end of homework 5

Lowkey13 · May 29, 2014 · 8300d92 · 8300d92
1 parent 588d62e
commit 8300d92
Showing 1 changed file with 7 additions and 7 deletions.
diff --git a/cs223a-homework-5.tex b/cs223a-homework-5.tex
@@ -145,8 +145,8 @@
 \begin{equation}
   \prescript{0}{C_2}T =
     \begin{bmatrix}
-      c\theta & s\theta  & 0 & L_1c\theta \\
-      s\theta & -c\theta & 0 & L_1s\theta \\
+      c\theta & -s\theta & 0 & L_1c\theta \\
+      s\theta & c\theta  & 0 & L_1s\theta \\
       0       & 0        & 1 & d_2        \\
       0       & 0        & 0 & 1          \\
     \end{bmatrix}
@@ -212,7 +212,7 @@
 
 \begin{equation}
   \prescript{C_1}{}I_1 = \begin{bmatrix}
-    \frac{m_1}{12}2h^2                         & 0             & 0           \\
+    \frac{m_1}{6}h^2                           & 0             & 0           \\
     0                & \frac{m_1}{12}(L_1^2 + h^2)             & 0           \\
     0                & 0                       & \frac{m_1}{12}(L_1^2 + h^2) \\
                          \end{bmatrix}
@@ -236,7 +236,7 @@
   \prescript{C_2}{}I_2 = \begin{bmatrix}
     \frac{m_2}{12}(L_2^2 + h^2)                & 0             & 0           \\
     0                & \frac{m_2}{12}(L_2^2 + h^2)             & 0           \\
-    0                & 0                       & \frac{m_2}{12}2h^2          \\
+    0                & 0                       & \frac{m_2}{6}h^2            \\
                          \end{bmatrix}
 \end{equation}
 
@@ -246,7 +246,7 @@
 
 \begin{equation}
   J_{v1}^T J_{v1} = \begin{bmatrix}
-    \frac{L_1}{4} & 0 \\
+    \frac{L_1^2}{4} & 0 \\
     0             & 0 \\
                     \end{bmatrix}
 \end{equation}
@@ -298,7 +298,7 @@
 
 \part
 
-The joints positions do not affect the centrifugal and inertia along the first joint axis, so at the end, the result will be null. Let's try to develop the equation anyhow.
+The joints positions do not affect the centrifugal and inertia along the first joint axis, so at the end, the result will be null. Let's try to develop the equation anyway.
 
 \begin{equation}
   v = \begin{bmatrix}
@@ -437,7 +437,7 @@
 \begin{subequations}
   \begin{equation}
     \tau_1 = (L_1^2 \frac{m_1}{3} + h^2 \frac{m_1}{12} + L_1^2 m_2
-             + h^2 \frac{m_2}{6}) \ddot \Theta
+             + h^2 \frac{m_2}{6}) \ddot \theta_1
   \end{equation}
   \begin{equation}
     \tau_2 = m_2 \ddot d_2 + m_2 g