Microrobotica per la didattica interdisciplinare
Transcript
Microrobotica per la didattica interdisciplinare
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(& # &0 (&' &## &0 &" # ( & & & # & '1 ' # ( & & & !' 5! & !' & # !# - ( ' ' " # ( & & &0 & ! !' !# ' 1 ! # !## # '( '& # & ##& & &"& # &1 ! # & &( & " &#& (# ( 1 ' & ! & ' " 11& " N** #&(( #& d) Le macro di NCQ per avere le primitive in italiano = / ##+-( ( !& # ' # '& " '" &# ' 6 !'+ & /&' #( " (&' <L* 5! ##& ( -( 1 (&' # %& & (&'1 # & ' # ' (& '" ' # ' ! # ' *& (( '' 1&0 # ( & & & ( 5! # !' 3 & '& # &4 &# @ J &! ( & ' &V( & ( (& # &! &! ( & ' &?-# D &! X"Y@ @ (<L* (T((X ! X JJ T #5! ' & 1 ' ]" ]" ]" ]" ]" ]" ]" ]" ]" -' " HI -' ' H !I -' 1' H 1I -' '" &H ?I -' 1' -' ! & -' -' H /I -' &( "! = / !' - ( # & " &#& # 'P?"H F;X I 7 ' 1H F;X*I 7G 'P?"H F;X*I 7 ' 1H F;X I 7G 'P?"H F;X ^ F;X*I 7G H 1I 7 ' 1H F;X ^ F;X*I 7G H ?I 7 'P?"H F;X ^ F;X*I 7 H F;X ^ F;X*I 7 ? # H! I 7 H /I C 'H I 5! ( & & ' #& # &0 & & 5! " " 1 ' !' #( ( /& '/ (&' # ' ( & &'" 0 & ' # (&' &( "! <L*0 '/ (&' #+ & " ## ( & 10 ' ( ' '"& '& &'& !-( ' HI 7 H !I 7 # ( & & & #!'' ( 6 %& & % - ! m ar gi @ bm m "! & ( & '!'& !: (&'1 (& (& '" ( &0 & &' & 5! !' # 16 & & ' # & &( ! ! (& ''& - & & # .it ( -( " # 3) I teoremi microrobotici a) Il primo teorema robotico - velocità e precisione & & '' '&' , '(& ( & &# " "" ( !' '& , ' "& " -&' # &'"& " ## ( & & & ( *&' # ' ' ' ( ''& &1 & ' (# 5! & &(( & & (&'1' " M (&'" /&' ( ! & '&' ! ( ' ## ( & & & ( 0 &11 & 5! & (&' && 1& (&##&( ' (&' '! 6 & 1 (&' # 1 6" " ( ( ' !## ; * ' & 5! " ## ! # & & ! 4 0 ( ' # ' & " & " !' # ( /&' ## & &(( & ' ( ''& ! & # '/ 5! & ' ##+ & #& (& (& (&' # % = ## # ' ## '/ " ( & & & ( &( #' ! &%= # & /&' " ( & &'" &' # - '(& " 5! ## ! 3 A & # #' ! & %= 0 /&' " - ! & ( & & 1 1 '& 1! & &"& " # ' &# /&' " ( & &'" "&'& '(& ' # " &' # " #& & " # // .it ' # & & # % = (& #' ! # 3 # &4" !' # ' ! & & " & & " !' #(0 /&' '/ # /&' # & , & & & 1" ( # ( & & & " (& !' (( & " -' & # (& & 6 ' ( ' # ( 0 (&' ' &# _ $ &' '"& " A ( & & & " (& ! & #0 !: & & !' # 1& & ! 1 -( '"& ( # & /&' #& ! " # // !' (& & &# &' # ' ( ! &0 ' (! 