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1 66 ^ilsal E ttrl= ^l , -EJ -Ymax *Zmax triDt=E(Bil0t^) (a) A= (b) ++E +FH9 r= 5-11 4r4E _tr=el z=71=7|- ^+ggeiel Etr"JE @ fl E4I_EZl _tr-{(cytindrical coordinate robot) gE=lEal E-{(cylindrical coordinate robot)g t _ zB 5 10lE O)ql^-l _H_= H}+ z} o q, Eatlts9 -tr+g +++ zlfialz)e) zldz4 Lql r-}+ EaJtrI. "J+ql TlEg EallE4 "l a zla}tr I d6'I= ge-l EallF4g qLo) €tri. tqlzlll gE4I_sAl s+g ^I+6Iq 44= +46I= t|^l ql^.1 1 El dB 20008 r- -s EC 6I- "J = .r-1(encoder)g ,(|-ga|_L +rJ +E gE =l qi ,J ol zI 1 [m] z]l .J+tr E+9 +E = .ql^.J E6tl+492 (=ol) zlF9 E6I=q 36o'.t20oo:0.180 I el4le+ ?"1 gF4ltrZlE Eatlts4g += "J4H+ C,J_rz1 +!qq qc6I= +g oJC ol Sizl rl sl I gl tr}.