. . . . i- (i-1)- () q i(t). q (t).
(1.1)
q (t) .
( ) . , i- xi(t), yi(t), i , . , .
, q 1(t), q 2(t), , q n(t). t*, q 1(t), q 2(t), , q n(t) q 1*, q 2*, , q n*, q * . , t* , .
.
.
.
, .
.
5- . 5- (. 1.1).
. 1.1 5-
) , ) , ) .
, , . , 5- (. 1.5.1). q i(t) q i(t) = φ i(t), φ i(t) i (i-1)- , φ i(t)
0 < φ i(t)< 360 (1.2)
(. 1.2).
|
|
. 1.2
, .. q (t) 1 2. , .. .
i-
, (1.3)
i, Si 33.
Si Xi=s13 Yi =s23, .
:
Xi = Θ1TSi(q(t)) Θ3, (1.4)
YOi = Θ2TSi(q(t)) Θ3,
, , .
(. 1.2) :
, , , .
1 , 2 .
,
,
(1.4) 1, 2.
(1.5)
(1.6)
, .. φ 1 φ 2 XOi YOi, (1.5) (1.6) φ 1 φ 2.