Questions: 6.8 [32] 그림 4.6에 제시한 2-링크 머니퓰레이티의 동역학 방정식을 도출하라. 링크 1 의 관 성 텐서는 다음과 같다. C1 I= Ix x 1 0 0 0 Iy y 1 0 0 0 Iz z 1 링크 2 는 말단 효과 장치의 한 젘애 모든 질량 m2 가 있다고 가정하라. 중력은 아래 방향 (음의 Z1 방향)으로 작용한다.

6.8 [32] 그림 4.6에 제시한 2-링크 머니퓰레이티의 동역학 방정식을 도출하라. 링크 1 의 관 성 텐서는 다음과 같다. C1 I= Ix x 1 0 0 0 Iy y 1 0 0 0 Iz z 1 링크 2 는 말단 효과 장치의 한 젘애 모든 질량 m2 가 있다고 가정하라. 중력은 아래 방향 (음의 Z1 방향)으로 작용한다.
Transcript text: 6.8 [32] 그림 4.6에 제시한 2-링크 머니퓰레이티의 동역학 방정식을 도출하라. 링크 1 의 관 성 텐서는 다음과 같다. \[ C_{1} I=\left[\begin{array}{ccc} I_{x x 1} & 0 & 0 \\ 0 & I_{y y 1} & 0 \\ 0 & 0 & I_{z z 1} \end{array}\right] \] 링크 2 는 말단 효과 장치의 한 젘애 모든 질량 $m_{2}$ 가 있다고 가정하라. 중력은 아래 방향 (음의 $\hat{Z}_{1}$ 방향)으로 작용한다.
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