[IEEE 2010 International Conference on Digital Manufacturing and Automation (ICDMA) - Changcha, TBD,...

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!"# $%&'( ! ! ! "# ! ! $ % )' )*+,-),* . / ( / 01 12 ( ! ( (( ( ( 1 11 (( ( (1 01 12 ( / (1 1 / ( ( ( /1 (( 1 ( 1 1 ( 0 3 1 45 + 1 ( 1 3 1 0 6 / ( / 0 ( / /1 ( / ( ' 7/ (1 /1 ( ( 1 / (1 6 1 ( 45 (/ 1 6 / ' ))' 87,+ ,9 ,*76:)-7 .8)*)*; ! ( ! ( ( 1 1 1 / 49 5 1 ( 1 ( 1 / 1 (/0 (< ( (/ 1 8 / < // * 1 = ' ((! / < / (1 ! > / ( 1 1 ! Δ (1 21 1 1 (< 1 / (/ 61 ( ' 9 '1 01 12 ( " # $ %$ 9 // 21 1 ( &'( 1 21 < 2 21 1 ( ? ? ? ? ? & ' ( 1 21 < ( 1 ( &'( 1 &'( 1 ( 1 0 /' @1 :/ ( 1 (2 < / 3 01 12 ( 0 11 [ ] [ ] + + + + + = β ϕ ϕ β ϕ ϕ β ϕ ϕ β ϕ ϕ β ϕ ϕ 5 4 5 4 5 4 ) 5 4 5 4 + + = ϕ ϕ ϕ β .( (> β /1 . β 1 + π β /1 ( /' 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

Transcript of [IEEE 2010 International Conference on Digital Manufacturing and Automation (ICDMA) - Changcha, TBD,...

Page 1: [IEEE 2010 International Conference on Digital Manufacturing and Automation (ICDMA) - Changcha, TBD, China (2010.12.18-2010.12.20)] 2010 International Conference on Digital Manufacturing

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

Page 2: [IEEE 2010 International Conference on Digital Manufacturing and Automation (ICDMA) - Changcha, TBD, China (2010.12.18-2010.12.20)] 2010 International Conference on Digital Manufacturing

[ ]

[ ]

⎟⎟⎟⎟⎟⎟⎟⎟

⎜⎜⎜⎜⎜⎜⎜⎜

Δ+++−Δ++

Δ+−+−Δ+−

Δ+−+−

=

⎟⎟⎟⎟⎟⎟⎟

⎜⎜⎜⎜⎜⎜⎜

ϕββϕϕββ

ϕϕββϕϕββ

ϕϕββϕ

ϕβϕ

βϕϕϕ

βΔ−+−

Δ−+=

ββ +π β

=ϕϕ

−+−+−=Δ

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Page 3: [IEEE 2010 International Conference on Digital Manufacturing and Automation (ICDMA) - Changcha, TBD, China (2010.12.18-2010.12.20)] 2010 International Conference on Digital Manufacturing

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