https://wiki.freecad.org/index.php?title=VRML_Preparation_for_Robot_Simulation/ro&feed=atom&action=history
VRML Preparation for Robot Simulation/ro - Revision history
2024-03-28T08:57:01Z
Revision history for this page on the wiki
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https://wiki.freecad.org/index.php?title=VRML_Preparation_for_Robot_Simulation/ro&diff=633037&oldid=prev
FuzzyBot: Updating to match new version of source page
2020-02-28T12:52:36Z
<p>Updating to match new version of source page</p>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><div class="mw-translate-fuzzy"></div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Acest tutorial explică modul de utilizare a FreeCAD și a Atelierului de simulare a robotului pentru a simula mișcările robotului serial cu 6 axe. '''Tutorialul se concentreaza pe crearea fișierului vrml''' utilizat ca vizualizare. Baza fișierului vrml este un model FreeCAD. Versiunea FreeCAD folosită este 0.11.4252ppa1 pe Ubuntu 32bit.</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Acest tutorial explică modul de utilizare a FreeCAD și a Atelierului de simulare a robotului pentru a simula mișcările robotului serial cu 6 axe. '''Tutorialul se concentreaza pe crearea fișierului vrml''' utilizat ca vizualizare. Baza fișierului vrml este un model FreeCAD. Versiunea FreeCAD folosită este 0.11.4252ppa1 pe Ubuntu 32bit.</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Deschideți un fișier sau creați unul cu FreeCAD ==</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><div class="mw-translate-fuzzy"></div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Observați că importăm, robotul este alcătuit din 8 forme, direct pe rădăcina arborelui de documente. Structura fișierului vrml exportat se poate schimba dacă se utilizează grupuri. Formele sunt comandate de la bază la instrument. Ultima formă conține axele de rotație ale tuturor axelor robotului. Corelația dintre numele formei - numele piesei este dat de (din martie 2011) FreeCAD nu importă numele incluse în fișierele STEP:</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Observați că importăm, robotul este alcătuit din 8 forme, direct pe rădăcina arborelui de documente. Structura fișierului vrml exportat se poate schimba dacă se utilizează grupuri. Formele sunt comandate de la bază la instrument. Ultima formă conține axele de rotație ale tuturor axelor robotului. Corelația dintre numele formei - numele piesei este dat de (din martie 2011) FreeCAD nu importă numele incluse în fișierele STEP:</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Pentru acest import, schimbați "Display Mode" pentru fiecare formă, exceptând TX40_HB007, de la "Flat Lines" la "Shaded" pentru exportul vrml pentru a arăta bine. Am schimbat de asemenea culoarile la [245, 196, 0] și [204, 204, 204] pentru a corespunde mai bine cu galbenul Stäubli's. Ascunde TX40_HB007 deoarece conține axele tuturorl articulațiilor și nu poate fi luat de o parte.</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Pentru acest import, schimbați "Display Mode" pentru fiecare formă, exceptând TX40_HB007, de la "Flat Lines" la "Shaded" pentru exportul vrml pentru a arăta bine. Am schimbat de asemenea culoarile la [245, 196, 0] și [204, 204, 204] pentru a corespunde mai bine cu galbenul Stäubli's. Ascunde TX40_HB007 deoarece conține axele tuturorl articulațiilor și nu poate fi luat de o parte.</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Exportați documentul într-un fișier vrml. Structura fișierului vrml este următoarea:</div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Exportați documentul într-un fișier vrml. Structura fișierului vrml este următoarea:</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div></div></div></td>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><syntaxhighlight></div></td>
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<td class="diff-marker" data-marker="+"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><code></div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
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<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> #VRML V2.0 utf8</div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> #VRML V2.0 utf8</div></td>
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<td colspan="2" class="diff-lineno">Line 186:</td>
<td colspan="2" class="diff-lineno">Line 200:</td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> </div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> </div></td>
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<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> }</div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> }</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div></code></div></td>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div></syntaxhighlight></div></td>
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<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
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<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Puteți observa că avem 8 grupuri independente care corespund celor 8 forme.</div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Puteți observa că avem 8 grupuri independente care corespund celor 8 forme.</div></td>
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<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
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<tr>
<td colspan="2" class="diff-empty diff-side-deleted"></td>
<td class="diff-marker" data-marker="+"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><div class="mw-translate-fuzzy"></div></td>
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<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Pregătirea fișierului vrml ==</div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Pregătirea fișierului vrml ==</div></td>
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<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Toate formele din fișierul vrml sunt exprimate în cadrul de bază, independente una de celălaltă. Pentru Atelierul Robot Simulation Workbench, trebuie să creăm o structură în care o mișcare a unei forme induce o mișcare a tuturor formelor situate ulterior în structură. Plasarea formelor va fi relativă la forma precedentă, așa că trebuie să includem câteva translații din sistemul de referință absolut la cel relativ.</div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Toate formele din fișierul vrml sunt exprimate în cadrul de bază, independente una de celălaltă. Pentru Atelierul Robot Simulation Workbench, trebuie să creăm o structură în care o mișcare a unei forme induce o mișcare a tuturor formelor situate ulterior în structură. Plasarea formelor va fi relativă la forma precedentă, așa că trebuie să includem câteva translații din sistemul de referință absolut la cel relativ.</div></td>