5! '" ## -' & ' ## & /&' " '/ %+ & 1& " 1 ' 5! '" ( # # & # ( ! ! " # (& &0 ' !' & &#& ##+ 1 6" ( ( " ##+ & # & /&' *&' ( : (5! '"& & (&'-" '/ (&' # # ' ! & " & /&' "1 - & ' &(& ' # &1 ' & " # & & gi @ # & & & ( ' bm '( '&' , & & # " # ( & & &0 & (&' '& (& # & " 5! ' & ( m & # #& & & " 3 ;& " ( & & & ( 4 &'& & '/ # ' 1&'& " (5! (&' &# " # ' " # &-? " & " # & &0 # !'/&' #& (& (&'( ! # (&'' # ((& "& " ##+ 1 ! ' ## & /&' " ## ! 0 " &( " & ( & & & 0 ,!' ((& "& & m ar # & & (&#& " ! 0 ( & ! & # & "- '/ 1 ! # 0 & & ' ##+ # ( /&' " ! !##& ( & " # (& ! # !&1&'& H T #I(&' ( &' 0 !& '& ' " '/ " & 0 !' ( & & & ( !&1 ' ##& /& 9 & '&' !: !' 6" ! Z %+ !' (& &"& &1 ' ' ##& /& # ( & & & , & 1 #&( 6 " !& & & # & (! 5! " &'& 1 #& " " -!# # 1 #&( 6" & & 0 '&' ( " ' (& !' ( " '/ ' # ' H 5! '" (&' ' # # ( & # (&' &## '"& # 1 % ( '"& # 5! ' & 1 && (( ' 1' I "& & 1 ' !& " _"& & &1 1 & "! & & !'& ' 1 ' 0 #+# & ' F' (& '& & &' ! (& 2'&' ! 1 # ( &1 # & & ( & ' ( & 0 ' ' #( 0 ( ' #!'' ' ' ' ' !' ' ## ( & & & ( 0 ' ## ( # ( /&' " # &"& !:(& &0 & " !& 0 ( ( " # 1 ' & &'& ' '& ' &(& " !' &#!/&' " 1 & ' 1&# ( e) Il secondo teorema robotico - il salto dalla scrivania F' 1&# ( # #!'' ''& & (&'-" '/ ! (& !&1 # & &0 '"& ' &"& -( ( & & 0 & &'& ' / '" &1 "! ' & & 5! '" !' & & ' "& " 3 ' 4 (&'& ( # (&' & ' (! !&1 '"& .it '/ # ' !: ! # // # ' & " (&' &0 !' ( &' ! & ( "! &# 1 #& 0 (&'"& # !# ' , !& & ! '& #' ! " & /&' 1 "&'& & (& '" ' & ' &"& (&' '!& # ' & 0 5! '" # #!'' & ''& ' !##+ & (& - ' ##+ !'& & ' ##+# & ( & m ar gi @ bm m & !' & & ( '&' #&(( 5! '"& ! !' & (&#&0 '&1 #&0 , !' #( 16 & " ! ( ## A ' 1 & & " # (&'"& & $ ##+ '/ (&' ' & " (&' & ! & 5! ## (&# ' & " #!( ' 5! & ( & 6! # (( (&' " # ' & " 1& ' & !' & " ' & ( # & & !: ! / # ' & ( #& '& " # 1 #& " #!( # " # 1 ' & *&' &( ' 1' !# & # ' & " ! !: " 1 ' '1 ( !' ( ' # & & 5! '/ & " ! ( 1&'& &#& & '-' -&' # & # " # (&'"& & 0 !' & & ( (& '1&# ''& 1" '/ & #(!' ' ' ' '( & 1 ' # #!'' 0 ( & & 5! & & 1 '& / ' &"& ' -( 1& #+ '" '& - # 1 !##+" ' -( /&' ( A " 5! ' & 11 ' (&' # ! " # %= # #!'' ''& 1 & # & & '& (& ! &0 ( & '/ # ' !: &# (& 0 ' 5! & ( & " 1 ! & " 1 " # 5! '" " ( " $ ' <L* 1" # - ! L! # ( & !' % ! # # # % & & , ' ' #( " !' ( 1 ' 0 " !' ( // 0 ' &"& ( # & & 1 !&1 ( & 1 '"& " ( " A % - ( : & &'& &# !# ' & " (&' & H ( 1 -( # '/ " # '& " 1 ' # & & I& ! 5! ##& & (& H # # 1 #& " #!