cacpcl - sasTl
I cac7cl - sa.s7
-casp cacpsl I sacy
cB
sls^f
,o"t
sasB -sacpsl * cac|
l-ror0r t - cas^l
l-sac|s1
|
totl
cac\s1
cacl
socl
- sas^l
lrc,"B"1 * cas^l
| -,p,,
lcoc13c1
cocBcl
sacpcl
rB",
L
z(j
-tP
,or0 )
- s0s7 -cacPsl - sacll
lcas/
I casl -sacBs1 * cacl)
fsosp
l-sacpst * cacl sasp sacBcl l casTl
RzY
-cgs^r
-s\c''t
| "O
Rr xv(^'t , 0 ra) =
Rzxz(^r,0,a)
-sacBsl
l-casP
sgs^t
Rxvx(^'t,0,rr) =
I
Rv zv
cosPcl f sasT
| ,orpr1 I casl
l-ror0r1 | sas1
,O
| sas7
Rxzx?'t,0,o) =
cBca
,0rl
I
Rzvx(^1,0,o) =
c\s^t
- cas''l socP sosPsl l
I cocl sasPcl - cr,,s''l cacPf
,Prt
c|ci
* sasT cacB cosPsl - sacl
lcas|cT
lsaspcl
lsospsl
'l
sas/1c1* casT
-casPcl + sasr
- cc,s'l sasB
cacBcl - s@s7 -casB
cp
s/c^,t
cacBsl -.so,c''l cas|]
sacpsy I cacl sas|l
sls^l
,0 )
*sacBcl
www.mohandesyar.com
www.mohandesyar.com
2grnrelt
15.
Jr.t
byb.$L+- 1lz, ,;t
2-i ,;Ac. iJ:L"
sind
(\_ c)
+T'l c*ra, :-: Lla;l
o
a5
- tAtattr(1ffi,o)
r-2lr vl-tt st
(Y- c)
2; ,jLt':- ij:h" l-;; ir.-^ {
cos0
(r-
c)
c;l: .trp 0.+0,_l ahlrt
0
cdrdJ
- AtanY(b, *yGa;)
* '&b;l e , .:*[5"- vl7
0
tf;l
,l:t ,frr-
(r-
(f-C) J ( \-C) ,el.roJrt'. Jl
,_I,t
(o- c)
= Atany(a, b)
r-i
acos0+bsind-
c)
"
Jl''
iJrL
(?_ c)
www.mohandesyar.com
u.b) f tf
r.2l:
.-,!-
gr
(v- c)
= AtanY(a, -b)
t
0
AtanY(-o,
(^-
b)
e)
:J:L
(1- c)
acos0+bsind=c
:-2lr;
il vlr,ri J- y! -';
0
Atan Y(b,a)
c^;Db
Lla ,s451 ! O-f j.a1:
* Atan (,F+
Y
b'
- r',,"1 (\"7-; 6taalrL
-bsind = c
[osin0+bcos?=d
!orotl
aS
C)
ot3;,
(\\-
c)
tt 6
il -lf srllr ,Ji.-: J- f-f
"4
(\Y- C)
d=AtanY(ad-bc,ac*bd)
c-...a
-*
www.mohandesyar.com
DCrr.Jst,
Jootlt
t44
,;t
-p )l
q e-l*
lc| -s0 'l
cgcl -rd
R- |
"0"0 sgc|
,O )
lsgr|
\-Y
o
otd I
l.,lrr
R_ | "rfOf '/V'V -'lt\Y
L-'rfOr orVoV "/t\Yl
aR-
lr0 -s\cg
..:*l
.-r:.i[
slsg I
*,:f -'"!;')
f:
un.l,- , \
Y-Y
r-Y
,ltL t ,* e12 ,l:2 0- Y
.+-S +D Y Jt-i.,, [f]
Gr *. ,-r
(rs:l-r 6la;.9r-.l Jt^.
Lel:, d.'.fu \ \-Y
'5'- Jf
ibs>
e12
AV=[-\/ff
3T
YY/fY Y"r.), \y-y
BAT
Yr-' ?'T-'
\r-Y
www.mohandesyar.com
I
Y0Y' ,Jtl ,jy \t-Y
YVo o z11't tla
g,- \ ?h' : v*
+li.rr g,- \Ao o J v-i
arlirr
..Ulr
G.I^..r;!
,l3l
=1r,,)=l'Tl
ep
Ao
1-
6JL+
|fil
arg f \7
,jy ,r,
\V-Y
:f:ffi:'l
\A-Y
I r
-I(260 xrmf
RK(60) - ln"oe \
-xrael
l-xr,,,, Iix6r, r
Y\-Y
oo
o
ar
-\
-L
YV-Y
o\
.'
oo
-'l0
"thf?
*'=
'1A77
"t6
YA.Y
OO
.'
il
oo
oo
o
*"=
l.'
-\
oo
r\-Y
-\
www.mohandesyar.com
f
tY g1; :t et
pq
-" t:??
Brn _
Cr
-"16
o\
-:'o
"
th??
rr-Y
..;*l -Ptl \-rlt,"oT ,r-tL;l
.A-Y
,14.,)
cJ.i orlr
.A-Y
,:4.2)
oJ-i
(Y,f)
,a:-s fV-Y
6hp_;r3t *;U fo-Y
,rlr U;l^p_.rr3l .uU f \-Y
f J.ai
Crtr
,T=
t:"
-Srrr " LtCt * hCrrl
C
rr, '
trr,Sr
''t"l
o\
\-r
I
-Cr,Srr ,9r
-,9r,Str -Ct
CrCw
.rn_Brn_
rr - yyr
,9''
Ctt
C|r
1"
fc\ -s\
ct
ir
- ls'
'loo
L"
Lt* ,r]
L,C, +
trr,9t
LQ\ctf
+ LrSrcrl
''i' l
r-r
f-r
www.mohandesyar.com
)
lC,
l"
)r =
lr-
s.*J
f tA
-.9r
o
lr,
L.
,'i]
cr
o
r 't il
B
wqt wT
7I --Gr --WI T-\
Er
Zr A-r
ll,c, * hccr]
trr^tr * trr^9rCr
trip_ I
,,r,
q-r
L\.l
|
.c..,1
:V
llL,
,r:; * *)- ,...- ;l GJl.Ll.,{+
..:*,1
g-rlr ,Juili
(6.
(rr4) *rn 6-
.-. g-,,L3a)
0r
AtanY(ry1
f J.ai
a 616 6";i \-f
!t U-fI ,s;r4..,.itr .iq
dr = AtanY(rqy, -rrr)
0r = Ata"Y(P,
"[5..]
,sb .6 \ Y-r
lLr,Cr)
,rrr)
0r
Y-f
www.mohandesyar.com
f 11 W-r :t
,-tt t
g"U.
,'-rlr
,s!
L.L u-rT
(J;t0:l
*S- ;tS,
^LJ:
,.ira
^?dt+
P') t- 0r - AtanY( -Pr,-P,)
0r = AtanY(P, - Lr,Sr,0 - LrCr) - 0,
dr - AtarrY(.91, Cs)
dr
= AtanY(Q,
;lr' 3
['e-t' c'1"
"-t?-'' s,l"
Jr
Jr
.c*l .(--r ..! Jfu t
az,qte..i-:ri^a .+5"1,-+
.t=S
"-;A
ct*S
6-tS
g;Lai
f-f
c*:t e-b 0-f
6rel,-., tt 6 b ,-,!lf
rr-21, p*, il
'sl*V \ cs2-t,rl,J3, V-f
3r frrt [-1, .:JL c;U; '\
LtiJ."t- { I V-f
,s-Jr-l rl; t+l-;' df
;:;.;l
o.ul
I4\l 62-x..iUil .Y
[-roJJ-;- (-lJ) Gj,r. .Y
t+tt r, ,l .f
taa-L.--,r
.0
"it-:il
Gtlr alt;l '?
r-2lr r-9,-.9 vlf c--ta1 A-f
\o-f
;T.2r
\M
x-?-r
o5
\r-r
GQaJ-;l
Jlar.r.o cd.ldJ
..tyrl:i,
t hb"
s2l5n
.\
,:15.Y
u22..r, .l
www.mohandesyar.com
)
.Jorc/ c-)dr (J;)bl Ltt
c..+J 0" o
u ! ;trr, di;lr d-: J- *L,,jst.aj \f-f
.0r = \f|o ,dr = fAo \t-f
.Vlf
att.2t-t )5 \A-f
.vl-n as2.a. tl4a \ l-f
.=lf
ac.9
.=lf
^..
.5..,-
a-c2*.zvo
2t
Y'-f
Y
-f
Yr-f
.rJJ
,c-F
0i-\ = AtanY(-Trr,Trr)
0i-\ = AtanY( -Trr,Trr)
ai-\ = I''r
di=
+
"lr "Jf
at-r = ?rr
0i = AtanY(-"rt, ?rr)
0
.Jlar,r,o cSy 0r
\Aoo
) 0, =
Jr O$
crL,*Lr
-I
Lt-rr-L,c,-Lrc,r) "
bt'/
'J1o1
-I
,p
.4 \-0
s,Lr 'l
'J1e1
,Sl+_+-5o,
'J
+ ,,jy
Jj'+
Y.A
a4
* r-0
Lrs, "l
"
L,c,*Lr
L(-r'-1,c,-L,c,r)
t'r trt 6F J-L
v_Ll
t,rl
a-
Lrl
'J
! .r,-26: cr!:r v-0
r il |il
,r-r=#li'
-LrC,
Lrl
tr,,Sr l
\o-0
www.mohandesyar.com
0"
\ 4,:.:l uit u.'g,,U.
B, = [f/0Y
,\
tl
'r -
vrA
- -\"sr/r -
./0\
\ \-A
"]t
\r-0
\o/rsrr
- \'/rsrr
[(a' + Lr * Lr)C, ^9r
Lr * trr),9, -c t
L,o,*
r-li
'r@)
- \v/.\ \/t\
\A-A
oo
-sr
".'
