Δ

−−

−−

[ ][ ]

⎟⎟⎟

⎠

⎞

⎜⎜⎜

⎝

⎛

++−+−+−−−+−

=⎟⎟⎟

⎠

⎞

⎜⎜⎜

⎝

⎛

βϕϕβϕϕβϕϕβϕϕβϕϕ

+−

+=

ϕϕϕ

β

ββ +π β

2010 International Conference on Digital Manufacturing & Automation

978-0-7695-4286-7/10 $26.00 © 2010 IEEE

DOI 10.1109/ICDMA.2010.246

841

2010 International Conference on Digital Manufacturing & Automation

978-0-7695-4286-7/10 $26.00 © 2010 IEEE

DOI 10.1109/ICDMA.2010.246

840

[ ]

[ ]

⎟⎟⎟⎟⎟⎟⎟⎟

⎠

⎞

⎜⎜⎜⎜⎜⎜⎜⎜

⎝

⎛

Δ+++−Δ++

Δ+−+−Δ+−

Δ+−+−

=

⎟⎟⎟⎟⎟⎟⎟

⎠

⎞

⎜⎜⎜⎜⎜⎜⎜

⎝

⎛

ϕββϕϕββ

ϕϕββϕϕββ

ϕϕββϕ

ϕβϕ

βϕϕϕ

βΔ−+−

Δ−+=

ββ +π β

=ϕϕ

=Δ

−+−+−=Δ

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