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42 Ansichten2 Seiten

DR Bis

document 4

Hochgeladen von

mohamed05092021
Copyright
© © All Rights Reserved
Wir nehmen die Rechte an Inhalten ernst. Wenn Sie vermuten, dass dies Ihr Inhalt ist, beanspruchen Sie ihn hier.
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Nom, Prénom : Classe : MPSI1

Document réponses

P
2

O2
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O1 <latexit sha1_base64="BVW30MNr8g5Jw6eLPToRacBTzQI=">AAACzHicjVHLSsNAFD2Nr1pfVZdugkVwVVLxtSy4cSUV7ENsKcl0WkPzIpkUS+jWH3Cr3yX+gf6Fd8YJ+EB0QpIz595zZu69TuS5ibCsl4IxN7+wuFRcLq2srq1vlDe3WkmYxow3WeiFccexE+65AW8KV3i8E8Xc9h2Pt53xmYy3JzxO3DC4EtOI93x7FLhDl9mCqOvuhLPsbta3+uWKVbXUMn+CmgYV6NUIy8/oYoAQDCl8cAQQhD3YSOi5QQ0WIuJ6yIiLCbkqzjFDibQpZXHKsIkd03dEuxvNBrSXnolSMzrFozcmpYk90oSUFxOWp5kqnipnyf7mnSlPebcp/R3t5RMrcEvsX7o88786WYvAEKeqBpdqihQjq2PaJVVdkTc3P1UlyCEiTuIBxWPCTCnzPptKk6jaZW9tFX9VmZKVe6ZzU7zJW6oBH+dz/Q7yAbcOqrWjqnV5WKlbetRF7GAX+zTPE9Rxjgaa5O3jAY94Mi4MYWTG7CPVKGjNNr4s4/4dGcGS7w==</latexit>

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~x0
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Figure DR 1 – Espace de travail Q5, Q6 et Q7

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N
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4
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~x0
O1 <latexit sha1_base64="SbDz1BFM15z6uX58MKGFKGEq3Jc=">AAACy3icjVHLSsNAFD2Nr1pfVZdugkVwVSbiq7uCGzdCBfuAtpRJOm1D8yKZCLW69Afc6n+Jf6B/4Z0xBaWITkhy5txz7sy91448N5GMveWMhcWl5ZX8amFtfWNzq7i900jCNHZE3Qm9MG7ZPBGeG4i6dKUnWlEsuG97ommPL1S8eSvixA2DGzmJRNfnw8AduA6XRLU6ciQk71m9YomVmV7mPLAyUEK2amHxFR30EcJBCh8CASRhDxwJPW1YYIiI62JKXEzI1XGBBxTIm5JKkIITO6bvkHbtjA1or3Im2u3QKR69MTlNHJAnJF1MWJ1m6niqMyv2t9xTnVPdbUJ/O8vlEysxIvYv30z5X5+qRWKAc12DSzVFmlHVOVmWVHdF3dz8VpWkDBFxCvcpHhN2tHPWZ1N7El276i3X8XetVKzaO5k2xYe6pR5whVmVU8ucB7MBN47K1kmZXR+XqiwbdR572MchzfMMVVyihrqe4xOe8WJcGYlxZ9x/SY1c5tnFj2U8fgKjCJKK</latexit>

✓1 ~y3
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~x0
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~z0 O2
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~x2 3
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~x0

Figure DR 2 – Modèle cinématique partiel de l’ensemble {robot + clavecin} Q15

1
Nom, Prénom : Classe : MPSI1

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Figure 1 – Modèle cinématique du robot spirit

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