Cr.Srl
\
T']
t-6
- /1s1C1 -/1C1.91
{ lyqcl
"
-/1s1s1
Ircr
...:*l O$
cJL;):.r!
f;L'
'r(0)
-l
\A-0
,dr
- . .5,r,t(:o
\ 1-O
f-or - drct -s,l
"t
L ottt - drsr .r .|
, Ja;
o
c1_
li-" 1 v!mhr l*r' + I*h'
t
\-t
*;,,]
www.mohandesyar.com
! ci.gi 0"
l-,
11
=(1,"t * I"* j lmlr/rcr * *rll
* (mrnlr * I,,t * mrlf $r)0,
{
\
mlrlgcrr
* rn
mlf
rcr
=(f "21 *
rtgh
* mtrl, * mrrrliii,
- rnvl1r1s1( llri), + il)
m1lgc1
* mlrtr)g,, * (1,,, + mrlrriiir
* mrl{trrAl + TL1r1lJCs
,t -
t;
y
r-
\/ L
M(o\= l-ttl
v (0,,)
G(o)
+v(e,q + GQ)
+ mr(tr * lrcr)r "
6-'
M(0)e
'
'l
*''ql
[ lf'ii:, :,#,:l:::fi',]
.l
f
=
l*,st,",1
rt = 1"",di,, * lmrd,rtli)r + mrdl|t
rt = -rnrdr0l+rud+
A-''
i)r; c-rd, {Y} -. a[43 t o*.; \o-f
I .1,"t I
Mxe)-l*'*t *'J'I
vx(e, 6)
.-l (?) - m1old4
L
Gx(o) - f "l'
o,'1,
*,it,a,]
J
www.mohandesyar.com
0.f hr'.; :t &t q 3,l,
.(*)t r,,, t*c*,1 *# d \\-t
n-lrl c--)& {l} ,-. f,rt+t q c*; tfjf
I
M*(o)-l*'
,
=
(rnrrc+",T+-r).|
L'
vx(o,o)= I
L-
G*(o)=
Fx(od)=
tm
-m'l',ls'
I
r,,)l)
a'a,r,J
/,(\
+
* mrlYl' +
[_,.r,,]
ljil
L
lr+lr
cr J
.,:*l ?-6 Jlr.1r
' = [l]] -
oJrT
c-r4r
u1e')+v(o'il +
qJ it" !*t, \0-t
G(o)
\,.-.;1T;',
,=
v(0,0)
[r]]
- .;
; MQ'= l-' :*'
G(0) =
^S
;,,,f
'
V J.ai
,sW-* rl.u;e ,r-j.,l o*l-. 114t> iJrL \A \-V
a. = -A; @\ = oi at = \071f; ar = -lt?? t;l g-rtt aj:t*. v-V Y-V
f-V
,-ty,.o ,t-l f ., - AO deg/secr ,+S ,fl
..:*b
VY ti,;l
tb=otl?h
t1 = l1F
sec
sec
d=Ao(t-fr)
0o
=-
\71fo
deg/sec
www.mohandesyar.com
I
n-Te
ot= \0; il. = .; 0, - \V70;
= 01 a1 -'1 at = \Y70; ar = -YlO
t1
to;
f o. -
O;
ot =
tz\
l";
1i.
= \Y70;
=
(11
\Y7o;
(\\-Y'&b:11
Yo to;
'a*'l^' ,slt (\ 0-V) '&b
.$
:l
ty ) Max
o:t
'.".1 tl
\4.
0(\) =
- \4.
d(') = \.; d(.)
0(\) - f.; ti(t;
-12';
A1v;
- 0; 0(') = \f'
- t"; 0(\) = -\1"
t-v
v-Vs
\v-v
d(') =
\\-V
\ Y-V
t-0.1
0(Y)
A-V
y,., s
il
Srn _
u
-I
-\\';
o o f.]t
fo
0(r) =
,Sb,
t1 =\
0l="i
ar= -tY70 (\\-v r4l;r)
I l, eb ,orJ o:k- I v-V
.r:r) -,,!l (f-V) '^hb
=\
pfr c?.^-i
[4. =
0"
ca.!{ (t t-V1 &b:l u-:-t &l c.-i tsl, ,-Y
-o;
{'":,
c.-;{
-ot'
\A-V
l-V
www.mohandesyar.com
0"
0 Q.r.l:l ,-sl.u. g,,b.
0(Y)
= -?"; d(Y) - -Y00; ,(Y) = -f
Yo
-V
A J.aj
u-l
r-A
= \rAf I N.m/rad f-A
d - \rYf f cm 0-A
krorot = Yl"'7VV N.m/rad ,'A
\Y A_A
"f =
error -/.7ti6 \o-A
kroro,
ll
d; =ll "rTq, - n
\ Y-A
.c*l c--p Jbi, L\ - L1 \f-A
,u-+ JbL- L\ - Lr
" t" "7 \10 N.m lnd
.o-l
k --
o-i.f c#)de,r1
(,^I
q=7
f =?
f =Y
\f-A
\t-A
\V-A
\1_A
Yo-A
) rt:F-S- jl t".jj f-nMU d."Jl YY-A
AE
r\/d!-(r1-11)r*r[(r-01)rr*drrr]
[r' - cos-\(fi)
';1,r
o5
I J.4;
x(t) - | e-t - e-tt Y- q
c(t) = f(t + t)e-t r-1
x(t)
Ye-tt
cost*
fe-rtsint
f-l
www.mohandesyar.com
r -,3.t 6"7
o(,)=|r-"-1,-o'
0-q
'/.ff,rv ,-\
'/.r t,ov v-1
kr-Y i k,=Y A-1
rad/sec \ -t
U)res = l'YV7' f
o
= f \/PY
u)res = \VA/AA
Qres = 761Y7
@-"* = \71'0V
Umin = " l?Y\
u)res
rad/sec \ \-1
rad/sec \ Y-1
rad/sec \f-1
rad/sec \0-1
rad/sec
\'
J-4i
\-\"
r=ar'*0 (o-rt/e+\; B-Yilt -sin0)
r' = do + lc.6* kee (e - 0p - 0; ke = kct = \'; k-=Y\rE,-Y\F)
Y-\"
r=ar'*0
(o=
r'=Ao+koe*lepe
Y; B-600-\r0r+O)
(e-0p-0; kp=\'; k,=
o
-
Y1G)
thmg cos 0
t-\o
lcernl
'*,1 g-ft tt- ,lti.
,0 = \A.o|9_0="Jt
\o-\o
7-af'*0
(o=l;0-dui-
f'=ir,*k,6*kpe
(e=rp-fii
\ Y)
kp= Y" ; k,
lrfi)
www.mohandesyar.com
0"V V.-f :l ,;jte!U,
(r-aati
),
--
\Y-
bit +c sin o
\.
[*, = rrfi
*i) + n0' + co -
loo + k,e
* kpel* sind
\A-\o
\
uf
-l\,, \/vr -r -?rY -Y"tt -\orA]t
uf
-[Y/\t A/\t "
f-\\
o-\\
-?.rY]'
;l .sbrLc ,*J 15t"{ \ \-\ \
lYlY -Aro
Vr=o
Qy=
Vr-o
{,r)r=
Qc='
fv=
\ Y J.4,;
P*''a*
-f.-J
\ J--i
; i :#,"J;
ilji' ;':,,n-!,' f ,ll j:
www.mohandesyar.com
www.mohandesyar.com
,*Kl
- o-ii
taluoilg
array
armature
"-lrl
fr*JI
logic testing and branching
trial and error
automatic collision detection
current amplifier
inertia pendulum
inverted pendulum
path update rate
sample rate
servo rate
end of arm tooling
lower pair
hard automation
fixed automation
,p.
vl,.:;l s jy:l
t!; r ;;Y:I
st-tu.d;Ul
cr;L.rt5-.il
tL---.
tE ,-/'-I
,#&tI
;r:rb
611t.,1g;.fu"l
j- 3-T
r,itr tst+l.r!f
JLil
';lSir-L;l
,_j,b;ll;l
I -l
- 1..
tarLr
,J}rtryl
spline
u),t-l
tiLl
stator
assembly gtra.regy
Coulomb
&J
.L*- bt' YI:u.fuI
'friction
viscous friction
principle of virtual work
random disturbance
control algorithm
mechanical impedance
jB-rujl*l
.S;; JKL-I
:-fu-:Jttt-l
6jq, tS kl
drL;.,:L.:;il
J.rS
pr&l
sirtS" .r-,lVl
www.mohandesyar.com
-(;rliub$15 0\"
"4f'l
translation
locomotion
numerical integration
(.srtry
ut)
'fJ
cl' jfii
r9)rr 6.&6rJl
j,t,,;l
offset
ft:l jt,,;l
h;;,l4l
;L-L -j'lFl
ti-r -*tl;t5311
ecpentricity
link offset
joint offset
motor armature inductance
flexibility
stv-'!jUil
Jt i_='
passive compliance
rr5 .b
remote center compliance
:l
,;
force-sensing fingers
cfi
cry_-ljLil
qrr__*jLil
ill-;5'u..-;U.:3!t
614r. rkt
four-bar linkage
,s+f.lll
u;r6 ot*-'-l
workstation
orjtl
efficiency
,rt
mechanical manipulator
cylindrical manipulator
SCARA manipulator
articulated manipulator
Cartesian manipulator
micro manipulator
elbow manipulator
redundant manipulator
anthropomorphic manipulator
redundant plane manipulator
spherical manipulator
jointed manipulator
interval
trivial
label
self-collision
free vector
,rS;tS. 61;!
6lil;-l.r.tt,r$tS. 6rj!
!.1lS-,l
r.tL,r5;t5,
(J;ttl
+-+/L,-'(=;tS. .strl,
.,ir5'rrL ,rS;15.. utgti
(c,!l t-) t-trrt ,rS;tS, utrrtt
G-ilirrt ,rS;ti 61;!
4!
+b r-rt+fL; I
iL;l
.r,;
rrL.ptS. ,sritt
1t ,r5;t5. crtL:
6laz,i.arrt
rgttt
'$tS" ,srrt*
c$ *L,-j"tS"
;b;.r.rt, ,rS=;ti 61;!
j,
,jtl
t:- q ,rt
r!.;lrlrr,1
www.mohandesyar.com
0\\ ,*t$l -r,tUubgt2
state vector
line vector
angular velocity vector
actuator vector
gravity vector
joint vector
position vector
fr""i
,ur-' jtr2
.Sl.Jb
;l.sf 6.1lr2
GF.,t'-,
VL i4
.rt5...rlr.1r
tj-l i4a
eigen vector
resolver
bottom-up programming
of-line programming
t *ff:-U;
Lt Crlt 6a-1+.Lr,
1.:
.uL
frequency
l-.-J.uL
tr' -'
damped natural frequency
J'
fixture
gain
control gain
effective force feedback gain
memory bit
inertia ellipsoid
computer vision
c-,
(c--:.
.
..1
*-*l
.
JF,,+
.a
tE -b.tb,J-f
,l,tk
Eulerts parameters
steady
stable
asymptotic stability
potentiometer
flrg
torque ripple
post processor
trailing superscript
trailing subscript
oJ+
-*"*
- A tlr;o
6t*6 CL"
skew-symmetric
fixed link'parameters
o*.
),-21
!!,
,-,U
rt,
6o711.
,sl"r-!t,
lrlt
.,1+t,
L;+
;.t;8,
LLrl;
Qst-*6
.*l nt
L.? .
ts'rl{L'
':;,r.
