Questão 691444

691444 Ano: 2009
Disciplina: Engenharia Elétrica
Banca: IF-SC
Orgão: IF-SC

Provas:

Engenheiro - Automação Industrial
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Dado o manipulador planar PR, qual das matrizes de transformação abaixo representa corretamente sua cinemática direta?

Enunciado 691444-1

!$ ^{R}T_H = { \begin{bmatrix} cos\,\theta\,\,0\,\,sin\,\theta\,\,\,L.cos\,\theta\\sin\,\theta\,\,0\,\,-cos\,\theta\,\,L.sin\,\theta\\\,\,0\,\,\,\,\,1\,\,\,\,\,0\,\,\,\,\,d+ L.sin\,\theta\\\,\,0\,\,\,\,\,0\,\,\,\,\,\,\,\,\,\,0\,\,\,\,\,\,\,\,\,\,\,\,\,\,1\end{bmatrix}} !$

!$ ^{R}T_H = { \begin{bmatrix} cos\,\theta\,\,-sin\, \theta \,\,0\,\,\,L.cos\,\theta\\0\,\,\,\,0\,\,-1\,\,\,\,L.sin\,\theta\\\,\,sin \theta \,\,\,\,\,\,cos \theta \,\,\,\,\,\,0\,\,\,\,\,d+ L.sin\,\theta\\\,\,0\,\,\,\,\,0\,\,\,\,\,\,\,\,\,\,0\,\,\,\,\,\,\,\,\,\,\,\,\,\,1\end{bmatrix}} !$

!$ ^{R}T_H = { \begin{bmatrix} cos\,\theta\,\,0\,\,sin\,\theta\,\,\,L.cos\,\theta\\sin\,\theta\,\,0\,\,-cos\,\theta\,\,0\\\,\,0\,\,\,\,\,1\,\,\,\,\,0\,\,\,\,\,d+ L.sin\,\theta\\\,\,0\,\,\,\,\,0\,\,\,\,\,\,\,\,\,\,0\,\,\,\,\,\,\,\,\,\,\,\,\,\,1\end{bmatrix}} !$

!$ ^{R}T_H = { \begin{bmatrix} cos\,\theta\,\,-sin\,\theta\,\,0\,\,\,L.cos\,\theta\\0\,\,\,\,0\,\,-1\,\,\,\,0\\\,\,sin \theta \,\,\,\,\,\,cos \theta \,\,\,\,\,\,0\,\,\,\,\,d+ L.sin\,\theta\\\,\,0\,\,\,\,\,0\,\,\,\,\,\,\,\,\,\,0\,\,\,\,\,\,\,\,\,\,\,\,\,\,1\end{bmatrix}} !$

!$ ^{R}T_H = { \begin{bmatrix} cos\,\theta\,\,-sin\,\theta\,\,0\,\,\,L.cos\,\theta\\sin\,\theta\,\,cos\,\theta\,\,0\,\,L.sin\,\theta\\\,\,0\,\,\,\,\,0\,\,\,\,\,1\,\,\,\,\,d \\\,\,0\,\,\,\,\,\,\,\,\,\,0\,\,\,\,\,0\,\,\,\,\,\,\,\,\,\,\,\,\,\,1\end{bmatrix}} !$

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