ROBOTICS Notes
ROBOTICS Notes
0
fl'/ I
-r -~ +- +h e-
Le..f- Li o~ 1
L 1 ==- L ~ T h o+
L::i, = ~ t h of
L~ n\L '2-
t( \~S& of Un K. -1
Y?n1 ::.
~; 2. = MO-S.s D~ un\l. ")...
Jo }nt ctntc. 01 c:}; s,-::ilo.ce..rne
rri D~ :::forrrt- 1-
L~
J
,.__
~ 1 ne .+'i'c. ~Q~
1./ ' ~ ~~ LI
1T O
r
r . L~ n L "1... ·
'-111 -::. L ~ 'I e., o.,C ✓e.- \o c___; t-lf 0t I ~' >I L. ~
to "J o ~ -r Qf-- ~n
u+ t.? .. D+ \ii \ IL..'J.._
T l :::
u9) --:: Auu lo i v'cJ OC-1'+-c1 ck ,;n le'
,.,.J_
--CD
. ')., ,
.. ']. ..-
-r 'cJ I
'.).-
v, ::= -:<_,I
ct-;'s.p lo ce .r ae .n
+ of- n n a sg, 1 ,0 x__- d ;,cec,-+ lo rJ
-t/on
'X-r -;s ,'" ' ij - d ,'Cc.c.
11\.l~e.-~e.-
tf )e -
d ;'~ pO \C .. ~
T o+- ~.1-
,'s -tne..
~/
1- ~ -d :-cec,+ior:,
f cl-
~< )
~g,,
v"e,lc0ci+-l
,.
x..,
;s -1-he .- u
of- ro }o _Y ,, 1 I-', tJ - a tr ~ + b n ~
~~ ,r--t'")e_ \f e ,_ IC D ~
lj~
-tfonn ~ --h)t)
'X.J=:: ~ L 1 - C..OSG1
91
-x; == -}i_ L 1- S~n8 1 •
Li· L Q ;, 8 I - 91
u• _ _1
cJ J '.2
9,,-
~ 0,,. L-t)<Z--
oe:f:
~
-r,
e,
t-. i' n
S ,) b ,S :. h +o
-M'~ v,_,,. Wr
g () , ~ ? -· gJ)---
I _j _ . J _ rr
~-::: L.2 - rn I • LLf
L,?-. .::i.- I.J_.. I
' 1
rv- .'),--
J
. ro>I L t 9 ,
•')---
-, J_ m, ~ .8,
- '2-y
8
K )( K •E ~ L- ln ~ ':l -
~ ~ '1 x .. -d ~ Cee:t,'o ()
of. 2-
,s_ : : - d 6 p lc:t ~ < t: .- n- -1- ~ - d { x ~bn
i ~ f o l ~ 2-
~"
~ -F-t ~
/
. e-~ + e ~
- L 1 .SrnGj" 9 -1 - _J ~ .S i n l01-+-92::) (_
.:2-
-t- e ;)
LI C.OsB1· Gi -t- j_ L:i,_ c.o.s, ( Oj -t-G.2--) l Br
?-
e~ (g,; -t-9{) s~ n<G1 • s \(")le-, i- 0
~ T
L2 , ( 9 ~ -r e;_)'Y,t- L I L 2-
· " C -o s9 -, . c .a , lB I t 9-=:_) .
LL ·
1 :2- 'Cl, LG-, + 0 :i ,) .
~
-
;)
.- :r
s ; 0 9j r s~.,s, LO~ e2 -rca;.~,
L;i.. ( e, --,- e; e
y
)---' \C '\._
c_ e · -t-e ·) -,- L- 1
'Y ' .?- \.._ !:::,I '1,: r).. ,. J
- Li · G, ,t- _!_ LJ-
4-- I ~
s; n B 1 'cc,1n 9-::) .,
U l> 8 1 C..OS.0.2- -
T ½ L:,._ (_ 9 ; :r-t- G ; e;) c...a, G 1 ( ,·
Li'>: e; ),+ - t L ; ( G; r e
o; r_,..g·, e.::_)
;J T ½ L.:,_ (
I1
c0
1
t? ce,. -t9>J-y-r- Lr L:l.-~ C9i -t-G, 9{,7
[LrG 7r-)- 'Y , - -y---
k'._ J ?-' , lJ -t-3- ~0 y ,
r<).) _ ½,(8, ;-9-:i,)
. ~:: :. .2- m:z_, I -t'
rJot..D/
-oG, --
OL-
L- 2 - Li ;2 --
rr'.2-cJ
( ½ n,, + "°
?--) 0 . ½ c_, - i_
~
==- -
.. rv
~ e-r .;.
L )_c. ..k G; -
-
J _ ~__ o.,___ 1 rn.::2-1.- 1
½____
Y . ,.
7
e
o ~
- _!_ ~L J. e, r 3______
1 -t 3
--. (.J_3 r n 1 -;- n ,~
.., ) L -1• o ").,-""
. e. 2--
A
J _ ~ '-t L-;i_
0_ e; - _} m .2.-- L,I L 2- s2 ~
rn 2 - L-i ½- s.2. 6 , e~ -,- :;c~
2-
.. e,
.,
g.; - i_ ~ t--, ~ e.2--
- r n 2 - L-1½-. 0 _:)
o N
I .--'T'
7 O.o
J
n- )2 -L ).
.-Y o ~
2- ,-~f-J ~ s._,_(i, ~ T
m :2 - [ t q -r ½- ½'-9-L_J 0j -t - t" q O ; -±
(' .
s
_?/ ., 92"', ~
I L. ~ ,) .. .- -
- g,
"r T -.9-- r" i.L, ½
, _ 9 ,
~ tq )2 -'--t ~ S2-
c.__ ' • )-.- }
., - ,
i L._2.°'.2-G, :z:-~ s.'-r,.
":1-~ e; -r~ L
'"I-'
- o; -r H- I -r-611
1=1 = ~~1 l G ,. ,t - .tv1' 2
=- J n ,2 - l i
~2 3 '.. i_ rn -2 - ½ L-2 S.2-- ~ :> --
2 - L, l:i-S-
i
G ,- gJ,
i+ I =- - tn
~►
l _ 1e- L:2- S2. .- G 1
)___ = -~ h rz
1 L
rJ
GJ ~ ::-
vn U n ,c:-_s- ·
Scanned with CamScanner
Scanned with CamScanner
Scanned with CamScanner
Scanned with CamScanner
Scanned with CamScanner
Scanned with CamScanner
Scanned with CamScanner
Scanned with CamScanner
Scanned with CamScanner
UNIT-IV
Scanned with CamScanner
Scanned with CamScanner
Scanned with CamScanner
Scanned with CamScanner
Scanned with CamScanner
Scanned with CamScanner
Scanned with CamScanner
Scanned with CamScanner
Scanned with CamScanner
Scanned with CamScanner
Scanned with CamScanner
Scanned with CamScanner
UNIT-V