( # " # '&0 ( 1 6 ' '/ " # # & '( ' " (&'"& ' # # ' ! '" ( (&' # &' ' & & 1 #& " & '( ' " # (&'"& & " ## ! ' ## &' " 1 ' !' !# & -' # '&'& ' # ( ! # 6" # 1 ' (&'"& ( ! # 0 ! (! ' 1' 1!& &I " & 5! & ' !' (& & ' &'"& # ( 0 1 11 & ! (& M'&' ,ZN ( # - & ( #+11( ' ' & # 3 ( /&4 !: "1 ' &# "+ &(( & -1 '! (& " ' ' ' & /&' " ' & 0 1#! !' & ' (&' ' &0 1 & # 6 " !(( & 11 ' 5! & !' !(( 1 -' &" -( & '"& 1&# "1 ! " // ! 5! & -&' !: &1 ' !' &1 & " & !' & H '( &#& !' '! & , !' & ' 5! & ( &I 0 5! ' & #& & & & ! ( 6 ( & # ( 1' '/ ( " D # 1 #&( 6 " # & & 6 ! ! # ! "! & #& .it # (&'-&' & ## &1 # // /&' & & #!' # & & " (& 11 ' " ' & ( (&' ## !&' ' & &' " # # # " % ' m ar gi @ bm m &(& '! '& - & " ( ! # 60 & '"& 5! '" "- '/ # "1 (& !/&' & /&' " # #!'' 5! ## (&' A #& & " !(( & S& 1 ! & ' &' !' # & " ## ( 1' % &! ' 1 !'/&' ' &0 # -"!( " # - & ( # & & '& & '5! ## ' &1 & # '& ( !' ' " - & ' &#& " &(( & # & "&0 # '& " ## !& !## ! -( 0 " /&' " # ' & '&' ' '' & # & 0 &1&( '"& !' #& " J ( ' !## "! " # 1 ' &Z & & //0 !' 1&# &' & '!&1 ' &' & 0 '&' '/ : !' & ' '& " # & Z ((& & 5! '" ! " ( & # #& ! ( !' '! " 1 &'" & !## ( 1' , '" ( " '" / 1 " 0 "& & 5! #( # &Z " '" 5! L! ## ' - ! , !' 11 ' &#& &#& " !:(& 0 &#& &( "! !' ( & & & "& ' & *& ' # ( & " # & " ' & (& & 5! " " #!( &0 '&' f) Il terzo teorema robotico - il solutore di labirinti " "& " & ' 5! '/ & # ( & & & ' &"& ( '  !' & # 5! ##& " # # '& 1 (( & (& # &'"& - (' ' # - & ( !' ( & C'' # ! !" #+ '" ' & ' ## ( 1 " # & & & '&' , !' ( & 5! 1 & # -" & & ( & '& #!'' ( (( " ## #& " &#!/&' " & ' # & # ( & & & #! & " & 5! ' & # ( # " // -( ( Z " !' '1 ( & & & # ' #!'' ## & " # #!'' 0 6 ' " -' #(!' # ' " '/ 0 !' & " 1&0 &#& " # & (&# " & # ( #+ ! ( " # # '& 6 !# # & & & & 5! ##& " '/ 0 # -( 6" &# & # & # ( # & (&# ''& (& ! " ' & //&' # 0 1 # ## " /&' 1 & #+ ! ( 0 6 !'+# # -( /&' %& ' & 1 '"& # ! ' -! ' 5! ## # 1 # ' & #( 0 (&'"& # &# '" ( 0 " !' # '& " /&' # 0 " ( ' A (& # & '( '&' # P '/ (&# & #( # ' &0 & ''& ! /&' A (& # 0 '& '( " 1 " !' 1 & & 5! 6!' 1 #! /&' ( ' "& " & # m # # & # !' & " .it '" '& (& & # ' 0 & # ( & & & ( ; &1 # ' & & " # ! > ( '/ F'" > 0 (! " # ' & # & " ## ( " -  ( & & & , # ( ' & " ' # #& !" & " ( & # 1& ##+ '/ ( '/ " ## ; (' ( ' ##K & " ##K' / 1 '& 5! " " #!'' " (!&# # ' m ar gi @ # bm *& ??? ( '/ !'" &