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<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Translațiile descrise în următoarea imagine:</div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Translațiile descrise în următoarea imagine:</div></td>
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<td class="diff-marker" data-marker="+"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div></div></div></td>
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<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
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<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[Image:staeubli_important_points.png]]</div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[Image:staeubli_important_points.png]]</div></td>
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<td colspan="2" class="diff-lineno">Line 205:</td>
<td colspan="2" class="diff-lineno">Line 221:</td>
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<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
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<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Să luăm un exemplu în 4 axe întere ELBOW și FOREARM, situat la D=(xd, yd, zd). Ancora pentru axa FreeCAD este</div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Să luăm un exemplu în 4 axe întere ELBOW și FOREARM, situat la D=(xd, yd, zd). Ancora pentru axa FreeCAD este</div></td>
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<td colspan="2" class="diff-empty diff-side-deleted"></td>
<td class="diff-marker" data-marker="+"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><code></div></td>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><syntaxhighlight></div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
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<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> "DEF FREECAD_AXIS4 Transform { rotation 0 1 0 0 children ["</div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> "DEF FREECAD_AXIS4 Transform { rotation 0 1 0 0 children ["</div></td>
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<td colspan="2" class="diff-empty diff-side-deleted"></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div></code></div></td>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div></syntaxhighlight></div></td>
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<td colspan="2" class="diff-empty diff-side-deleted"></td>
<td class="diff-marker" data-marker="+"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><div class="mw-translate-fuzzy"></div></td>
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<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Aceasta corespunde unei rotații în jurul axei y. În modelul CAD, rotația este în jurul axei z. Astfel, avem nevoie de o rotație în jurul axei x a <math> \ pi </ math> înaintea definiției axei FreeCAD și a <math> - \ pi </ math> după aceasta. De asemenea, este necesară o translație (-xd, -yd, -zd) chiar înainte ca grupul care corespunde definiției FOREARM să o exprime în cadrul de referință relativ centrat(D) Asata înseamnă că o translație (xd,yd,zd)trebuie să fie introduse înainte de prima rotație.</div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Aceasta corespunde unei rotații în jurul axei y. În modelul CAD, rotația este în jurul axei z. Astfel, avem nevoie de o rotație în jurul axei x a <math> \ pi </ math> înaintea definiției axei FreeCAD și a <math> - \ pi </ math> după aceasta. De asemenea, este necesară o translație (-xd, -yd, -zd) chiar înainte ca grupul care corespunde definiției FOREARM să o exprime în cadrul de referință relativ centrat(D) Asata înseamnă că o translație (xd,yd,zd)trebuie să fie introduse înainte de prima rotație.</div></td>
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<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>La final, fișierul vrml de la definiția ELBOW la definiția FOREARM arată astfel:</div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>La final, fișierul vrml de la definiția ELBOW la definiția FOREARM arată astfel:</div></td>
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<td colspan="2" class="diff-empty diff-side-deleted"></td>
<td class="diff-marker" data-marker="+"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div></div></div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><syntaxhighlight></div></td>
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<td class="diff-marker" data-marker="+"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><code></div></td>
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<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> # ELBOW</div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> # ELBOW</div></td>
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<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> Group {</div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> Group {</div></td>
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<td colspan="2" class="diff-lineno">Line 251:</td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> </div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> </div></td>
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<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> },</div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> },</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div></code></div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div></syntaxhighlight></div></td>