,r--it),r,
,r--it-i,r.
www.mohandesyar.com
,..:tl3l -r,/;/6uagl5 0\Y
feedback
hysterisis
(.1.1"i) r;lrrav,
5L-r,
6.54.
deburring
polymorphic
graphic window
work envelope
band width
face width
ballbearing screw
lead screw
preload
leading superscript
leading subscript
premultiply
configuration
singular configuration
continuous
6.,,..rl,
.S;tJ 4a-,
q6,je,
Itr sLe
cJJi.;- i-r., gLg,
,
,F-le.
(r-rt") 6"t.,o
6r,
,trd*
,- "' '
v---tJ)t-l*-,
'-' ' '
s--tJ-Jt-t-'-,
?-p.-fu,
rs+J:*
o$cE+J::,
d--,J-r
warp
r-r
nomiiral function
generalized energy function
transcendental function
smooth function
u--.,1
transform
automatic coercion
similarity transform
transformation
velocity transformation
force-moment transformation
Laplace transform
trajectory conversion
eb
djt_F-*, ,S:tl
eE
uld,)
":;ii
;t
delay
inertia tensor
t-
6A t-;E
.L+
g.!''-j.S;Ul
;15_
..1+
I r-
I .-
Lt&b d-r?'
t.{'l'-+
&ar,,lf,,1,-r;
,tt:j-t;./.1,-+
y)tJ.,!_+
.-.-. alr-+n
www.mohandesyar.com
0
\f
,*K;l
,rr\ ubgt2
.f.^ +-+
homogeneous transform
integration
error- prop agation analysis
Lyaponov's stability analysis
steady-state analysis
circuit board
transducer
e..+
tt; Irbl J'b;
.iy*U
JJ^t
ts.rl*1,
t_t,
*ll- J"t,;
tlt *;
U-rr.)
ilt-flj
I .t
transpose
c)t'.Pt-
synthesis
4j
hybrid
'#;
dli.r-;
conveyor belt
resonance
structural resonance
unmodeled resonance
error recovery
automatic robot placement
trajectory-following
control law partitioning
voltage divider
kinematic emulation
path-planning emulation
repeatability
playback
singular
regulation
mass distribution
description
computer- aided manufacturing ( CAM)
path generator
trajectory generation
Cartesian tragectory generation
gravitational constant
a-
JrJ-,
"91';Li.l-'
o.r.lJJr. .1.t-5
U- 6-.;
6Jtjl t*+ olr-r., (J;t? il:::.-.
*ii
J.S 'ltb F-jl;
uS'.-.i;
;U9
,jtl-i1. +li;
,r-... 1g7-r-.rL 4Jft
tSt-I,iF
eSr tlS
,rS
br*,y-frl,_!:;
ilt
c.-],-''
tr:5
+lj
J:''j
i-*6.SJr +lt
.=".-
-.- .r);
Gr6t.* $j
g$ e'.1;
www.mohandesyar.com
,*rt3.tl - rlr\ ubcil2 0 \f
u.?
lr
ES- l; t-sff
.-.rlt
Jt.f
motor torque constant
back emf constant
Jtl'-,,J s.b
C^:(;
premution
b;
compensation
g. ar:fl.q
wrist-pa,rtitioned
overhead gantry crane
ssl';l:rr t)*r
&
inspection
teach pendant
,;':t,,l'aa2
bounding box
tb
antialiasing
tlslf 'z
rtn-l :l cj:f
"t
&vh
closed form solution
spot welding
singular direction
orientation
6l^Li; 616,;97
gJ., c^g
,sSr4z
worm gear
GttL 6Jri.;orL
spur gear
cross helical gear
,U tJJ.i'.>
J u
*t*
3Jril'>
(L-tY
bevel gear
cycle time
(edit,compile,ruu cycle
3.1.1;r,-
GL:',;n
ca.[.ir, .Slfr],*t822
cubic polynomial
planar polygon
multi-input,multi-out put (MrMo)
frame
tool frame
station frame
base frame
sensor frame
local link frame
constraint frame
wrist frame
.!-!J
,u822
&-A-s,
|l;r?
tsl"L"q
lr 4tt
I
?s J-;.u,
Lirf + -gi{13Ji>'
-.f.Jh
thl v*tV
.t(41 -. *rtr,t
._1,
-.:tlh
r-L - .-. fJL36
,tL- kb v*tV
.rp
,-.
f;h
Cs) g. .-. f,.rt.0t
www.mohandesyar.com
0
\0 ,4f;l - ttj)
uagt5
universal (world) frame
task frame
goal frame
unit quaternion
rv
Fr *akr
,i:::.1[
d..,-
itf-rt+t
6'F '-*L";
mass product of inertia
z'l;i,o.
z-buffer
global memory
,16ibit
cJL
state
o$.JL
singular state
workspace interior singularities
workspace bounding singularities
work volume
hidden line elimination
backface elimination
Cartesian motion
Cartesian straight line motion
guarded move
coordinated motion
qJS ,,91;i ,[-lr.1r O.5., ,sl+JL
616
6Vi j, f
CrS;
.stCL
qS g+
.trl;;L
G-,.8 LtL; ;t;t4,,
g'6t 6?
..r.,6':,il*
ou.(.rL.l
vision sensor
proprioceptive sensor
wrist sensor
joint position sensor
light beam interrupt sensor
context sensitivity
position sensing
force sensing
off-line
memory location
line of action
error checking
osf
a-t
sensor
..-
Ct+ it..("^^t1 .-J-lt Lt..-
v}t Ll*
LL.-
t+J..-t;r .,L-. ;tS"
61j L1...+rEt ,?;r t]-*t-.;tS, ,".,-\r.teLi
:i,-r*
t;
6rE
&iL rE
-;tb
ulw
www.mohandesyar.com
,-;f;l
uigls 0 \t
- ,,rur!
steady-state error
servo error
l.1t,
*lL g;tb
3r sW
,F
linear
moving linearization
local linearization
deflection
rS7;. 6;LrtL-
,P-r qltL;
"i'u-
,Jir.s;
autonomous
a.l
J-t-at $lt
pixel
degree offreedom
interpolation
universe coordinate system
universal device
disturbance rejection
L..,r
u;rbT
ctFl r
[-.-,.)
1ls
,>L-:;,11-t
0.26a-.1
.K;-t
u:t'rl
i)
c^ir
accuracy
tachometer
rJJ)
dynamics
.S.rL,-r
link
direct drive
closed form solution
algebraic solution
geometric solution
full rank
tracking reference input
iterative relations
industrial robot
garrtry robot
rotor
update
finite element method
numerical solution
heuristic method
htt
Ptrtt
e.l
d-: J- .t
6-* J- 't
.,-J:A J-.!,
,I,g'1.,,
e?t 6\)t,r,:!r.,'
,aF kbt
-t
tJq,
,#
J*r
vtt ot*l
.t-iv
YT:s.,
)9Jar,r
,SEl
q,rl.g
,iy
,b ula
:-rltr ,ja
www.mohandesyar.com
0
\V ,-rt*l - rlr!
u}ojl5
Lyaponov's second (direct) method
joint
space scheme
actuation scheme
linear control method
intuitive scheme of Cartesian control
path control scheme
computed torque method
Lyapunov's method
Cartesian decoupling scheme
intuition
tg:-.t pt ;))
;bL g]-bt Jtt)
dr 6ilxltlS;3t
.iy*U
,F J/,-itt
15rJ+.i
.;16r J-J ,-i:t
*.- l$;,
or.i r.-l-,. ,tl:^S
6'.16i
microprocessor
micromanipulator
repeated roots
real and equal roots
real and unequal roots
complex roots
link twist
joint angle
cibJ
c.tijsr'. y_1
r\y t-t
,alS
621...u t &
q,9t.-u t ,*
rsb'ri-.r
tfbrS--r
r-shrt:"-.t
L}^i- rsbai--r
L|
u4o,'a-tl;
J-L
redundant
AL
robot programming language
SIt
explicit programming language
task-level programming language
interactive language
specialized manipulation language
multiprocessin g language
dual superscript
run time
automatic scheduling
multiply time
correlation time
;,
j-ialJ Gst
.lr5t 6;lJtt '.. ;2t
L_tlj
.r_!.;
AL 6i-1+,br itr;
Olr-f,, ,Slt+r|;^ i.t\j
SIL g;;-.pe.[;ritr;
ere cUuEt tt\i
,Jt=t r cn+,L1, i\j
u'Jirv ;t\:
;!:,, ,r-.-;; ;rL;
.5r"-!i q u!;
jKst ,r--iti
LL2
lst-*6
9l l,pl ;tL.:
.SJtjl
rs.r;*L;
,--*
JL:
;$:
www.mohandesyar.com
,4f;l
open kinematic chain
roller chain
Euler angles
Z-Y-X Euler angles
Z-Y-Z Euler angles
X-Y-Z fixed angles
roll, pitch, yaw
subroutine
,ct\
uboil2
.FE
'd:
)-21
6L-121
Z-Y'Xy'-j
Z-Y-Z
)"-51 6L-l2i
'::::,
vir!;
,gVtj
,;f l:
;tyl:
inverse Jacobian
J$l-i*tr;l
generalized surface
constraint surface
facet
o:L
sL
,:- ij-
ts;r4a t *,; t;L
;tS. C"t; 1L
+b c.d: e:L
&.r.
G:r_|-,
.uLu,ti-
st+li*
'*
ufu'c#
torsional stiffness
surface
e-flj
,r5.-L,-l;h;l trL
stiffness
rotational speed
force-controlling servo
,.st-lr,i
l[-,e,
Jacobian
effective stiffness
ut-b;
X-Y'Z.-.rB
underdamped state
closed loop stiffness
\A
-d:
jt{,r5tt-:r..,
subspace
dynamicdlly simple
kinematically simple
structure
closed loop structure
orienting structure
positioning structure
redundant and closed chain structure
Goraud shading
orthonormal columns
* tlJ- ,;---*
;3. GhGlt:t c.cr
,i J.S cir
^:
&
o$rrlr,6'j &
rj+
.s-,tcL
www.mohandesyar.com
0\t
".$;l
-,gJ6ubgl2
J.-.sF
pallet
t\r c&
host platform
workcell
q6 J*
&rs Jli:;l f=."
transmission system
task level programming system (TLP)
vision system
.ttl^t Ga-1*rLiz e
second-order linear system
;Jr
W,;|\jre
error-driven servo
direct time servo
discrete time simulation system
reduction system
control system
multi-input,multi-output control system
position control system
closed loop system
+'*..,ieti
;1,;
",KzJ
csr
uia6
J/ r=-,.*
L-rtf+ {rrrrr? J};-..*
itS.
#5fr
t:-.-.rlL
t!; (J;!b J<*
(,r$u;)
g;rL.1xl.-,
.,.!l:r.\rn rxJ"--
5Jl^-.
