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¿Cuántas soluciones posibles de la cinemática inversa existen como máximo?
Rta./ Debido a que la articulación 3 está regida por
$L_3$ y la orientación de la herramienta, la posición de esta articulación es única. Por lo tanto, las cantidad de soluciones depende de ¿cuántas posiciones puede tomar la articulación 2 y la 1?. Ahora, suponiendo que no existen limites articulares ni restricciones de movimiento, existen dos posibles soluciones para la cinemática inversa, una con$q_3$ negativo y otra con$q_3$ positivo, como se muestra en la siguiente figura.
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function sys = sym2tf(symf,ts) | |
%TF2SYM Converts symbolic function to transfer function | |
% sys = SYM2TF(symf) converts the symbolic function symf of class 'sym' | |
% to transfer function. | |
% | |
% sys = SYM2TF(...,ts) converts the symbolic function s of class 'sym' | |
% to discrete transfer function. | |
% | |
% See also TF, SYM. |
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import cv2 | |
import numpy as np | |
import matplotlib.pyplot as plt | |
def convolution2D(Img, Mask): | |
inv_mask = Mask[::-1,::-1] | |
dim = Mask.shape |
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import numpy as np | |
import matplotlib.pyplot as plt | |
import cv2 | |
def segment(src=None): | |
img = cv2.copyMakeBorder(src, 1, 1, 1, 1, cv2.BORDER_REPLICATE) | |
tags = np.zeros(img.shape) |
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import numpy as np | |
# Activation function and its derivative (sigmoid) | |
def sigmoid(x): | |
return 1 / (1 + np.exp(-x)) | |
def sigmoid_derivative(x): | |
return sigmoid(x) * (1 - sigmoid(x)) | |
# Error function (Mean Squared Error) and its derivative | |
def MSE(yBar, y): |
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import wave | |
from playsound import playsound | |
from matplotlib import pyplot as plt | |
import numpy as np | |
def save_audio(x, fs, name): | |
with wave.open(name, mode='wb') as wav: | |
wav.setnchannels(1) # Mono |