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<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> </div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> </div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>La sfârșitul documentului, trebuie introduse parantezele de închidere corespunzătoare: <<del style="font-weight: bold; text-decoration: none;">syntaxhighlight</del>> ]}}}},</<del style="font-weight: bold; text-decoration: none;">syntaxhighlight</del>> </div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>La sfârșitul documentului, trebuie introduse parantezele de închidere corespunzătoare: <<ins style="font-weight: bold; text-decoration: none;">code</ins>> ]}}}},</<ins style="font-weight: bold; text-decoration: none;">code</ins>> </div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Pentru fiecare din cele 6 axe. În cele din urmă, documentul arată astfel (nu știu dacă poate fi conectat fișierul aici din cauza drepturilor de autor):</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Pentru fiecare din cele 6 axe. În cele din urmă, documentul arată astfel (nu știu dacă poate fi conectat fișierul aici din cauza drepturilor de autor):</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><syntaxhighlight></div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> #VRML V2.0 utf8</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> #VRML V2.0 utf8</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> }</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div></syntaxhighlight></div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><div class="mw-translate-fuzzy"></div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Iată un patch pentru a obține fișierul vrml potrivit pentru simularea robotului:</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Iată un patch pentru a obține fișierul vrml potrivit pentru simularea robotului:</div></td>
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FuzzyBot
https://wiki.freecad.org/index.php?title=VRML_Preparation_for_Robot_Simulation/ro&diff=323023&oldid=prev
Luc at 17:21, 16 September 2018
2018-09-16T17:21:15Z
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 17:21, 16 September 2018</td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Pregătirea fișierului vrml ==</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Pregătirea fișierului vrml ==</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>Toate formele din fișierul vrml sunt exprimate în cadrul de bază, independente una de celălaltă. <del style="font-weight: bold; text-decoration: none;">For</del> <del style="font-weight: bold; text-decoration: none;">the</del> Robot Simulation Workbench, <del style="font-weight: bold; text-decoration: none;">we</del> <del style="font-weight: bold; text-decoration: none;">need</del> <del style="font-weight: bold; text-decoration: none;">to</del> <del style="font-weight: bold; text-decoration: none;">create</del> <del style="font-weight: bold; text-decoration: none;">a</del> <del style="font-weight: bold; text-decoration: none;">structure</del> <del style="font-weight: bold; text-decoration: none;">where a</del> <del style="font-weight: bold; text-decoration: none;">movement</del> <del style="font-weight: bold; text-decoration: none;">of</del> a <del style="font-weight: bold; text-decoration: none;">shape</del> <del style="font-weight: bold; text-decoration: none;">induces</del> <del style="font-weight: bold; text-decoration: none;">a</del> <del style="font-weight: bold; text-decoration: none;">movement</del> <del style="font-weight: bold; text-decoration: none;">of</del> <del style="font-weight: bold; text-decoration: none;">all</del> <del style="font-weight: bold; text-decoration: none;">shapes</del> <del style="font-weight: bold; text-decoration: none;">situated</del> <del style="font-weight: bold; text-decoration: none;">afterwards</del> <del style="font-weight: bold; text-decoration: none;">in</del> <del style="font-weight: bold; text-decoration: none;">the</del> <del style="font-weight: bold; text-decoration: none;">structure</del>. <del style="font-weight: bold; text-decoration: none;">The</del> <del style="font-weight: bold; text-decoration: none;">placement</del> <del style="font-weight: bold; text-decoration: none;">of</del> <del style="font-weight: bold; text-decoration: none;">the</del> <del style="font-weight: bold; text-decoration: none;">shapes</del> <del style="font-weight: bold; text-decoration: none;">will</del> <del style="font-weight: bold; text-decoration: none;">be</del> <del style="font-weight: bold; text-decoration: none;">relative to the preceding shape</del>, <del style="font-weight: bold; text-decoration: none;">so</del> <del style="font-weight: bold; text-decoration: none;">we</del> <del style="font-weight: bold; text-decoration: none;">need</del> <del style="font-weight: bold; text-decoration: none;">to</del> <del style="font-weight: bold; text-decoration: none;">include</del> <del style="font-weight: bold; text-decoration: none;">some</del> <del style="font-weight: bold; text-decoration: none;">translations</del> <del style="font-weight: bold; text-decoration: none;">from</del> <del style="font-weight: bold; text-decoration: none;">the</del> <del style="font-weight: bold; text-decoration: none;">absolute</del> <del style="font-weight: bold; text-decoration: none;">reference</del> <del style="font-weight: bold; text-decoration: none;">system</del> <del style="font-weight: bold; text-decoration: none;">to</del> <del style="font-weight: bold; text-decoration: none;">the</del> <del style="font-weight: bold; text-decoration: none;">relative one</del>.<del style="font-weight: bold; text-decoration: none;"> </del></div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>Toate formele din fișierul vrml sunt exprimate în cadrul de bază, independente una de celălaltă. <ins style="font-weight: bold; text-decoration: none;">Pentru</ins> <ins style="font-weight: bold; text-decoration: none;">Atelierul</ins> Robot Simulation Workbench, <ins style="font-weight: bold; text-decoration: none;">trebuie</ins> <ins style="font-weight: bold; text-decoration: none;">să</ins> <ins style="font-weight: bold; text-decoration: none;">creăm</ins> <ins style="font-weight: bold; text-decoration: none;">o</ins> <ins style="font-weight: bold; text-decoration: none;">structură</ins> <ins style="font-weight: bold; text-decoration: none;">în</ins> <ins style="font-weight: bold; text-decoration: none;">care</ins> <ins style="font-weight: bold; text-decoration: none;">o</ins> <ins style="font-weight: bold; text-decoration: none;">mișcare</ins> a <ins style="font-weight: bold; text-decoration: none;">unei</ins> <ins style="font-weight: bold; text-decoration: none;">forme</ins> <ins style="font-weight: bold; text-decoration: none;">induce</ins> <ins style="font-weight: bold; text-decoration: none;">o</ins> <ins style="font-weight: bold; text-decoration: none;">mișcare</ins> <ins style="font-weight: bold; text-decoration: none;">a</ins> <ins style="font-weight: bold; text-decoration: none;">tuturor</ins> <ins style="font-weight: bold; text-decoration: none;">formelor</ins> <ins style="font-weight: bold; text-decoration: none;">situate</ins> <ins style="font-weight: bold; text-decoration: none;">ulterior</ins> <ins style="font-weight: bold; text-decoration: none;">în</ins> <ins style="font-weight: bold; text-decoration: none;">structură</ins>. <ins style="font-weight: bold; text-decoration: none;">Plasarea</ins> <ins style="font-weight: bold; text-decoration: none;">formelor</ins> <ins