nov t hta ergasiv a " (ruv q mish apov 0,5 se 5 Hz). H epi
legmev n h timhv emfaniv z etai apov thn oqov n h P.
4. Peristrev y te to koumpiv N mev c ri pou emfaniv z etai to
shv m a ddP (diaforav se mt/ m in diplov palmwv d e").
Peristrev y te to koumpiv Q gia na epilev x ete ta mev
tra anav leptov (ruv q mish 0,1- 3m/ m in) pou qa proste
qouv n kai afaireqouv n apov thn tacuv t hta anaforav "
(default 1m/ m in).
5. Peristrev y te to koumpiv N mev c ri na emfanisteiv to
shv m a tdP. Autov " eiv n ai o crov n o" diav r keia" th" uyh
lov t erh" tacuv t hta" suv r mato", dhladhv tou anwv t erou
rev u mato". Ekfrav z etai w" posostov tou crov n ou pou
exav g etai apov th sucnov t hta
DdP= 0,1÷3 m/min
tdP
= 25÷75% di
T
= 1/
Fdp
(0,5÷5 Hz)
Peristrev y te to koumpiv Q gia na ruqmiv v s ete to poso
stov . Ruv q mish metaxuv 25 kai 75%
6. Peristrev y te to koumpiv N mev c ri pou emfaniv z etai to
shv m a AdP (mhv k o" tov x ou tou uyhlov t erou reuv m ato").
Ruv q mish -9,9 - 9,9 (default 0).
Epalhqeuv s te, sth sugkov l lhsh, ov t i to mhv k o" tov x ou
eiv n ai to iv d io gia amfov t era ta reuv m ata. Endecomev n w"
peristrev y te to koumpiv Q gia na to diorqwv s ete.
Shmeiv w sh: eiv n ai dunatov n na sugkollhv s ete mev s a sti"
leitourgiv e " diplov palmwv d e".
Afouv ektelev s ete ti" ruqmiv s ei" autev " , gia na epi-
strev y ete sthn kanonikhv diav t axh tou piv n aka piev s te to
plhv k tro AO kai, diathrwv n tav " to piesmev n o, piev s te to
plhv k tro E.
An parousiasteiv h anav g kh na ruqmiv s ete to mhv k o" tov x ou
tou camhlov t erou reuv m ato", camhlov t erh tacuv t hta, ener-
ghv s te sth ruv q mish tou mhv k ou" tov x ou th" tacuv t hta"
anaforav " (lucniv a K energopoihmev n h).
Metakinwv n ta" ti" tacuv t hte" anaforav " oi prohgouv m ene"
ruqmiv s ei" qa epanalhfqouv n kai gia th nev a tacuv t hta.
3.5.6 Leitourgiv a ito (inching time out).
O skopov " eiv n ai na mlokav r etai h sugkollhtikhv mhcanhv
an, metav to start, to suv r ma bgaiv n ei katav mhv k o" se
ekatostav ruqmizov m eno ev t si wv s te na mhn pernav e i reuv m a.
Piev s te to plhv k tro AO kai, diathrwv n ta" to piesmev n o,
piev s te to plhv k tro ? gia na mpeiv t e se ev n a deutereuv o n
menouv .
Peristrev f onta" to koumpiv N ektelev s te thn epiloghv :
ito.
Peristrev y te to koumpiv Q gia na epilev x ete ton tuv p o
leitourgiv a ":
OFF = Sbhstov
Ruv q mish = 5 –50cm.
126
Fdp (blev p e eikov n a 3).
TACUTHTA
ANAFORAS
T
Eik. 3
(default 50%).
3.5.7 Leitourgiv e " Robot "rob".
Iscuv e i mov n o gia parallagev " robot.
3.5.8 Leitourgiv a FAC (factory).
Energopoiv h sh:
Skopov " th" eiv n ai na xj a nafev r ei to sugkollhthv sti"
arcikev " ruqmiv s ei" tou ergostasiv o u.
Piev s te to plhv k tro AO kai, diathrwv n ta" to piesmev n o,
piev s te to plhv k tro E gia na mpeiv t e se ev n a deutereuv o n
menouv .
Peristrev f onta" to koumpiv N kav n te thn epiloghv : FAC
Peristrev f onta" to koumpiv Q mporeiv t e na epilev x ete ta
suv m bola:
noP = Apokaqiv s tatai h leitourgiv a pou prosdioriv s thke
apov
ton
kataskeuastikov
diagrav f ontai
ta
H monav d a yuv x h" sbhv n ei.
PrG = Diagrav f ontai ov l a ta apoqhkeumev n a prograv m mata.
ALL = Apokaqiv s tatai h leitourgiv a pou prosdioriv s thke
apov ton kataskeuastikov oiv k o.
H monav d a yuv x h" sbhv n ei.
Gia na energopoihv s ete th leitourgiv a piev s te to plhv k -
tro AP.
4 EGKATASTASH
H egkatav s tash tou sugkollhth prev p ei na ekteleiv t ai
apov eidikeumev n o proswpikov . Ole"e oi sundev s ei"e prev p ei
na pragmatopoiouv n tai thrwv n ta"e plhv r w"e thn iscuv o usa
nomoqesiv a apofughv " e atuchmav t wn.
4.1 TOPOQEV T HSH
To bav r o" tou sugkov l lhthv eiv n ai 108 Kg. W" ek touv t ou
gia thn endecov m enh anuv y wshv tou blev p ete thn Eik. 4.
Eik. 4
Topoqethv s te th suskeuhv se cwv r o pou na th" exasfa-
liv z ei mia kalhv staqerov t hta, ev n an eparkhv aerismov ov p w"
epiv s h" kai na mhn eiscwrouv n metallikev " skov n e" (p.c.
apov leiv a nsh epifaneiwv n klp.)
4.2 QEV S H SE LEITOURGIV A
Topoqethv s te thn trofodosiv a suv r mato" WF4-HD sth
gennhv t ria.
oiv k o
cwriv "
apoqhkeumev n a
prograv m mata.
na