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例： 2 自由度・ 2 次元例

例： 2 自由度・ 2 次元例. ヤコビ行列・シンギュラリティ. A = f ( q ) ⇒ A = J ( q ) q. J ( q ) ＝ d f ( q )/ d q 　⇒　 J ij ＝ d f i ( q )/ d q j. 逆力学モデル・最初 の計算. 逆力学式を書きましょう A , B , C の計算を書きましょう. A の 計算 ・ Computation of A . B の 計算 ・ Computation of B. C の計算 ・ Computation of C. 逆力学式 ・ Inverse Dynamic model.

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例： 2 自由度・ 2 次元例

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  1. 例：2自由度・2次元例

  2. ヤコビ行列・シンギュラリティ • A=f(q)⇒ A=J(q)q • J(q)＝df(q)/dq　⇒　 Jij＝dfi(q)/dqj

  3. 逆力学モデル・最初の計算 • 逆力学式を書きましょう • A, B, Cの計算を書きましょう

  4. Aの計算・Computation ofA

  5. Bの計算・ Computation ofB

  6. Cの計算・ Computation ofC

  7. 逆力学式・Inverse Dynamic model

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