style="font-weight: bold; text-decoration: none;">va</ins> <ins style="font-weight: bold; text-decoration: none;">fi</ins> <ins style="font-weight: bold; text-decoration: none;">relativă</ins> <ins style="font-weight: bold; text-decoration: none;">la</ins> <ins style="font-weight: bold; text-decoration: none;">forma</ins> <ins style="font-weight: bold; text-decoration: none;">precedentă</ins>, <ins style="font-weight: bold; text-decoration: none;">așa</ins> <ins style="font-weight: bold; text-decoration: none;">că</ins> <ins style="font-weight: bold; text-decoration: none;">trebuie</ins> <ins style="font-weight: bold; text-decoration: none;">să</ins> <ins style="font-weight: bold; text-decoration: none;">includem</ins> <ins style="font-weight: bold; text-decoration: none;">câteva</ins> <ins style="font-weight: bold; text-decoration: none;">translații</ins> <ins style="font-weight: bold; text-decoration: none;">din</ins> <ins style="font-weight: bold; text-decoration: none;">sistemul</ins> <ins style="font-weight: bold; text-decoration: none;">de</ins> <ins style="font-weight: bold; text-decoration: none;">referință</ins> <ins style="font-weight: bold; text-decoration: none;">absolut</ins> <ins style="font-weight: bold; text-decoration: none;">la</ins> <ins style="font-weight: bold; text-decoration: none;">cel</ins> <ins style="font-weight: bold; text-decoration: none;">relativ</ins>.</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Translațiile descrise în următoarea imagine:</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Translațiile descrise în următoarea imagine:</div></td>
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Luc
https://wiki.freecad.org/index.php?title=VRML_Preparation_for_Robot_Simulation/ro&diff=323021&oldid=prev
Luc at 17:19, 16 September 2018
2018-09-16T17:19:54Z
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 17:19, 16 September 2018</td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Măsurați caracteristicile geometrice ==</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Măsurați caracteristicile geometrice ==</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>În vederea construirii tabelului Denavit-Hartenberg (see [[Robot_6-Axis|Robot 6-Axis]]) și pregătiți fișierul vrml, trebuie să obțineți caracteristicile robotului. <del style="font-weight: bold; text-decoration: none;">For now</del>, <del style="font-weight: bold; text-decoration: none;">the measurement</del> <del style="font-weight: bold; text-decoration: none;">tool</del> <del style="font-weight: bold; text-decoration: none;">of</del> FreeCAD <del style="font-weight: bold; text-decoration: none;">is</del> <del style="font-weight: bold; text-decoration: none;">not</del> <del style="font-weight: bold; text-decoration: none;">ready</del>, <del style="font-weight: bold; text-decoration: none;">you</del> <del style="font-weight: bold; text-decoration: none;">can</del> <del style="font-weight: bold; text-decoration: none;">use</del> <del style="font-weight: bold; text-decoration: none;">the</del> <del style="font-weight: bold; text-decoration: none;">axes included in</del> TX40_HB007 (<del style="font-weight: bold; text-decoration: none;">the</del> <del style="font-weight: bold; text-decoration: none;">co-ordinates</del> <del style="font-weight: bold; text-decoration: none;">are</del> <del style="font-weight: bold; text-decoration: none;">indicated</del> <del style="font-weight: bold; text-decoration: none;">on</del> <del style="font-weight: bold; text-decoration: none;">the</del> <del style="font-weight: bold; text-decoration: none;">bottom</del> <del style="font-weight: bold; text-decoration: none;">left</del> <del style="font-weight: bold; text-decoration: none;">when</del> <del style="font-weight: bold; text-decoration: none;">you</del> <del style="font-weight: bold; text-decoration: none;">point</del> <del style="font-weight: bold; text-decoration: none;">an</del> <del style="font-weight: bold; text-decoration: none;">object with the</del> mouse) <del style="font-weight: bold; text-decoration: none;">or</del> <del style="font-weight: bold; text-decoration: none;">you</del> <del style="font-weight: bold; text-decoration: none;">have</del> <del style="font-weight: bold; text-decoration: none;">to</del> <del style="font-weight: bold; text-decoration: none;">use the</del> Python <del style="font-weight: bold; text-decoration: none;">console</del> <del style="font-weight: bold; text-decoration: none;">to</del> <del style="font-weight: bold; text-decoration: none;">get</del> <del style="font-weight: bold; text-decoration: none;">some</del> <del style="font-weight: bold; text-decoration: none;">information</del> <del style="font-weight: bold; text-decoration: none;">about</del> <del style="font-weight: bold; text-decoration: none;">the geometry</del>. <del style="font-weight: bold; text-decoration: none;">Note</del> <del style="font-weight: bold; text-decoration: none;">that</del> <del style="font-weight: bold; text-decoration: none;">the</del> DH<del style="font-weight: bold; text-decoration: none;">-table</del> <del style="font-weight: bold; text-decoration: none;">is</del> <del style="font-weight: bold; text-decoration: none;">only</del> <del style="font-weight: bold; text-decoration: none;">required</del> <del style="font-weight: bold; text-decoration: none;">if</del> <del style="font-weight: bold; text-decoration: none;">you</del> <del style="font-weight: bold; text-decoration: none;">need</del> <del style="font-weight: bold; text-decoration: none;">to</del> <del style="font-weight: bold; text-decoration: none;">use</del> <del style="font-weight: bold; text-decoration: none;">the inverse kinematics</del>, <del style="font-weight: bold; text-decoration: none;">i.e. </del> <del style="font-weight: bold; text-decoration: none;">get</del> <del style="font-weight: bold; text-decoration: none;">the</del> <del style="font-weight: bold; text-decoration: none;">Cartesian</del> <del style="font-weight: bold; text-decoration: none;">coordinates</del> <del style="font-weight: bold; text-decoration: none;">or</del> <del style="font-weight: bold; text-decoration: none;">drive</del> <del style="font-weight: bold; text-decoration: none;">the</del> <del style="font-weight: bold; text-decoration: none;">robot</del> <del style="font-weight: bold; text-decoration: none;">with</del> <del style="font-weight: bold; text-decoration: none;">Cartesian</del> <del style="font-weight: bold; text-decoration: none;">coordinates</del>.