P.SiLi-
forward kinematics, direct kinematics
inverse kinematics
structural length index
quasi-static
anthropomorphic
simulation
multiprocess simulation
off-line simulation
dynamic simulation
angular acceleration
initial conditions
up-down counter
argument
e
;Lq* e
iL; tr 3r
t
aliased signal
pneumatic cylinder
hydraulic cylinder
kinematics
.;l* fu
,F e
a>.,rr
iltr .$L..-
,,elo;L
J*,*U
,J*t-l +;
iul +
6;la;
b
CJE ,e;La=:'
,S...l,--l
6;la;
g,la,-tl;'
4rt
,)si*stl't
-rt:-i
L-t;
siJ[-i
a-L-l
www.mohandesyar.com
,4*l -r,trtj ulig)5 0Y"
ir 4"
servo valve
r;tr aU;
arm signature stule
tr.;
JJS'.^;-
keyboard
pr
quadratic form
L..,rr
O1t'
,? ?--p
closed loop stiffness
^;,<.j.y
computer-aided design (CAD)
path planner
collision-free path planning
\ V
.*i-r)
qG clr* Ls'-f)
iE
,rtil
6.S.5
\t' J*
link length
J* 4)
,t
load capacity
tge
lens
overload protection
performance
b jl
';.J'...Lb.rr
J;;V
JJ-t
operator
high-level operations
1t
j;.i,-42.rrs
nonautonomous
c1.b,.-c
decoupled
Rodrique's formula
Cayley's formula for orthonormal matrices
Grubler's formula
effective recursive formula
extreme
interface
+-
c,tJ^r
;ui
debugger
background process
Lagrangian dynamic formulation
-*
rrSLs
+lt
i$l,ri,L,-r c4-rJ
F-tta Jyt
.r.Li 6t-6-:rt 6b. # Jyt
cl+-:
.ltJ Jyt
ty ,F:L,s.ulr,j
(.sL) y-r
(tgrl il-r)
.tn, J..i
www.mohandesyar.com
0Y
\ .rr"t*l - r^r.rV ulioils
world interface
configuration space
error space
Cartesian space
null space
operational space
actuator space
'(;.:
,jf.31
ts+;r, 6Vi
tL;'
..sLai
,,1lr5t
6[;i
,b c2i
,Jl=Lr g]";i
g;;Lu!6ctLai
qIS 6L;i
workspace
reachable workspace
rigid workspace
dextrous workspace
joint
space
task-oriented space
over damped state
low pass filter
noncausal filter
closed form solvable
t-I,rfFr rS.rK U;Lai
J- qS 6L;i
tl qS 6.;i
;LL 6t;i
.i,-tl: J;U (J;Lhi
Gb ot
ab6un-L, -;E
Lr*
angle set convention
servo portion
model-based portion
Euler's theorem on rotation
parallel axis theorem
J- .!tt
6t'ai;ilvb
Jl+,9 3.rb
J;5 ;';li
PID
$5;r;b
t #5i;b
itt- J;5 i;l;
:t; J/ ;t;ti
*-91; ;t rn rllf
iU.' O*t
J.t, q a:-rb c*i
,-;tt..
,.rt-rr.rr )'Jl'a3^r,i
cjl-f Obt*'*3
pole
dominant pole
diagonal
-;L;
&_-h +
chain rule
I'Hopital's rule
control law
PID control law
error-driven control law
position control law
force control law
J.-i
JU
r^b
.^!,t
"rU
www.mohandesyar.com
r.$;l -,lrU.ubgl5
light pen
natural constraint
artificial constraint
position constraint
OYY
,sr-i
--J+i
.-t
vst a. Ji
.Jti +i
dtt' $
force constraint
;lr!6
actuator
vane actuator
stltJr;li;tK
joint actuator
,W;lrlrK
cft '$
subtask
virtual work
workcell calibration
digital computer
robot library
incremental rotary optical encoder
ts:l+ tV
q6 J*;r'r-.lA6
(Jtir+-r)
'it
c,try
t*6
it4[5
,sl"l, ,-;tJ \ ,stj jKS
,lslf
bounded
strain gauge
direction cosines
limit switch
feed forward control
hybrid control
hybrid position-force control
adaptive control
trajectory-followin g control
linear control
linearizing control
linearizing and decoupling control
digital control
discrete time control
numerical control (NC)
nonlinear control
decoupled control
hybrid position-force controller
*,fS
g;t4-;J
g;rb
r.xSs9.r^..
t*,
.r=JS
J-S
d;Jg
,t'_ilS. ,-#;J;S
;I'g.J'J
P*;JF
,ts J.s
,;tls;Lt JF
,J\:,sJi:..-
rF J/
(Jtire"-t)
,-rtt
+'" '.1.,,b GU:
J/
J.;S
(,)& JF
,F*l-s
(r[i:*.)+",*b
,t'-it5,
'#;
* J.{
sr::t#s
www.mohandesyar.com
OYf ,4*l -,.t v uigls
transpose Jacobian controller
.rl+!i
;ryl: ,a-f l: tx-SJ;S
inverse Jacobian controller
ir-h* rr5#5
ti sJfsJ.s
robust controller
force monitor
Cartesian-based control
joint-based control
independent joint control
position control
force control
active force control
shaded graphics
,jSlj sr5#5
c/.,'6r
;l.oi,ulRJ.S
WrL-#J.S
,p J.#
'o11
J.P
Jr..-
'E
Jt'i .-*ro J.5
oJ-i o)j
actuator torque
"-L
.(jlt
ilxlrlS.,2L:.5
joint torque
;bL
rtl:-'.<
,-s
gripper
u-i$r
Lagrangian
keyword
backlash
clearance
(J+l'd
(oJJi.;- ul:rf,l
(ob[kl.rr)
,F
moment of inertia
skew symmetric matrix
mass matrix
Cartesian mass matrix
rotation matrix
angular velocity matrix
tridiagonal matrix
identity matrix
.tJ
crank
pricipal moment of inertia
mass moment of inertia
effective inertia
,-l
;t-t
J,J
Jrr
,arlf,
J-f te
4rtil
rL,
,f--rL
ln e-il
.tr5, ln e-jL
i,./l'tt
*-tl
ocr ,f-JU
c-b - ,r-tl
61o-tlj
dLa
,r-tu
www.mohandesyar.com
,4$l -tttvuaoj2 dlf
proper orthonormal matrix
unity matrix
affixment
character string
joint variable
end effector
length sum
wrist
three roll wrist
outward iterations
inward iterations
iterative Newton-Euler dynamic formulation
outward computation
inward computation
instantaneous axis of rotation
equivalent angle-axis
principal axes
joint
axes
programming environment
generalized coordinates
open loop
closed loop
world model
world modeling
3-D modeling
wireframe model
null model
perfect model
CAD model
gravity model
lumped model
inverse model
modulus of elasticity
.uk li- ,-t-'-t|
,*_,atU
6;LJr-:.
(,;-l ctJJlr':
;La'-,jt-
rr,-
e4,s-*
Jlz*
bsr-S
ut
Gst ,stl$ &t..t^..
Gvt qlf &t-t^'
6tlS,r5,.rL,,-l c,t -l^.
Gsx 6rL i*L'
Gyt SrL i*L.
bbl
GT
u*
JtL
u*
claun
J-l
;bL 6|.a12*.
L-slj s
tslt+'E-t L='.'
-.rU_p.rfr- u_,L -;.
a.f
;:li
ctt-e J.t
,tt{" .sjU!
6,8. L,15jUJ.
6l&:
y,-
J.r.
J.t
j"6 Jr.
CADJ.u
;$ 'l,-
f*
JY
,rrlr J.u
;L*5le'u
www.mohandesyar.com
0Y0
,..til -,lr\
ubgl5
shear modulus of elasticity
oat
;l*:s
center of mass
yn
mechanical advantage
uncoupled
joint
ball and socket
prismatic joint
revolute joint
eigenvalue
scaling
partially constrained
position
Stewartts mechanism
-;r
fi
u-)/
uSrtS.
(r.$l.r-,r:-n)5/l JL.-
;f$..-
decouple
path
trajectory
time-optimal path
cubic spline trajectory
parabolic blend
collision-free path
numerical differentiation
Euler's equation
recursive Newton - Euler equation
transform equation
undefined equation
configuration space equation
state space equation
characteristic equation
parametric equation
Newtonts equation
maniput ability measure
positive definite
l5t
sn5
uttrill
sequencer
(;[-;ll
-,*1.,*
t;L;'t:ra.
.=*
7r 4lt -,*
ts-r+ l*
st-i-t;l qV t..u
U;rrt
6;i*
,!el iJrL.
-$-:t
ui ,#:\iJrb.
,[,-s iJrL
o.\.i.ir-L-.;r, iJrlr.
6+-5:/' 6l'-zi ijr[,.
.:JL 6l;i ilrt'.
A-)L; iJrb.
iJrL
ar;s;
'tV.rV
c^''
0:'A
,p
'sns
J-L
Lt:S)';t,W
(".-*.)dlrl ,P
cj;i'tu
6rljfuli
Gh tJ"t &
;ls.
orl;;-l ItlS-
www.mohandesyar.com
,4f;l - ,t
servo- controlled mechanism
,.-*rli
6a-2+.Li, p alil7,
glr
*
4:rb is4 $-r
eS7
stops
menu
brushless motor
a.ru:.5re.l-,
stepper motor
direct current torque motor
on-line mode
background mode
'sl^L'.^i'f
;tL--,t 612l:.3 r;3"
LL
4.
tt
'*'!:{
path generator
automated assembly
621
a+,j
mouse
assembly
uagl5 6l?
UF t*l itjl1r ItlS.
well-conditioned
parallelism in programming
limit
jV-r
SJtjl iV-r
,;J3.
component
Jv
damper
Gln,rLj?,s-V
critical damping
effective damping
unstable
,l+L,b
nonsingular
nonproper
irs;ti
orE
time-invariant
gear ratio
damping ratio
event monitoring
via points
pseudo via points
singularities
computed points
paih points
iL; tr ;ru
oJJi.;- C*J
Glf c*;
tarl.r-y t Jtb
.;*,L*,-.
tl;
*Q
.tti
.#
Llr;
|J-.
.l.i!.
o$ !E
o.l"ia*l-, tti;
dti;
conveyor
taught point
o.\-iorlrrrij
yI'^Lft
www.mohandesyar.com
OYV
,4f;l -,rrV
uagl2
h.- el -.
