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Page 1: Laboratoire de robotique: Accueil...C Bxh Q I JVUDJLQ iPZ XcORMPW!aqJ[fe +MPQ O LM WqXkZV[RJbaBJb[feoORK Z r J x\xbx\xbx xxbx xx xbx\xbx\xbx\xbx B H C BxR M Wd^`[R_dUDORM W xbx\xbx\xbx\xbx

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0 0.02 0.04 0.06 0.08 0.1 0.12

Temps [s]

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Temps [s]

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Phi 1

Theta 4

Theta 3

Theta 2

Theta 1

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0 0.02 0.04 0.06 0.08 0.1 0.12

Temps [s]

-400

-200

0

200

400

Acceleration angulaire[rad/s^2]

Accelerations angulaires

Phi 2

Phi 1

Theta 4

Theta 3

Theta 2

Theta 1

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0 0.1 0.2 0.3 0.4 0.5

Couple [N.m]

0

1000

2000

3000

4000

5000

Vitesse [rpm]

Graphe de Puissance Moteur 1

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0 0.1 0.2 0.3 0.4 0.5

Couple [N.m]

0

1000

2000

3000

4000

5000

Vitesse [rpm]

Graphe de Puissance Moteur 2

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