</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>În vederea construirii tabelului Denavit-Hartenberg (see [[Robot_6-Axis|Robot 6-Axis]]) și pregătiți fișierul vrml, trebuie să obțineți caracteristicile robotului. <ins style="font-weight: bold; text-decoration: none;">Deocamdată</ins>, <ins style="font-weight: bold; text-decoration: none;">instrumentul</ins> <ins style="font-weight: bold; text-decoration: none;">de</ins> <ins style="font-weight: bold; text-decoration: none;">măsurare</ins> FreeCAD <ins style="font-weight: bold; text-decoration: none;">nu</ins> <ins style="font-weight: bold; text-decoration: none;">este</ins> <ins style="font-weight: bold; text-decoration: none;">gata</ins>, <ins style="font-weight: bold; text-decoration: none;">puteți</ins> <ins style="font-weight: bold; text-decoration: none;">utiliza</ins> <ins style="font-weight: bold; text-decoration: none;">axele</ins> <ins style="font-weight: bold; text-decoration: none;">incluse</ins> <ins style="font-weight: bold; text-decoration: none;">în</ins> TX40_HB007 (<ins style="font-weight: bold; text-decoration: none;">coordonatele</ins> <ins style="font-weight: bold; text-decoration: none;">sunt</ins> <ins style="font-weight: bold; text-decoration: none;">indicate</ins> <ins style="font-weight: bold; text-decoration: none;">în</ins> <ins style="font-weight: bold; text-decoration: none;">partea</ins> <ins style="font-weight: bold; text-decoration: none;">stângă</ins> <ins style="font-weight: bold; text-decoration: none;">jos</ins> <ins style="font-weight: bold; text-decoration: none;">atunci</ins> <ins style="font-weight: bold; text-decoration: none;">când</ins> <ins style="font-weight: bold; text-decoration: none;">indicați</ins> <ins style="font-weight: bold; text-decoration: none;">un</ins> <ins style="font-weight: bold; text-decoration: none;">obiect</ins> <ins style="font-weight: bold; text-decoration: none;">cu</ins> mouse<ins style="font-weight: bold; text-decoration: none;">-ul</ins>) <ins style="font-weight: bold; text-decoration: none;">sau</ins> <ins style="font-weight: bold; text-decoration: none;">trebuie</ins> <ins style="font-weight: bold; text-decoration: none;">să</ins> <ins style="font-weight: bold; text-decoration: none;">utilizați</ins> <ins style="font-weight: bold; text-decoration: none;">consola</ins> Python <ins style="font-weight: bold; text-decoration: none;">pentru</ins> <ins style="font-weight: bold; text-decoration: none;">a</ins> <ins style="font-weight: bold; text-decoration: none;">obține</ins> <ins style="font-weight: bold; text-decoration: none;">unele</ins> <ins style="font-weight: bold; text-decoration: none;">informații</ins> <ins style="font-weight: bold; text-decoration: none;">despre</ins> <ins style="font-weight: bold; text-decoration: none;">geometrie</ins>. <ins style="font-weight: bold; text-decoration: none;">Rețineți</ins> <ins style="font-weight: bold; text-decoration: none;">că</ins> <ins style="font-weight: bold; text-decoration: none;">tabelul</ins> DH <ins style="font-weight: bold; text-decoration: none;">este</ins> <ins style="font-weight: bold; text-decoration: none;">necesar</ins> <ins style="font-weight: bold; text-decoration: none;">numai</ins> <ins style="font-weight: bold; text-decoration: none;">dacă</ins> <ins style="font-weight: bold; text-decoration: none;">trebuie</ins> <ins style="font-weight: bold; text-decoration: none;">să</ins> <ins style="font-weight: bold; text-decoration: none;">utilizați</ins> <ins style="font-weight: bold; text-decoration: none;">cinematica</ins> <ins style="font-weight: bold; text-decoration: none;">inversă</ins>, <ins style="font-weight: bold; text-decoration: none;">adică</ins> <ins style="font-weight: bold; text-decoration: none;">să</ins> <ins style="font-weight: bold; text-decoration: none;">obțineți</ins> <ins style="font-weight: bold; text-decoration: none;">coordonatele</ins> <ins style="font-weight: bold; text-decoration: none;">carteziene</ins> <ins style="font-weight: bold; text-decoration: none;">sau</ins> <ins style="font-weight: bold; text-decoration: none;">să</ins> <ins style="font-weight: bold; text-decoration: none;">dirijați</ins> <ins style="font-weight: bold; text-decoration: none;">robotul</ins> <ins style="font-weight: bold; text-decoration: none;">cu</ins> <ins style="font-weight: bold; text-decoration: none;">coordonate</ins> <ins style="font-weight: bold; text-decoration: none;">carteziene</ins>.</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Tabelul DH-table pentru acest robot este următorul (mm, deg and deg/s):</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Tabelul DH-table pentru acest robot este următorul (mm, deg and deg/s):</div></td>
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Luc
https://wiki.freecad.org/index.php?title=VRML_Preparation_for_Robot_Simulation/ro&diff=323019&oldid=prev
Luc at 17:14, 16 September 2018
2018-09-16T17:14:51Z
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">The</del> csv file <del style="font-weight: bold; text-decoration: none;">is</del> <del style="font-weight: bold; text-decoration: none;">then</del>:</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> a , alpha, d , theta, rotDir, maxAngle, minAngle, AxisVelocity</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> a , alpha, d , theta, rotDir, maxAngle, minAngle, AxisVelocity</div></td>
</tr>
</table>
Luc
https://wiki.freecad.org/index.php?title=VRML_Preparation_for_Robot_Simulation/ro&diff=323017&oldid=prev
Luc at 17:14, 16 September 2018
2018-09-16T17:14:25Z
<p></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 17:14, 16 September 2018</td>
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<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Măsurați caracteristicile geometrice ==</div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Măsurați caracteristicile geometrice ==</div></td>
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<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">In</del> <del style="font-weight: bold; text-decoration: none;">order</del> <del style="font-weight: bold; text-decoration: none;">to</del> <del style="font-weight: bold; text-decoration: none;">build the</del> Denavit-Hartenberg<del style="font-weight: bold; text-decoration: none;"> table</del> (see [[Robot_6-Axis|Robot 6-Axis]]) <del style="font-weight: bold; text-decoration: none;">and</del> <del style="font-weight: bold; text-decoration: none;">prepare</del> <del style="font-weight: bold; text-decoration: none;">the</del> vrml<del style="font-weight: bold; text-decoration: none;"> file</del>, <del style="font-weight: bold; text-decoration: none;">you need to get</del> <del style="font-weight: bold; text-decoration: none;">characteristics</del> <del style="font-weight: bold; text-decoration: none;">of</del> <del style="font-weight: bold; text-decoration: none;">the</del> <del style="font-weight: bold; text-decoration: none;">robot</del>. For now, the measurement tool of FreeCAD is not ready, you can use the axes included in TX40_HB007 (the co-ordinates are indicated on the bottom left when you point an object with the mouse) or you have to use the Python console to get some information about the geometry. Note that the DH-table is only required if you need to use the inverse kinematics, i.e. get the Cartesian coordinates or drive the robot with Cartesian coordinates.</div></td>