(*e
set-point
fixed point
c4u u;,;
floating point
operating point
through point
wrist point
feature point
mapping
notation
Denavit- Hartenberg not ation
faceted represent ation
analytic representation
,.gJcJ,'.Lt;
shaded surface display
' s 1L];
JJ..'S'^Lfr
e. i,ti;
a-r-,'aLi;
.*Lf';
(J;rljfrLi
Srsrl,r't--3L r u;, lifr L;
.S-,t Cb i{n-: * u,!L;
,r-tJd
or.l cr;a,-L
*-
u,.:"-L;
,,i.,-Li
wireframe rendering
151dfu, ul-t-.;
data types
geometric types
gelorlr g.W-i
u-x^ 6Wt.
noise
linear actuator force
joint actuator force
Coriolis force
centrifugal force
semiconductor
semidefinite
model-based
J-t
,rL; ;lxl6
;bL;l.r;f K u;ri
,s:i
'lyfi-.5 cd
jt:l
LL ,*
",ltat-j
lJ-
J.u q
inverse
invertible
bounded-input, bounded-output
active positioning device
text editors
co-located
smooth
c:i
&rb
r-yl.'
t\'iYls
,lxf ot--tlrV,st1.ts
JU c.sir c.'.; 4:-J
,a2t
6uJa_S-,
it5.,
tl--,
www.mohandesyar.com
,4*l
tstti utigl2
etb '-i.f
artifi cial intelligence
single-input, single-output (SISO)
unit
orthonormal
isotropic
0 YA
.-r"tP
t5"-45r179 t5'-
LS-* cJbb)
n-
.r.L:rlS,-
l2S,,-
www.mohandesyar.com
,etli -
o..JSJl
+.Uo;13
c-ir
accuracy
active force control
active positioning device
actuation scheme
actuator
actuator space
actuator torque
actuator vector
adaptive control
AL
algebraic solution
aliased signal
analytic representation
angle set convention
angular acceleration
angular velocity matrix
angular velocity vector
anthropomorphic manipulator
antialiasing
argument
armature
arm signatures style
array
articulated manipulator
artificial constraint
artifi cial int elligen ce
assembly strategy
asymptotic stability
Jti tsr* J.#
c".';t
c.: 5 iJ:-,
Jti
Cr 6;lxlt5;2t
;lrlr5
st;lir6 ,,e2i
;lxl6 tzl:-t
;txltS
,#
AL ci-2u,Ur:
t!;
i4,
J-;S
6J-
i!;
,J-'lJ
g;!l:
Jt<*
Cld
u'l_t^i
rl:_2!l
u-tl1,
,W
cl+ll:..,b-i
glu-tb
t>tr
g1a"-tb
iL;l + rrt
L,-,-JU
'lcr-'
llsr'.
,rS;tS"
(J;trq
tt;:ta1l J rs-J*
l. r
Ja*'Jl
tt..
ALii,4
atl
+-+ r.rt
,rS;tS.
cJr1;tl
g2:.2. l=i
Lf-P,jf
j\_r 6jl;*l
,iq's;l*,1,
www.mohandesyar.com
,*16
-.t-&l ub6l5 0l'"
6;Ul
automated assembly
automatic coercion
automatic collision detection
automatic robot placement
;[5- 6W:.S;Ul
,rt lJtil
.SJtil t-h+ c,!:r
^SJo,'
(J;t?
rii-
,lJ,-
s2z
l; C:i 4E
G-,"8
LrL;;:;
a+| 5t
background mode
backlash
(oJJi.r,-
ball and socket
J
,stS J-L
G:,r,\
F-le.
ballbearing screw
Itr ,gt-+,
band width
base frame
_.
"_1,
bevel gear
Cartesian-b ased control
Cartesian decoupling scheme
Cartesian manipulator
Cartesian mass matrix
Cartesian motion
Cartesian space
Cartesian straight line motion
Cartesian trajectory generation
Cayley's formula for orthonormal matrices
tlxV
,lsf c;si-tlxF
.,. _
:.^"/-:
dlu:.rr&IdJF
,-tr5, 6iLuLl:*' ;2t
,-tr5r rat ,r5;t5, g;g!
tn'[n#;
.1r5, sgl;i
g16, };,-! 6f
,;r5, .* 4j
.r,[c" rsk-:rL ,slt
"LS
center of mass
centrifugal force
chain rule
characteristic equation
character string
rstas
tlxlf '^-4-trtt jst ri-r
brushless motor
CAD model
aka
oJJ>.;-
'J:F
bounded
bounded-input, bounded-output
bounding box
"1,-+
(J;;L-,5..-il
autonomous
back ernf constant
back face elimination
jlu;-t
Jyl
p-,t
j-,.:l
iJ
f-,.
,s:z;
g9A;;i'ssli'
(j-t
iJrL
.,.-[Jlr+.
www.mohandesyar.com
0f
\ .t)ti -r4f.tl
uucit5
circuit board
clearance
closed form solvable
tlt "S;
(c.,bt!lrt) .,j
,t_) r J-,.liti
+..: ,l.u
closed loop
closed loop stiffness
,.,:-21J,
G5^-
closed loop system
^: ,: jsn
p^--
collision-free path
collision-free path planning
,rt jl qG -*
\-it jl ctG ,sla-* c'--p)
ilS"e
bl*
co-located
compensation
complex roots
LE-
t-st.l,ul"--r
ad3.
component
computed points
computed torque method
computer-aided design (CAD)
computer-aided manufacturing (CAM)
computer vision
configuration
configuration space
guration space equation
constraint frame
constraint surface
context sensitivity
confi
o.l*ia*L, tLi;
;'rS.-SJa,
'fl)
:-t-6.SJr, rJ;
s:,*S,g-Q.
tg&;:/,
(J;+t,
6+;:i,
'5Lbi
+i
,-.
6I--b;
iJ:L'
r,rh
Ct-
ull ,?;: c*L.-
continuous
control algorithm
control gain
control law
control law partitioning
control system
;,
o.Lia"-to, ,tL:':(
Aiu J-tu
J.J p-'fit
J-Jex
Jl;';tr
J;S ;.,lti
J/
F-t
r:"'-'
dli;
conveyor
conveyor belt
coordinated motion
Coriolis force
correlation time
Coulomb friction
"Jti
a-;
'*3:,i;
;t.;
Jt(t.-l
u$,;.,.4
.S.:;
www.mohandesyar.com
,,lr! -r-.t*l ulcjl5 0f Y
.*J
crank
critical damping
GAGL-
*a ,l 3Jti..J 1
cross helical gear
(L_rz
fY 4t:6laL-'l-
cubic polynomial
cubic spline trajectory
current amplifier
cycle time
cylindrical manipulator
1r 4t5 :*
*--* r-l, ,*T
Gl: Ln
lg,lili-lret,rS;tS.
6ljt1
V,*.uL
damped natural frequency
Jto
damper
damping ratio
,el:--
data types
C*;
6lorl: .s$-i
debugger
;LJT
deburring
u13^J",
;fJr:..-
decouple
decoupled
A*'|'5;..c
J+-
deflection
degree of freedom
g;rtT L..r1
*t;
delay
Denavit- Hartenberg notation
Srsrl,at:.-9l;: u;rljfrL;
J:4j
description
dextrous workspace
.rL u;./lJ 6l-bi
,S.b
diagonal
digital computer
digital control
direct current torque motor
direct drive
direct kinematics
direction cosines
direct time servo
discrete time control
discrete time simulation
disturbance rejection
dominant pole
(Jt..+_r)
c"t t-*6
(Jt^.+_')
Ffu
dt J/
uL--a 615l:,.51;2"
C'*,
,F
P.$t-+5
6rLr 610 "'i,
{..,;.i[ ;t-i ! 3-
e
J.J
q.-s;Lq.: p
+:".:,tl,i
ot; "$;J
GU:
;t;;.il gi:
JU .-!n
www.mohandesyar.com
6ff
\r-rli
-r...t*l
u!,cjl5
dual superscript
dynamically simple
,r--iti
bK*
p;l
,r5,.r1,-r
rrL
dynamics
dynamic simulation
eccentricity
eccentricity
ttedit, compile, runtt cycle
effective damping
effective force feedback gain
effective inertia
effective stiffness
,rS.rL,-s
"tr
j-,.:l jl-;l
j-";l ,:lt';l
<r-[r ,slrl ,+tL2 J,f ,a.12. ,-h.lt:, Ln
'i? 'ab
ti tlJ;-*,, j? ex.
..
J-f te-.
;J. GJ,-
efficiency
o)iq
oj-5 j.$'
eigenvalue
eigenvector
elbow manipulator
end effector
g,-21l's2
g-4's'*
:t\ ,s$l tlil
end of arm tooling
equivalent angle-axis
error checking
error-driven control law
error-driven servo
error propagation analysis
error recovery
error space
Euler angles
Euler's eguation
Euler's formula
Eulerts parameters
Euler's theorem on rotation
event monitoring
explicit programming language
extreme
facet
(J;ljt
G-tljrat FlS,
Jr[',
L;1lj
t Jrz-
,s.SV
V A| t JF;;b
,-;tt \
j- fu-
U; i't-:t JJd
tl;
tt; ",:t--itr
,sLai
-{:l
,,!el
,st-l:.,
iJrL
-l-lt
4b
-I-rl .st"ylL,
ibr
-[-:l'+' '
t JtE
e-P Ct.t+,Ll it\j
(,rL) ,cr-_,,
[.orl.lp
+t*-
www.mohandesyar.com
faceted represent ation
face width
feature point
feedback
feedforward control
finite element method
fixed automation
fixed link parameters
fixed point
fixture
Lfll.i
-,4*l
.S--,t
Cb
ubo)le 0f
i{.-:+
floating point
force constraint
force control
force control law
force- controlling servo
force-moment tran sformation
force monitor
('t+i) ll'ri*
:*-J-J
)9Jer-o
!!,
"El ,t:t
caB
;r*L;l
.-,1b
.st"r-lt,
cntj
forward kinematics
-*) 6t,
)r*'oLL;
G-ti +i
ti J.{
6ri J;s;t;li
ti J-{ csir
.,e*S-t;./ "l'-+
ti Irl,SJ-{
:i
,-,*
ti il5u.-;U-5;t
,..,i*..(Jti=-
*-*tV
frame
l'r,
'!T r
free vector
frequency
full rank
iti;
C*,
force sensing
force-sensing fingers
u:"-tJ
'"o-3"8
lrs-i-*S Ll.,11t
flrg
.r"L
,!6 4'
{,\
gain
gantry robot
gear ratio
(.+:. v--e) o*.
