Differential Equations: Computing and Modeling (5th Edition), Edwards, Penney & Calvis
5th Edition
ISBN: 9780321816252
Author: C. Henry Edwards, David E. Penney, David Calvis
Publisher: PEARSON
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Chapter 6.3, Problem 19P
Program Plan Intro
Show the linearization and eigenvalues of the non-linear system at the given critical point and construct phase plane portrait.
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5-13. Consider the five-axis spherical-coordinate robot with tool pitch and tool roll motion
shown in Fig. 5-13. Here the vector of joint variables is q =
tool-configuration function for this robot is:
[01, 62, d3, 04, 0s]. The
w(q)
C₁(S29
S₁(S293
-
S24ds)
S24ds)
d+C293 C24ds
-[exp (qs/)]C, S24
-[exp (qs/T)]S, S24
-[exp (qs/π)]C24
Find the tool-configuration Jacobian matrix V(q) of this robot.
d₁
Shoulder
Tool
Radial
extension
04
pitch
x3
z3
y'
уз
yo
to
Tool
Tool
roll
05
de
P
x5
48
Base
Figure 5-13 Link coordinates of a five-axis spherical robot.
Question 2
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A with gradient decent
B Analytically solve the equations
C Iteratively solving the equations
Chapter 6 Solutions
Differential Equations: Computing and Modeling (5th Edition), Edwards, Penney & Calvis
Ch. 6.1 - Prob. 1PCh. 6.1 - Prob. 2PCh. 6.1 - Prob. 3PCh. 6.1 - Prob. 4PCh. 6.1 - Prob. 5PCh. 6.1 - Prob. 6PCh. 6.1 - Prob. 7PCh. 6.1 - Prob. 8PCh. 6.1 - Prob. 9PCh. 6.1 - Prob. 10P
Ch. 6.1 - Prob. 11PCh. 6.1 - Prob. 12PCh. 6.1 - Prob. 13PCh. 6.1 - Prob. 14PCh. 6.1 - Prob. 15PCh. 6.1 - Prob. 16PCh. 6.1 - Prob. 17PCh. 6.1 - Prob. 18PCh. 6.1 - Prob. 19PCh. 6.1 - Prob. 20PCh. 6.1 - Prob. 21PCh. 6.1 - Prob. 22PCh. 6.1 - Prob. 23PCh. 6.1 - Prob. 24PCh. 6.1 - Prob. 25PCh. 6.1 - Prob. 26PCh. 6.1 - Prob. 27PCh. 6.1 - Prob. 28PCh. 6.1 - Prob. 29PCh. 6.1 - Prob. 30PCh. 6.2 - Prob. 1PCh. 6.2 - Prob. 2PCh. 6.2 - Prob. 3PCh. 6.2 - Prob. 4PCh. 6.2 - Prob. 5PCh. 6.2 - Prob. 6PCh. 6.2 - Prob. 7PCh. 6.2 - Prob. 8PCh. 6.2 - Prob. 9PCh. 6.2 - Prob. 10PCh. 6.2 - Prob. 11PCh. 6.2 - Prob. 12PCh. 6.2 - Prob. 13PCh. 6.2 - Prob. 14PCh. 6.2 - Prob. 15PCh. 6.2 - Prob. 16PCh. 6.2 - Prob. 17PCh. 6.2 - Prob. 18PCh. 6.2 - Prob. 19PCh. 6.2 - Prob. 20PCh. 6.2 - Prob. 21PCh. 6.2 - Prob. 22PCh. 6.2 - Prob. 23PCh. 6.2 - Prob. 24PCh. 6.2 - Prob. 25PCh. 6.2 - Prob. 26PCh. 6.2 - Prob. 27PCh. 6.2 - Prob. 28PCh. 6.2 - Prob. 29PCh. 6.2 - Prob. 30PCh. 6.2 - Prob. 31PCh. 6.2 - Prob. 32PCh. 6.2 - Prob. 33PCh. 6.2 - Prob. 34PCh. 6.2 - Prob. 35PCh. 6.2 - Prob. 36PCh. 6.2 - Prob. 37PCh. 6.2 - Prob. 38PCh. 6.3 - Prob. 1PCh. 6.3 - Prob. 2PCh. 6.3 - Prob. 3PCh. 6.3 - Prob. 4PCh. 6.3 - Prob. 5PCh. 6.3 - Prob. 6PCh. 6.3 - Prob. 7PCh. 6.3 - Problems 8 through 10 deal with the competition...Ch. 6.3 - Problems 8 through 10 deal with the competition...Ch. 6.3 - Problems 8 through 10 deal with the competition...Ch. 6.3 - Prob. 11PCh. 6.3 - Prob. 12PCh. 6.3 - Prob. 13PCh. 6.3 - Prob. 14PCh. 6.3 - Prob. 15PCh. 6.3 - Prob. 16PCh. 6.3 - Prob. 17PCh. 6.3 - Prob. 18PCh. 6.3 - Prob. 19PCh. 6.3 - Prob. 20PCh. 6.3 - Prob. 21PCh. 6.3 - Prob. 22PCh. 6.3 - Prob. 23PCh. 6.3 - Prob. 24PCh. 6.3 - Prob. 25PCh. 6.3 - Prob. 26PCh. 6.3 - Prob. 27PCh. 6.3 - Prob. 28PCh. 6.3 - Prob. 29PCh. 6.3 - Prob. 30PCh. 6.3 - Prob. 31PCh. 6.3 - Prob. 32PCh. 6.3 - Prob. 33PCh. 6.3 - Prob. 34PCh. 6.4 - Prob. 1PCh. 6.4 - Prob. 2PCh. 6.4 - Prob. 3PCh. 6.4 - Prob. 4PCh. 6.4 - Prob. 5PCh. 6.4 - Prob. 6PCh. 6.4 - Prob. 7PCh. 6.4 - Prob. 8PCh. 6.4 - Prob. 9PCh. 6.4 - Prob. 10PCh. 6.4 - Prob. 11PCh. 6.4 - Prob. 12PCh. 6.4 - Prob. 13PCh. 6.4 - Prob. 14PCh. 6.4 - Prob. 15PCh. 6.4 - Prob. 16PCh. 6.4 - Prob. 17PCh. 6.4 - Prob. 18PCh. 6.4 - Prob. 19PCh. 6.4 - Prob. 20PCh. 6.4 - Prob. 21PCh. 6.4 - Prob. 22PCh. 6.4 - Prob. 23PCh. 6.4 - Prob. 24PCh. 6.4 - Prob. 25PCh. 6.4 - Prob. 26P
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