<td class="diff-marker" data-marker="+"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">În</ins> <ins style="font-weight: bold; text-decoration: none;">vederea</ins> <ins style="font-weight: bold; text-decoration: none;">construirii</ins> <ins style="font-weight: bold; text-decoration: none;">tabelului</ins> Denavit-Hartenberg (see [[Robot_6-Axis|Robot 6-Axis]]) <ins style="font-weight: bold; text-decoration: none;">și</ins> <ins style="font-weight: bold; text-decoration: none;">pregătiți</ins> <ins style="font-weight: bold; text-decoration: none;">fișierul</ins> vrml, <ins style="font-weight: bold; text-decoration: none;">trebuie</ins> <ins style="font-weight: bold; text-decoration: none;">să</ins> <ins style="font-weight: bold; text-decoration: none;">obțineți</ins> <ins style="font-weight: bold; text-decoration: none;">caracteristicile</ins> <ins style="font-weight: bold; text-decoration: none;">robotului</ins>. For now, the measurement tool of FreeCAD is not ready, you can use the axes included in TX40_HB007 (the co-ordinates are indicated on the bottom left when you point an object with the mouse) or you have to use the Python console to get some information about the geometry. Note that the DH-table is only required if you need to use the inverse kinematics, i.e. get the Cartesian coordinates or drive the robot with Cartesian coordinates.</div></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">The</del> DH-table <del style="font-weight: bold; text-decoration: none;">for</del> <del style="font-weight: bold; text-decoration: none;">this</del> robot <del style="font-weight: bold; text-decoration: none;">is</del> <del style="font-weight: bold; text-decoration: none;">the following</del> (mm, deg and deg/s):</div></td>
<td class="diff-marker" data-marker="+"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">Tabelul</ins> DH-table <ins style="font-weight: bold; text-decoration: none;">pentru</ins> <ins style="font-weight: bold; text-decoration: none;">acest</ins> robot <ins style="font-weight: bold; text-decoration: none;">este</ins> <ins style="font-weight: bold; text-decoration: none;">următorul</ins> (mm, deg and deg/s):</div></td>
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<tr>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
</tr>
<tr>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>{| class="wikitable"</div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>{| class="wikitable"</div></td>
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</table>
Luc
https://wiki.freecad.org/index.php?title=VRML_Preparation_for_Robot_Simulation/ro&diff=323015&oldid=prev
Luc at 17:12, 16 September 2018
2018-09-16T17:12:39Z
<p></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 17:12, 16 September 2018</td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>|}</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">For</del> <del style="font-weight: bold; text-decoration: none;">this</del> import, <del style="font-weight: bold; text-decoration: none;">change</del> <del style="font-weight: bold; text-decoration: none;">the</del> <del style="font-weight: bold; text-decoration: none;">“Display</del> <del style="font-weight: bold; text-decoration: none;">Mode”</del> <del style="font-weight: bold; text-decoration: none;">of</del> <del style="font-weight: bold; text-decoration: none;">each shape</del>, TX40_HB007<del style="font-weight: bold; text-decoration: none;"> excepted</del>, <del style="font-weight: bold; text-decoration: none;">from</del> <del style="font-weight: bold; text-decoration: none;">“Flat</del> <del style="font-weight: bold; text-decoration: none;">Lines”</del> <del style="font-weight: bold; text-decoration: none;">to</del> <del style="font-weight: bold; text-decoration: none;">“Shaded”</del> <del style="font-weight: bold; text-decoration: none;">for</del> <del style="font-weight: bold; text-decoration: none;">the</del> vrml <del style="font-weight: bold; text-decoration: none;">export</del> <del style="font-weight: bold; text-decoration: none;">to</del> <del style="font-weight: bold; text-decoration: none;">look</del> <del style="font-weight: bold; text-decoration: none;">good</del>. <del style="font-weight: bold; text-decoration: none;">I</del> <del style="font-weight: bold; text-decoration: none;">also</del> <del style="font-weight: bold; text-decoration: none;">changed</del> <del style="font-weight: bold; text-decoration: none;">the</del> <del style="font-weight: bold; text-decoration: none;">colors</del> <del style="font-weight: bold; text-decoration: none;">to</del> [245, 196, 0] <del style="font-weight: bold; text-decoration: none;">and</del> [204, 204, 204] <del style="font-weight: bold; text-decoration: none;">to</del> <del style="font-weight: bold; text-decoration: none;">better</del> <del style="font-weight: bold; text-decoration: none;">correspond</del> <del style="font-weight: bold; text-decoration: none;">to</del> Stäubli's<del style="font-weight: bold; text-decoration: none;"> yellow</del>. <del style="font-weight: bold; text-decoration: none;">Hide</del> TX40_HB007 <del style="font-weight: bold; text-decoration: none;">because</del> <del style="font-weight: bold; text-decoration: none;">it</del> <del style="font-weight: bold; text-decoration: none;">contains</del> <del style="font-weight: bold; text-decoration: none;">the</del> <del style="font-weight: bold; text-decoration: none;">axes</del> <del style="font-weight: bold; text-decoration: none;">of</del> <del style="font-weight: bold; text-decoration: none;">all</del> <del style="font-weight: bold; text-decoration: none;">joints</del> <del style="font-weight: bold; text-decoration: none;">and</del> <del style="font-weight: bold; text-decoration: none;">cannot</del> <del style="font-weight: bold; text-decoration: none;">be</del> <del style="font-weight: bold; text-decoration: none;">taken</del> <del style="font-weight: bold; text-decoration: none;">apart</del>.</div></td>