Fr vti c,t :,
oJ$.,;- r}*;
generalized coordinates
dit-p:a-
generalized energy function
dit-f.^^, ,Sjrl
eb
generalized surface
o.$r:l:r:^r;
geometric solution
geometric types
goal frame
'>lui"^
Ct-
u-r^ J-tl,
-I^
,SW-i
.jtla .-. Jr>uJ ,[-r.>
V I
www.mohandesyar.com
0fd dr$ -r.-t*l
uogls
tug, G:^-l-
Goraud shading
graphic window
gravitational constant
gravity model
gravity vector
gripper
Grubler's formula
guarded move
hard automation
heuristic method
hidden line elimination
high-level operations
homogeneous transform
host platform
hybrid
hybrid control
hybrid position-force control
hybrid position-force controller
hydraulic cylinder
.S;$ eat
qu
't$
GIJ JU
G$ '1"
,.J
-[tJJy;
a:Vl>.4)o
,-iu;t.t;l 3r-V;l
:-rT'r G:t
;ta-i,
lrB ;L
lt,
+- c,tJ^c
,f^^;-+
l\rc-fu
'#;
J-S
r,.,-jti '#;
,#;,1-S
:-o-jtS, d;6l5JF
,-5J:,'l+ rr{--
Jt*,,
hysterisis
identity matrix
independent joint control
industrial robot
inertia ellipsoid
inertia pendulum
inertia tensor
initial conditions
;tr 'r-tu
inspection
Jr:+
ibs> ;T
'7 '
u-Srv ll:
instantaneous axis of rotation
interactive language
integration
interface
interpolation
,P;!:,,
;;J
,lr-2''.
PJ 'k'I
u:A tt;l;
4rt
(lq,t iL-:)
L"t;
c.*
"1f,
www.mohandesyar.com
,d.r6 -r-.t31+rUrj! 6Y7
interval
intuition
intuitive sheme of Cartesian control
'i!
dl5r J.J ,.i:t
6rr+.j
byls
ayl: ef lj
inverse
inverse Jacobian
inverse Jacobian controller
;tals
inverse kinematics
sf l: r;r-SJ;S
irb .SJt+,:rb
inverse model
,lltt 3:L i*t^'
invertible
isotropic
iterative Newton-Euler dynamic formulation
l'-tbYls
ir'(,-
-f,-:l-ui rstl$
.r5'"1.,-r i,
,-t-f l:
Jacobian
keyword
kinematically simple
-L..
,aF kta
iterative relations
keyboard
J.r.
;r:rb &J
inverted pendulum
inward computation
joint
joint actuator
joint actuator force
joint angle
joint axes
joint-based control
jointed manipulator
joint offset
joint position sensor
joint space
joint space scheme
joint torque
joint variable t
joint vector
c^ihJ
g9s24)
,p
u[-L-;llf K
;bL;lirK srr,i
;t-L L-rlj
;b;.
6612,u
vluL
r c# J;J
;bL.r.rt
,rS;tS. 61;!
;bL .iF.,;l
t+L.I
1s .ii'"--'
sitS, Lt*-
;l*).61r;i
J-L,"?
tPJ)La
l!,
Ja)-;,
J.-L ,ls.t
)JS'a;-
,s+lJd
Jtt-i* p;l ':L
www.mohandesyar.com
OfV drl; -r*,t*l
ubcil5
L;l;*' !,i;
kinematic emulation
kinematics
.
(J-
6tt^+
label
ui$\
-J
Lagrangian
j$Y.,S-,U,-) tst)-rt
Lagrangian dynamic formulation
Laplace transform
,/>1,)
leading subscript
tr--it-ic-h,
leading superscript
Lr-'-tJ.),-fu,
lead screw
b-tt")
length sum
c^,-l.ta
J*
,xlet'i
sensor
Jl;,g
E,rcli
;-15:,9.1^, g19,
ox5r9.L..
4lf
,F
linear
linear actuator force
linear control
linear control method
linearizing and decoupling control
linearizing control
line of action
line vector
link
link length
,p;txl5 c:i
,FlP
,F J-J,-;y
, ;Lt J.5
'xl.,l- J.S
..r:SJi:-.-
-;tb
uLL jt1.
,l'
tt'
tt
link offset
link twist
load capacity
local linearization
local link frame
locomotion
logic testing and branching
lower pair
61j'a-1...-
,srj
,Sf
6,,
OeY
de
lens
light beam interrupt
light pen
I'Hopital's rule
limit stops
limit switch
"J,,-{
J+
.,t4l
\| ;4o, i-tl;
,! J* 4)
,P-r 6;Lr);
(.5r!,r,
,b \bvxrb
,t'j Ut\ .Sr r Jti:;l
,rU-,-,lr;;l S i-f:T
,;t JGt
www.mohandesyar.com
,er6'r4f':l utt6l5 AfA
low pass filter
lumped model
Lyapunov's method
;tb6,r.-|. -rE
:s-P Jt.'
jieV,ja
.iytU (p:I*,) pf tlu
iyy,U ,s-rl+1, J.J;
Lyapunov's second (direct) method
Lyapunov's stability analysis
tV
.rtft
pi eii
(t e-ru
JtW
maniputability measure
mapping
mass distribution
mass matrix
mass moment of inertia
mass product of inertia
r'#9
P. &v*k;
. J-.;tS"
ut--J
mechanical advantage
mechanical impedance
u'a
,rSJtS" .,,-,l.l.,l
,at
mechanical manipulator
memory bit
memory location
,rS;tS" G5!
nbiL c*
l..l
c.lc
4l2rL> drL>
menu
-r-
micromanipulator
r\a tt
microprocessor
oxjsrr,2-1
t d*:b
J.u + ,a-.15 c*i
;L*5le,t
J.r.
model-based
model-based portion
modulus of elasticity
motor armature inductance
ti-r-*.tT;t:fgl
t.?
lr
)t-f
motor torque constant
moving linearization
multiprocessing language
multiprocess simulation
Newtonts equation
noise
q.v
('":Vl ,jY
S7;. 6;l-uh;
titf 'ri-6:l/3 Ji
mouse
multi-input, multi-output (MIMO)
multi-input, multi-output control system
multiply time
Jta
,itf
r+-ts::,'r
r3 #5 P-w-i iL:
6-u,_!,,
6J;,-!,rt
.l+ .l!.i
l: ts;L*i
;ls; iJ:t
,-j
www.mohandesyar.com
0f
._r4b
-,4f;l
uoo)13
u*l eb
nominal function
nonautonomous
noncausal filter
nonlinear control
nonproper
nonsingular
notation
null model
numerical control (NC)
numerical differentiation
numerical integration
numerical solution
off-line
off-line programming
off-line simulation
ti-,.-
JI'-
c#*Aj
,F*J.s
orI
,$ti
st-rUt't^;
Jx'
g;:-r $5
q5)rt 6;U.9rrr 6;sJl*;l
q,)rr b Ga
Eav
E gV
E gtr
62-1a.L1,
r,91L^=.i
.'lFl
offset
on-line mode
open kinematic chain
LL 6y
jt.,(;L+ -4:
open loop
operating point
operational space
;tr rl-u
J*'^L^
.rl& g;l rl
operator
orientation
orienting structure
orthonormal
orthonormal columns
outward computation
outward iterations
overdamped
overhead gantry
overload protection
pallet
parabolic blend
:2.
,3,L,
,S;+
,s;r4- *i eiL
.u[url5..,_
r.k,tS.-
G4*
G:x srL i*['"
Gsx ct$ d',tt-t.'.
G)rot
F-,+
.r-;l ,+ rt'p,.J*b ,,s LiV ,,zs
6lo;121s
J--,-EF
6-r+-,*
www.mohandesyar.com
,-r-.16
parallel axis theorem
parallelism in programming
parametric equation
partially constrained
passive compliance
path
path control scheme
path generator
path planner
path-plannin g emulation
path points
path update rate
perfect model
-r4f;l
,SJ-f
ubgt5 0f
6latt^- Z*' ;
a\lY
i/-rLi iJrL
cSa-1+'Lr,1t
t*
. i',>
uJ.
JU =,
ut
pole
polymorfhic
position
position constraint
position control
position control law
position control system
positioning structure
position sensing
position vector
positive definite
post processor
potentiometer
premultiply
premution
principal axes
principal moment of inertia
J.L
-i.jtt,;l
.* J-J,ja
:J-f
r-*-
.*i-r)
,:*- 6,--P-h
'*- it;
+JA
* Lli
;,,l;,a.fuT
,j'5 J''"
performance
PID control law
pixel
playback
pneumatic cylinder
"
:rSLc
PID
$5;;b
2'2'a;7;ls
.Sr,lF
[5;u;)
cs:!
rr{,=^t;
J*-n,-*'
;ti
,JtS. r.;
itS" #J
its. JF i;b
iq- #5p:*-,
;Li C,r.;1L
;Li r".a15",.1l:ra
j'J-. 6?'
oliil4'.rs-'.
;--#V.
=-,-ufu,
c-K-t-
J-lcl\*
;L-t ,;a Jrl
www.mohandesyar.com
0f
\ d)li -,-;*l
uoejtl
principle of virtual work
prismatic joint
programming environment
proper orthonormal matrix
proprioceptive sensor
pseudo via points
quadrate form
quasi-static
random disturbance
reachable workspace
,"S/q-,
(.;-t:f)
,;i J-)'
tst-tuEt
o;
kl
tS
J.t
+"
:rtS.,-
.rl-lr
',-'-;U
Ll*
6i4'c*Q lti;
fJ) L rr ;42,e
pb-la;
r/rL-; uilfirl
J-\,d-,*: tst6 U,t-bi
gb,ul,_.r
621'..., t &
15JL-t; t (*
stad-.,,
real and equal roots
real and unequal roots
recursive Newton-Euler equation
reduction system
redundant
+b
,:,-l; 6ra;i i,;L
redundant and closed chain structure
redundant manipulator
+b r"t ,r$tS" tsrrq
redundant plane manipulator
J:b q't+L-L I lu,\a2,;e r$ts, clrtt1
regulation
t;rr*:tfrl
remote center compliance
ob
Jtt :l cf-r. g;y-i,jtL;l
repeatability
,st-L,i5
repeated roots
,al$ sla.6--r
)."-:;f{I
*b
,r;Sj;bt
resolver
resonance
revolute jdrnt
rigid workspace
robot library
robot programming language
robust controller
Rodrique's formula
roller chain
roll, pitch, yaw
rotational speed
.lr_.t-l;
(,r-=4).r-tl J-L
,J- 616,,g|;i
c,!r e;t4t:5
Crlry Ctt+rEl
'4-b*
i;\j
tnSJ;:S
&t>tt Jyt
,-(# -4:
:L-,e,,
.&
Glt:t
,gL-lri
osr
www.mohandesyar.com
,g16-r--t5;l uU6l5 0f Y
rotation matrix
rotor
run time
sample rate
ls-4*S Llr; y llt l Juj
,stl>12dr.fuT
g;-1ljfut=;
scaling
SCARA manipulator
second-order linear system
,r-sU
tttt
bb:s
!rtS-l-rat ,r*ti crgt
L..lr gU e
J'J:
t:- q rt*t
self-collision
bLr=
semiconductor
,P4
semidefinite
a--l*--
sensor
sensor frame
sequencer
serial kinematic linkages
servo- controlled mechanism
a-L
- *r,r[.g;
;Lc)tl 'osd;re
Utl .,S.-;k* .J[4.t'1!,
l/ ir);t"y,r fits"
jr clL;
ir i*t
servo errol
servo portion
jr
servo rate
servo valve
set-point
shaded graphics
shaded surface display
shear modulus of elasticity
SIL
similarity transform
tf -,*
rL;'^Ll:
-SjlJ
oJ.jo: J-pL rL- Uit^;
L
o-u.i
o.:ja,L
it;t*5
J-t,
SIL ety.Lt
i\i
.teLl ,-l'-+
,g;*a;
simulation
single-input, single-output (SISO)
singular
singular direction
Singularities
singular state
skew-symmetric
skew-symmetric matrix
smooth
3-,T
ta
t1)f .i-
-.-sr:,'r
.i/d+
uS c^{"
i,-t !t.ij
r$ tJL
Uti,rL,
i-lk
rL,
,f,-;l
,l:*
www.mohandesyar.com
0f
f d)6 -r-;f;luUojlj
smooth function
rl-r
r 6b
.ill ,r-.-;; 6l;
specialized manipulation language
spline
iPL-l
g,l^B 6y5J-2cJL 3JiIiJ,-
spot welding
spur gear
stable
,l+t,
cJL
cJL .1lry
state
state vector
station frame
stator
fJQt
,tLl
steady
tti
't(:*,-l
steady-state analysis
steady-state error
.-.
