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i p = h C i 2 X £ Z C C 1 2 3 P = [ p ;p ;p ] C i C Ti n ‚ 2 c c Z Y <C>

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(100) WíSéé<ífÿSïôróîöïjë=ð&ïì/ïï ðô”íSø8ícÿcÿ"íKïé cø-î/êF í ”ø-î=ô—í =î/øaïrî(ìî ð±ë6î. 30 − 32f ps   ÍÎ4ÈHÑ=Ú4Ç8Ë3ÎEÊCÙDÈÑ/Î-ÉÑPÔCÍIÕ3ÊCÆ-È&Î-Í ÊCÚ&É&ÊCÖÑ/Ú&É&Ë3ÖË/ÚÛ 6 − 7f ps. β1 β2 β3 β4 β5 β6 β7 β8. ´H´. =W =W =W =W =W =W =W =W. p11 sin ξ3 −W p13 cos ξ3 − ξ1 sin ξ3 + ξ2 cos ξ3 p11 cos ξ3 +W p13 sin ξ3 − ξ1 cos ξ3 − ξ2 sin ξ3 p21 sin ξ3 −W p23 cos ξ3 − ξ1 sin ξ3 + ξ2 cos ξ3 p21 cos ξ3 +W p23 sin ξ3 − ξ1 cos ξ3 − ξ2 sin ξ3 p31 sin ξ3 −W p33 cos ξ3 − ξ1 sin ξ3 + ξ2 cos ξ3 p31 cos ξ3 +W p33 sin ξ3 − ξ1 cos ξ3 − ξ2 sin ξ3 p41 sin ξ3 −W p43 cos ξ3 − ξ1 sin ξ3 + ξ2 cos ξ3 p41 cos ξ3 +W p43 sin ξ3 − ξ1 cos ξ3 − ξ2 sin ξ3.

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(127) t=mz{r=ƒo pmq{mzmqm–yrzP{r1ƒo7~z 10Hz Œ — u

(128) ssr/”Oqu

(129) t=m˜Š.qux{mƒm|| u}{m|myu

(130) t=mqu0OPmƒo<rss„ ™š„ “˜„ ‘ƒ ux{oqm| ux{o>ou

(131) ||m›”Omux{~qms0mƒœu| |m›yr

(132) zƒoor

(133) zoozoo u

(134) |oƒm| qr — r{srzržo smv

(135) ~mzP{o<pAmq{~{{m|msot}~| u

(136) orzoM† • ξ10 = −300mm ξ20 = −255mm ξ30 = π /3rad P1 = [80 25 40]mm W P2 = [100 −20 80]mm W P3 = [100 −30 15]mm W P4 = [80 35 − 15]mm Ÿ |moyr|r–šomzm&ƒ u{rk~z‘yrzP{qr||r}u

(137) ƒ‘u

(138) zm||r/upAmq{rky˜ m&|r}uoyoz uku

(139) ||M¡ rqov

(140) o zm smyrzƒr=~z u}{quo m {{rqo u/soz~sr

(141) oƒ u

(142) |m

(143) ¢ oz?t=ršƒr=ƒ u/sotk~| u

(144) qmo|<yrzP{qr||rqm1£ ¤ ¥¦„ •. §¨L©"¨«ª. W. ¬­®°¯&±²2³F­´µn¶·ª. ¸ YJ¹ºQ[S»XY]KLKOSU¹¼IMXY+[S¾½ mq$rvzoyrrqƒoz u{u¿ƒ m|p~z{rÀs~||M¡ ot1t1uvozm›so Á u

(145) vv

(146) o ~zP{r=~z0q~t1r

(147) qmvu

(148) ~sso u

(149) zr=ƒo7t=mƒo u/zš~|| u/m 

(150) uqo u

(151) zu 2 σ = 4pixel  ¸ YJ¹ºQ[S»XY]KLK.Ã>Q7Ä+QA¹ºSPE[IOG pAmq‘|rÅspArs{u

(152) t=mz{rÅ|ozmu

(153) qmm 2 σl2 = 1mm σa = pAmq|r1spAr

(154) s{ut=mzP{r1u

(155) zv

(156) r| u

(157) qm 0.005rad Â Æ GE[ILTIZÄ]I‚TQšVG[IOG R+NPG †. 100 0 0 0  100 0 0  0   0 0 10 0 • Q=  0 0 0 0    ... ... ... ... 0 0 0 0 „ • R = 0.1 ∗ eye(8) . BÇ. ... 0 ... 0 ... 0 ... 0 ... ... ... 0.          .

(158) ÈFɈÊÅË7ÌLÍ»Î]ÏOÐ ÑPÌLÒÓJÌ Ô.Õ¼Ö ×Ø ÙšØÛÚ ÜÝÞPßàßâá ã?äåã

(159) Ýß ääæ

(160) åÝ ã0àßááMç èÕÝéÝéáæé˜êß1ÜݏàÝåÝ×

(161) ß1ÞPßåÜæUáMç æ

(162) åÝ×ÝÕßâßâÜÝ ãޚޚÝéÝÕ ã1ã

(163) ááß ëLßãäèåß

(164) ØZì<ßÖ ×Ø ÙšØ í î Ö ×Ø ÙØÛï ß Ö×Ø ÙšØ ð åãññ åßÜßÕäãÕæ1áMç ßååæåß äåã=á ã áæšéã

(165) áÝòòã

(166) òÝæÕߑåßã

(167) áßâߑá ãUáæéã

(168) áÝòòã

(169) òÝæÕߑÜäÝó1ãäãàßáÞPßÝéæ

(170) áæØUÔ«ÕÅñ ã

(171) åäÝéæá ãåß‘Ý ×åãÖ éÝÝÕ1×

(172) åã

(173) ÜÜß ääæåã

(174) ññåßÜßÕäã

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