<td class="diff-marker" data-marker="+"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">Pentru</ins> <ins style="font-weight: bold; text-decoration: none;">acest</ins> import, <ins style="font-weight: bold; text-decoration: none;">schimbați</ins> <ins style="font-weight: bold; text-decoration: none;">"Display</ins> <ins style="font-weight: bold; text-decoration: none;">Mode"</ins> <ins style="font-weight: bold; text-decoration: none;">pentru</ins> <ins style="font-weight: bold; text-decoration: none;">fiecare</ins> <ins style="font-weight: bold; text-decoration: none;">formă</ins>,<ins style="font-weight: bold; text-decoration: none;"> exceptând</ins> TX40_HB007, <ins style="font-weight: bold; text-decoration: none;">de</ins> <ins style="font-weight: bold; text-decoration: none;">la</ins> <ins style="font-weight: bold; text-decoration: none;">"Flat</ins> <ins style="font-weight: bold; text-decoration: none;">Lines"</ins> <ins style="font-weight: bold; text-decoration: none;">la</ins> <ins style="font-weight: bold; text-decoration: none;">"Shaded"</ins> <ins style="font-weight: bold; text-decoration: none;">pentru exportul</ins> vrml <ins style="font-weight: bold; text-decoration: none;">pentru</ins> <ins style="font-weight: bold; text-decoration: none;">a</ins> <ins style="font-weight: bold; text-decoration: none;">arăta</ins> <ins style="font-weight: bold; text-decoration: none;">bine</ins>. <ins style="font-weight: bold; text-decoration: none;">Am</ins> <ins style="font-weight: bold; text-decoration: none;">schimbat</ins> <ins style="font-weight: bold; text-decoration: none;">de</ins> <ins style="font-weight: bold; text-decoration: none;">asemenea</ins> <ins style="font-weight: bold; text-decoration: none;">culoarile</ins> <ins style="font-weight: bold; text-decoration: none;">la</ins> [245, 196, 0] <ins style="font-weight: bold; text-decoration: none;">și</ins> [204, 204, 204] <ins style="font-weight: bold; text-decoration: none;">pentru</ins> <ins style="font-weight: bold; text-decoration: none;">a</ins> <ins style="font-weight: bold; text-decoration: none;">corespunde</ins> <ins style="font-weight: bold; text-decoration: none;">mai bine cu galbenul</ins> Stäubli's. <ins style="font-weight: bold; text-decoration: none;">Ascunde </ins> TX40_HB007 <ins style="font-weight: bold; text-decoration: none;">deoarece</ins> <ins style="font-weight: bold; text-decoration: none;">conține</ins> <ins style="font-weight: bold; text-decoration: none;">axele</ins> <ins style="font-weight: bold; text-decoration: none;">tuturorl</ins> <ins style="font-weight: bold; text-decoration: none;">articulațiilor</ins> <ins style="font-weight: bold; text-decoration: none;">și</ins> <ins style="font-weight: bold; text-decoration: none;">nu</ins> <ins style="font-weight: bold; text-decoration: none;">poate</ins> <ins style="font-weight: bold; text-decoration: none;">fi</ins> <ins style="font-weight: bold; text-decoration: none;">luat</ins> <ins style="font-weight: bold; text-decoration: none;">de</ins> <ins style="font-weight: bold; text-decoration: none;">o</ins> <ins style="font-weight: bold; text-decoration: none;">parte</ins>.</div></td>
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<tr>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
</tr>
<tr>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Măsurați caracteristicile geometrice ==</div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Măsurați caracteristicile geometrice ==</div></td>
</tr>
</table>
Luc
https://wiki.freecad.org/index.php?title=VRML_Preparation_for_Robot_Simulation/ro&diff=323013&oldid=prev
Luc at 17:09, 16 September 2018
2018-09-16T17:09:40Z
<p></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
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<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 17:09, 16 September 2018</td>
</tr><tr>
<td colspan="2" class="diff-lineno">Line 52:</td>
<td colspan="2" class="diff-lineno">Line 52:</td>
</tr>
<tr>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>For this import, change the “Display Mode” of each shape, TX40_HB007 excepted, from “Flat Lines” to “Shaded” for the vrml export to look good. I also changed the colors to [245, 196, 0] and [204, 204, 204] to better correspond to Stäubli's yellow. Hide TX40_HB007 because it contains the axes of all joints and cannot be taken apart.</div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>For this import, change the “Display Mode” of each shape, TX40_HB007 excepted, from “Flat Lines” to “Shaded” for the vrml export to look good. I also changed the colors to [245, 196, 0] and [204, 204, 204] to better correspond to Stäubli's yellow. Hide TX40_HB007 because it contains the axes of all joints and cannot be taken apart.</div></td>
</tr>
<tr>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
</tr>
<tr>
<td colspan="2" class="diff-empty diff-side-deleted"></td>
<td class="diff-marker" data-marker="+"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>== Măsurați caracteristicile geometrice ==</div></td>
</tr>
<tr>
<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>== Measure geometric characteristics ==</div></td>
<td colspan="2" class="diff-empty diff-side-added"></td>
</tr>
<tr>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>In order to build the Denavit-Hartenberg table (see [[Robot_6-Axis|Robot 6-Axis]]) and prepare the vrml file, you need to get characteristics of the robot. For now, the measurement tool of FreeCAD is not ready, you can use the axes included in TX40_HB007 (the co-ordinates are indicated on the bottom left when you point an object with the mouse) or you have to use the Python console to get some information about the geometry. Note that the DH-table is only required if you need to use the inverse kinematics, i.e. get the Cartesian coordinates or drive the robot with Cartesian coordinates.</div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>In order to build the Denavit-Hartenberg table (see [[Robot_6-Axis|Robot 6-Axis]]) and prepare the vrml file, you need to get characteristics of the robot. For now, the measurement tool of FreeCAD is not ready, you can use the axes included in TX40_HB007 (the co-ordinates are indicated on the bottom left when you point an object with the mouse) or you have to use the Python console to get some information about the geometry. Note that the DH-table is only required if you need to use the inverse kinematics, i.e. get the Cartesian coordinates or drive the robot with Cartesian coordinates.</div></td>
</tr>
<tr>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The DH-table for this robot is the following (mm, deg and deg/s):</div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The DH-table for this robot is the following (mm, deg and deg/s):</div></td>
</tr>
</table>
