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The position of the manipulator wrist joint coordinate systems is calculated by the current angles of the 1st, 2nd, and 3rd axes.
The desired angles of the posture adjustment motion are calculated from the direction of the trocar position from the origin of the manipulator wrist joint coordinate systems, which is calculated from current angles from the 1st axis to the 3rd axis.
Similar(58)
The corresponding current angle is represented as δ i0.
It is followed by the definition of "current angle" in Section 3, and the relationship between the current angle and the power angle is also quantified.
A concept of current angle is put forward for the CC-VSC, and the relationship between the current angle and the power angle is also quantified.
γ j represents the current angle of direction and v j the current speed.
For example, if the current angle increases, the active power decreases.
For the power system based on CC-VSC, the current angle δ i can uniquely determine the power, but the relationship between current angle and power is different from that between the traditional power angle and power.
This is a basic difference, and it is also the foundation of the subsequent definition of current angle.
When a node is positioned along the current angle of another node, it may send its data to this node.
The current angle is determined by the fusion of accelerometer (4) and gyroscope (5) data using a complementary filter (9).
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