t_t,
-lt.-
t-t,
-fL 6tL;
stepper motor
cl^L,ti,r
orl;-l liti
Stewartts mechanism
stiffness
strain gauge
structural length index
structural resonance
structure
tsl';L
'#
e,F;
J*,*C
6|t,;l.l-.rj;
5L
L;,\;
subspace
subta,sk
'-ft
tS
&
surface
4;
synthesis
tachometer
task frame
task-level programming langua,ge (TLP
task-oriented
J"L^;
spa,ce
taught point
teach pendant
text editors
3-D modeling
three roll wrist
through point
?D,
r,rh
.tt=tr cnult i\j
*-Uspt :;gljj
tS -t
-.
o.L.iorl:ri,j
yi'^Li
;it"I z-ta*s,strJa"6-t
LSb|4-.SjLJ-
j:tJ - t
.,j3'^Ll
www.mohandesyar.com
,drv - r-$;l uugl5 0f f
time-invariant
time-optimal path
tool frame
torque ripple
torsional stiffness
tracking reference input
trailing subscript
trailing superscript
trajectory
trajectory conversion
trajectory-following
trajectory generation
transcendent al fun ction
;ti ti ;;-l;
,r:l; Zc.a *
tlil *xtV
l-.? .
Jta Lri
ch' G'"'
6tA).-r,:L-r-l
G:
tf--lt-i,f,
(r--ii.).-,''.
(;t;-;tS"
J- t .l'--ln
rf Q;
.*- 4j
Ut,:,) c.e* gE
(J-rr")
transducer
transform
bl'Jlj
,!+
C'L+
transformation
transform equation
transmission system
-*\.*
ehh'
r:
'[,,-'u
ll--.1
uJil.J,-.,1
a;
o)+!,/
transpose
transpose Jacobian controller
trial and error
.rt+!i ,-*-f l: trJJF
lL- e 3r"17
,s-F- F-JU
tridiagonal matrix
trivial
undefined equation
underdamped state
unit
unit quaternion
unity matrix
universe coordinate system
universal device
universal (world) frame
unmodeled resonance
unstable
update
t're-+
iJrL
o-LlJ,.-n1rr,
's-V:'i
(A;p +J.ul3)
^i- ;6rh
6-,r-rL
(6-.-,.)
otJ!-,
1G J-:;.'
t5.,-
0.25a^a
fG
ot**,
Ft,-. fJt{+
o.,l$J.u .l,.Li;
J
,l.r,LI
-t
YbY
t]'
www.mohandesyar.com
0f
A d)li -r-.t*t
uaoj5
up-down counter
J:i*sts''
vane actuator
6l'2 Slrl5
tJ.sr,,lf.1,_+
velocity tra^nsformation
via points
virtual work
viscous friction
vision sensor
vision system
voltage divider
.;-L- .th
"
Lq, ru
:fu-:Jt(t.-l
.
.*L-n
X-Y-Z fixed angles
z-buffer
Z-Y X Euler angles
Z-Y-Z Euler angles
sl&:
J.r"
'stS
J*
c$ Jb;,ly-JS
qS ,jt,
workspace
workstation
work volume
world interface
world model
world modeling
worm gear
wrist
wrist partitioned
wrist sensor
a-t-..--
;U3 u5,**.i;
workcell calibration
work envelope
workspace interior singularities
-t:-
e.QP
well-conditioned
wireframe model
workcell
workspace bounding singularities
siJt^^i
c16
616
,,s15
\sll;
6lzi )/ t5 a.5. ,st+JL
6Lzi ,lil:
-2r O.5;
,st+JL
615.t**-l
6fV
.rt-e t;,, ]-i
stt*
J'u
15ju.l"
.rt-e
-;ljb
6J,b- -i
,IA
g
6" ;r5l-r6^' Ll*
X-Y-Z.-:b
,yt_12
z1LtV
Z-Y-X -[-:l ,s\lA
Z-Y-Z );el 6l_19
www.mohandesyar.com
www.mohandesyar.com
L:!! u'r+t
f
fOF r4*JI
.r.rt ,S;lS, 61;!
o .5l.UlFL
Yt
lrts-L
t,o
l?f '.t-rt SJtjl 6;L-1t5-:l
f00 ,L--* t-V,*T
ff f u,.iLi ,t--h:l *-)j-fl
f00 .* is,S y!:a.fuT
1
Ytt ++-
YtA ,,,16rr t 1 6--iljYlt lL-;l 1;_
rrl J-L_
f YV
?Y
e.sy"!;
,\YY g,'/"_tb,J-e.r10 ;lrt5_
t0
J-L_
;K._
ff\
oD,t-l
rOf ,-iLl
fVf
,Yf
Yf
F. t j9-r cjl*l
t .S.:; JlS.L-l
t ;ts-:r JlSt -l
\
y Jl
p-rfit
FYr uSrti .rl+l
YF. 6rrr 6-&&l
rSj-t+,El
fOY It q O"_t-
f YY
cJB_
?7 cjl-r_
fF' *.r.L
fF\ il;,lp_
YW ,)-S slro;+
l'. V 6:;J ,lrr.-o.
61lsr,ayt.ful
b'-usJ,
rot t;
S..l,T
rtr r;!,sl+lrlil
YA (ar:J)
JLdl
';t ir*L;l
\ f ,f c.,b
jt:^
?Y ,bl_
?Y ,P-
\Vt
r0r j-
rrr
(,s-)
:\ q#:
ui sr5u--;U.:*l
A\ kt,. jtJ,j,l
? ;bL .j.tF,l
JLi.j crr_{;udl
uh+1rl
"sJt-+ YTV .'
www.mohandesyar.com
1rr,\,>-.ra1 0f
\\
l?"62rScQ
dJ6)_
f0f ,;r. r5lzf c.l;
fOf S.,n'r; sti c4U
Y
\r
r\Y
fvr
' ,Y0 ,0 ,nt$
\\\,t .,ltL
\ \' ,t*-,-l-
t
\
,,e26
$lr
-2r-
6l;i j-r f\ '\ \
litS"-
6;UL
!o .,+t-i;Yoo enr,,_#Yoo ttS-t; r-#-
f0A
liiL
6Lzi
616
tl',-+
Yh? .!tr,U ,s.rl{1, JtL;
r0\ ttr -lt J'|";
f 0A ,f 0f ,f \ F J,-r.,:;
fOA ,fOf ,l\ f u;lgL..Lii 19;LJ.u csbYf
'h.).)1^.'
f ?\ Z'^L;V
oJ" 6tCL
(r-J") c+l.u utort',
fr .f--
r1+*)*S
1\
tP c$ ,je
,&-;6k?:i.
rt\ P-
\\\ .i.u_
? \ d',- iKrt*a
rrv ,J,)tJ -
\ \ \ cd)g.-
rYr le;l
r\r
;L5- g.Wj
aL-
r.v ;-
&
Yf il.-.?
f\Y 6*lt-;l;
YY7
Y\r F
xbfu,
rvr $r.,y',
\y G:rL rs_
f \Y o:L 6f \y 6:,tV c_
\0P,\\',2
.-st^r-.!rt,
rrr
.-sl"rlt,
f \ Y boJri;-
Lfitf r:a: g;rrr r:3
,1,
ffO ,-Erl+t*
f \ t";rr*,Q
roo .,tls;,
Y?\ ,lxf g;[.ra.,f0f U; rtagl jl 6.Stf
Yr 6;14-.
(MIMO)
y'-rl
AY !l
;iyT'^--
'*t*GL:u-n;-a
Ytv
VY .tti,
lo
1V g. al::Sh-
Ff F ,ftf
.:i.-
tJt;
rFv JF i;b Fr
\04 otr.jfi
YY?
*!"
t .*li
(CAM);-*6.SJt +li
www.mohandesyar.com
0f t Ltb
u,i
,-)a
YA? .iyy,U (,-+..-) prr
ftt oJ.2 ^, .lz,,t :'lI: <-
rPr irru_
f \t
)9Jer.r
tshl
csto-
\f \ 6-*
1g..,.-
f \ c-: J- rst"\ f \ 15rJr J- .-st"\
rrr ul; #J6t^-
Y?\
f
YVd .3.16r L;'t-| oS?
YY? djLb^, r*f
fYY,fY\ ,\Y ba-:L".-
Ytf $;1
lY? ,iJ
) ;;'1-- 6L)c;,. 6-
Yrr
\b,h,\:l:
A\
;bL L-rlj
Ytf +b
fV. ,p-r 6;Lr#
l,V. ,J::lut.fVO 'xiJft-, , ;U;
rYr ,rL;
f AV
tslt+,,L^ tt\i
Ff
Y/T AL
f ,YAf ,\f c,!:rrVT SIL.
,tY?
fff
.tt=J'-t rsa-1+.11 sgf ?Y ,r:-S
,s-
1f $^r1 ,rrEl,
?
,r0. iL;l fr
\04 c^i:
f \ Qau-r3r
Y" 1 ,'l .S.-.tir
YY
0r
z-Y-z_
c-ti X-Y-Z-
0o l!,ey, .Jl_
,? q4),
rt. .*-rl ab
J-.J
Y );21 6l-ly
0Y z-Y-x_
0
13)bT c,L..2r
l-c ol,-:;.. ot3:-t
Lt'at; 6YA \
csxS LV ,slnl ;tU:
YIV,P rL . J,;L:* *...;r
J.\>
tli..rt;
t't
c,!:.r
r0r
t+t,;
Y?\
'b
?Y .;I E
fOY t-t, -lt c;U!;
ffO jr 6V
ff Y ,al$ cc;9|'-.- t ;i't- tsffA
,rJEl: cs6_
fYY r#
tod_,
19JL.-|;
.trt; ;L
;lai,
?\ G-,.8lrb ;L
fYO .-tr6, ,5f
\f \ crs 15taf.A J\at-t
ffA
ffv
YtP qS 6,-
\ CL^ ,FlJ
fOf g:t c!-Dl',.r':L-r.,'
fOY ,f \
r
|
-.