Luc
https://wiki.freecad.org/index.php?title=VRML_Preparation_for_Robot_Simulation/ro&diff=323011&oldid=prev
Luc at 17:09, 16 September 2018
2018-09-16T17:09:13Z
<p></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 17:09, 16 September 2018</td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div></syntaxhighlight></div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div></syntaxhighlight></div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
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<td class="diff-marker" data-marker="+"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>Puteți observa că avem 8 grupuri independente care corespund celor 8 forme.</div></td>
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<td class="diff-marker" data-marker="−"></td>
<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>You can notice that we have 8 independent groups corresponding to the 8 shapes.</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Pregătirea fișierului vrml ==</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Pregătirea fișierului vrml ==</div></td>
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Luc
https://wiki.freecad.org/index.php?title=VRML_Preparation_for_Robot_Simulation/ro&diff=323009&oldid=prev
Luc at 17:08, 16 September 2018
2018-09-16T17:08:47Z
<p></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 17:08, 16 September 2018</td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> 0 , 0, 65, 0, 1, 270, -270, 1575</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>== Export <del style="font-weight: bold; text-decoration: none;">to</del> vrml ==</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>== Export <ins style="font-weight: bold; text-decoration: none;">la</ins> vrml ==</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>Exportați documentul într-un fișier vrml. Structura fișierului vrml este următoarea:</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>Export the document to a vrml file. The structure of the vrml file is the following:</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><syntaxhighlight></div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><syntaxhighlight></div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
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Luc
https://wiki.freecad.org/index.php?title=VRML_Preparation_for_Robot_Simulation/ro&diff=323007&oldid=prev
Luc at 17:08, 16 September 2018
2018-09-16T17:08:11Z
<p></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 17:08, 16 September 2018</td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>You can notice that we have 8 independent groups corresponding to the 8 shapes.</div></td>
<td class="diff-marker"></td>
<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>You can notice that we have 8 independent groups corresponding to the 8 shapes.</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>== <del style="font-weight: bold; text-decoration: none;">Preparation</del> <del style="font-weight: bold; text-decoration: none;">of the</del> vrml<del style="font-weight: bold; text-decoration: none;"> file</del> ==</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>== <ins style="font-weight: bold; text-decoration: none;">Pregătirea</ins> <ins style="font-weight: bold; text-decoration: none;">fișierului</ins> vrml ==</div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">All</del> <del style="font-weight: bold; text-decoration: none;">shapes</del> <del style="font-weight: bold; text-decoration: none;">in</del> <del style="font-weight: bold; text-decoration: none;">the</del> vrml <del style="font-weight: bold; text-decoration: none;">file</del> <del style="font-weight: bold; text-decoration: none;">are</del> <del style="font-weight: bold; text-decoration: none;">expressed</del> <del style="font-weight: bold; text-decoration: none;">in</del> <del style="font-weight: bold; text-decoration: none;">the</del> <del style="font-weight: bold; text-decoration: none;">base frame</del>, <del style="font-weight: bold; text-decoration: none;">independently</del> <del style="font-weight: bold; text-decoration: none;">from</del> <del style="font-weight: bold; text-decoration: none;">each</del> <del style="font-weight: bold; text-decoration: none;">other</del>. For the Robot Simulation Workbench, we need to create a structure where a movement of a shape induces a movement of all shapes situated afterwards in the structure. The placement of the shapes will be relative to the preceding shape, so we need to include some translations from the absolute reference system to the relative one. <del style="font-weight: bold; text-decoration: none;">The translations are described in the following picture:</del></div></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">Toate</ins> <ins style="font-weight: bold; text-decoration: none;">formele</ins> <ins style="font-weight: bold; text-decoration: none;">din</ins> <ins style="font-weight: bold; text-decoration: none;">fișierul</ins> vrml <ins style="font-weight: bold; text-decoration: none;">sunt</ins> <ins style="font-weight: bold; text-decoration: none;">exprimate</ins> <ins style="font-weight: bold; text-decoration: none;">în</ins> <ins style="font-weight: bold; text-decoration: none;">cadrul</ins> <ins style="font-weight: bold; text-decoration: none;">de</ins> <ins style="font-weight: bold; text-decoration: none;">bază</ins>, <ins style="font-weight: bold; text-decoration: none;">independente</ins> <ins style="font-weight: bold; text-decoration: none;">una</ins> <ins style="font-weight: bold; text-decoration: none;">de</ins> <ins style="font-weight: bold; text-decoration: none;">celălaltă</ins>. For the Robot Simulation Workbench, we need to create a structure where a movement of a shape induces a movement of all shapes situated afterwards in the structure. The placement of the shapes will be relative to the preceding shape, so we need to include some translations from the absolute reference system to the relative one. </div></td>
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<td colspan="2" class="diff-empty diff-side-deleted"></td>
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<td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>Translațiile descrise în următoarea imagine:</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br /></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[Image:staeubli_important_points.png]]</div></td>
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<td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[Image:staeubli_important_points.png]]</div></td>
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Luc