6,t--4
-l
tr\)l
tA ,)&r vti .Jt+t ,
roF ua
www.mohandesyar.com
l-..t\
YW
{..":.2lJr
,t ;t-L\ff ,\yy 1,.it-i
rrA 4|il
Yr kt,' Jt
\AA,\tft,v ,a-fl:
l\? ,l J* 4j
Yf
"5..1,-+
fAV
Yl". j$"!,ri,L,-r
J.UL
s.
ctJ-r,.l.
-F-.rrr,,
rsb. ut_S
t5.,-,st+.-,_yV
L5
U;(J;-
f0.
t0 ,2 Gr6t ,s\ lt
i-a 6-
;fr::cYt2,\Y2,V
.T
YP
rrv af ot
r0O
;,bSu:-!, -;S
\r\
J-.Lti
tttrrl.-fj;t
-tt^J;l o:L
\\ d,.r$ Jli:;lfOt i\0 E gtr tst-tuEtf\\ tr'u:.A6f
rrF J-#-
ui.
-;-)\Yt ,rLYfO ,10 ,2 ;l-L G10 't-Utr -$Ct u-
ff t ,\ Y itS. #5ff6 ,-.,"*rlJ._
("5;U;) 6rL 6lryxl.-,
f \t AL,++ (J;larr{..
VV,0 SJti*
,P p:4..",t jyly
\ Y0 ,VY
\ Y0
t,"0
fFO,\f
PID ;tS, -
Jt,*C
,t g91La*:'
t-rl,;L
fOt
rrv
rfO J.J ;tlti
rOT
ttJ;l ':L
w*y&{}ff.
,aS
,rS..L,-r
'(;fi- l'e A c* e;L
YtV 6;+ o*,; ti*
YtV ;t5, i=.; a;L
f ?\ o-r.3 o:;qL
l?\ &t, G:r-L
Yf ? c*, rl.u ,,;*'
f'V o.rd o:lr e &
Jyt
Jyl
l \' .ltJ Jyt
f 7l crSortr- "l Sp J;
FAA ,V
FV
rFY
JJ*
;'|c'-t32
00"
A\
r;*-' ?-2o
\ (CAD);*g.SJa, ,-fl)
Yo o Lor
*"r$
Yf
4rl L_t;
Yf d-t Jf-
1:r
L.,rr
Jtt'
www.mohandesyar.com
00
L.r!,r
c-".1,
f"0,\1" tr;6r:l#J
f\F,F"0 rrl:uts,,F;f tr ,)t+!i ,J;lj -
F\f ,\r:iFAt,\A\,00 L-121'^2,a.6brlr.rf
ffv ip c-*i
ffY J.u + a:*ib c-^-.i
6? ;ter s;!;r.I-:l L ' ,
rlr ;rab ef\ rvr i-* *_
0 tSjl:,
fft
?\ o-r,i o:;o-L S,j$
\ ;bL y.l^Dl$
F'A cfi^
yA
f0
,f-;U
FVt
Y
,sl^L,
f,"_
'*.4
t'.0 JIL*
Ylv
bs$
jbst
uGT
,t-t*
,00 e-slj-.t_tn
YVP ,00 JrL L-slj s un
Y\f ;bl 6tay,*,
YVP
17"
J-t
,,,l-ta-
Y7" f*-
l7^ 6l&i
6tr-
u;12 (J'taj1116
FVt , \01 3r-JS
,FtV ,aS J*-
.rr5r_
f i[)\AA,\tf\ ,v ,gfl:f 7 o.r,- .LLL[S..,- U;tafV" ,Fft 6ilJ--z
AY
,)^;- t;tYtf ,P
c-*
(J;t^+fi
tV c:l+ tS
;:J \ ,st-i rl&3
f0 \ ,lsf
\
f'Y
\ A.
\t
G:,r,l r-l
r\F;I-lg;t"F
r\r pi ,F t-st"F
y
rrY t+J"i
PY ,stj &
t. V ,*rJ cltaJi
rov i? L#
(l.roJ.ri.;-
ir..bi
.rJti r^tJ
YrY u-j$\
f\Y
991u122,.
rY\ *,F;
15rb
1516
,i.
,5
J.ts
fVA ,*,F\f .F"0,\f :rl:rK. r-#;Yf
,:.... {: :ir;
rrr ,Ft'V' r.u:Sul.!-
fVO 'riJE:..- t ;Lt-
fOf (Jt-.2._r) tlr
fVA ,fOf {*:l.l[ GL: -
rP.\,\r
15)Jr-
,F*
,\'to C.r5, al.o:;". J LPrlY
ft\
!L-LJL7ffO ;!.rh.YY? F..- J-L -
www.mohandesyar.com
L.r! c-,ra; 00Y
YOV,t
,*Q tU
v o$lh
a-L. tE;
YOV :.-. lli;
\04 or-i orlr /d Ui;
\04
o"r.i
Y?l
fV.
f?Y ,F?Y CAD
Y00
rS'^Li
cJd-b
YYI
YY
,lu-f
)i
,s-
j-n :l t--S c-
? -tV tV
Yr\ *,*
VA
vA
,2 (;t:') dJrl g;lal-i
,2 (;ll d-F ct+L-;
f.t orl;-lfit(,
f Yf c$.;.tSre.r^. g1e"
f Y.
Jt-f
{:rtt ,,rr* rst^\"Y" g;lal, u;[a-
f Y. -.9t:i ,L_-* .gtoY?Y (q:tl ,jy
YVr
ffv Jr, q a-.112
fA \ ,lsf si-tlrlf c;us
fOf g:r c4_:us
(SISO)
.-r.tf
.5'-e
u;:re.5'-
-* i,
ttl.rtf:,Ar-
rY\ iti e
fft
aJrt,,
Y"
c;J Uf.r:.1
l?A +-f Cb 1I*2 a1r7A J$ _
f ?h 61dfu,ffl .,-x^ 6Wt
ro. t-i
6;i*
'!-+YYt 6+;:i,6L.aiYYA oJL 6l;irrv
tV t"^Li:
YA ,YV ,V .!t*
Srsrlai^;Jt;r
(J;)J.g
rr
Ar
rVO i'; Ji:*.
(;[-;tS. *\ r-...
fY\
rhs'^L1;
J,.r '^Li;
YVf
(J;t^-
ffO
.11.r,_[,[
f \Y cJJir,- #
F. elf c-*;
f f Y Lr:l,r,p tt JtE
f
You might also like
- Schematic 0G 00005677 Mod Dimmer 5A 1L PDFNo ratings yetSchematic 0G 00005677 Mod Dimmer 5A 1L PDF1 page
- MECH 3032 Arduino - LED Finite State Machine Part 1: LED Finite State Machine, Random States Arduino CodeNo ratings yetMECH 3032 Arduino - LED Finite State Machine Part 1: LED Finite State Machine, Random States Arduino Code4 pages
- Advanced Microcontroller: A Laboratory Manual ForNo ratings yetAdvanced Microcontroller: A Laboratory Manual For84 pages
- Book PIC Microcontrollers - Programming in CNo ratings yetBook PIC Microcontrollers - Programming in C36 pages
- MCT-222 Embedded Systems: Finite State MachinesNo ratings yetMCT-222 Embedded Systems: Finite State Machines39 pages
- Development Kit For The Embedded Ethernet Exercise Book100% (2)Development Kit For The Embedded Ethernet Exercise Book56 pages
- Microcontroller Based Speed Cntrol SystemNo ratings yetMicrocontroller Based Speed Cntrol System3 pages
- Oscilloscope Via Audio Card (Isolator Circuit)No ratings yetOscilloscope Via Audio Card (Isolator Circuit)9 pages
- Micro Professor MPF 1 Experiment ManualNo ratings yetMicro Professor MPF 1 Experiment Manual152 pages
- Using The CCS C Compiler For Rapid Development of Microcontroller100% (2)Using The CCS C Compiler For Rapid Development of Microcontroller158 pages
- (Griffiths D.J.) Solutions Manual For Introduction (BookFi)No ratings yet(Griffiths D.J.) Solutions Manual For Introduction (BookFi)184 pages
- Electronic Piano System On FPGA and Keyboard Sensor-Yue LiuNo ratings yetElectronic Piano System On FPGA and Keyboard Sensor-Yue Liu14 pages
- Data Collection and Processing of Ohmic Conductor LabNo ratings yetData Collection and Processing of Ohmic Conductor Lab4 pages
- Design and Implementation of Combinational Circuits Using Reversible Logic On FPGA SPARTAN 3ENo ratings yetDesign and Implementation of Combinational Circuits Using Reversible Logic On FPGA SPARTAN 3E6 pages
- Hydrogen Volume I Its Technology and Implication Production Technology by Cox, R. I100% (1)Hydrogen Volume I Its Technology and Implication Production Technology by Cox, R. I208 pages
- ,..T, (U (+-KT) ) : ?R 4.J: JR #3 RJT - FNo ratings yet,..T, (U (+-KT) ) : ?R 4.J: JR #3 RJT - F14 pages
- Khatm-E-nubuwwat-ke-nam-per-jhoot and Jhoot and JhootNo ratings yetKhatm-E-nubuwwat-ke-nam-per-jhoot and Jhoot and Jhoot2 pages
- Sarthak Bhutani - SDE2 - 3.5YOE - Resume PDFNo ratings yetSarthak Bhutani - SDE2 - 3.5YOE - Resume PDF1 page
- The Art of Finding The Best Features For Machine Learning - by Rebecca Vickery - Towards Data ScienceNo ratings yetThe Art of Finding The Best Features For Machine Learning - by Rebecca Vickery - Towards Data Science14 pages
- REHS0970 - Cross Reference For Electrical ConnectorsNo ratings yetREHS0970 - Cross Reference For Electrical Connectors115 pages
- EE-232: Signals and Systems Lab 3: Signal TransformationsNo ratings yetEE-232: Signals and Systems Lab 3: Signal Transformations8 pages
- The CW Checks The Following Learning Outcomes:: 7ECON012C, Data AnalyticsNo ratings yetThe CW Checks The Following Learning Outcomes:: 7ECON012C, Data Analytics3 pages
- How To Proceed With Troubleshooting: Can Communication - Can Communication SystemNo ratings yetHow To Proceed With Troubleshooting: Can Communication - Can Communication System3 pages
- Biseccion y Falsa Posicion - Ejercicio ResueltoNo ratings yetBiseccion y Falsa Posicion - Ejercicio Resuelto3 pages
