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<ml:real>1.49</ml:real> <ml:real>1.518</ml:real> <ml:real>1.554</ml:real> <ml:real>1.5979999999999999</ml:real> <ml:real>1.65</ml:real> <ml:real>1.71</ml:real> <ml:real>1.778</ml:real> <ml:real>1.854</ml:real> </ml:matrix> </result> </ml:eval> <resultFormat> <table item-idref="29"/> </resultFormat> </math> <rendering item-idref="30"/> </region> <region region-id="511" left="78" top="1262.25" width="225.75" height="12" align-x="78" align-y="1272" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> <f family="Arial CE" charset="238"> <inlineAttr line-through="false">Transformační matice mezi souřadnými systémy</inlineAttr> </f> </text> </region> <region region-id="759" left="60" top="1298.25" width="117.75" height="12" align-x="60" align-y="1308" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text 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<ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>-1</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0.065</ml:real> <ml:real>0</ml:real> <ml:id xml:space="preserve" subscript="2">s</ml:id> <ml:real>1</ml:real> </ml:matrix> </ml:define> </math> <rendering item-idref="78"/> </region> <region region-id="867" left="564" top="2751.75" width="104.25" height="71.25" align-x="591" align-y="2790" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="23">A</ml:id> <ml:matrix rows="4" cols="4"> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:id xml:space="preserve" subscript="3">s</ml:id> <ml:real>1</ml:real> </ml:matrix> </ml:define> </math> <rendering item-idref="79"/> </region> <region region-id="544" left="66" top="2759.25" width="120" height="67.5" align-x="93" align-y="2796" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="b0">A</ml:id> <ml:matrix rows="4" cols="4"> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0.554</ml:real> <ml:real>1</ml:real> </ml:matrix> </ml:define> </math> <rendering item-idref="80"/> </region> <region 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subscript="01">A</ml:id> </ml:apply> </ml:define> </math> <rendering item-idref="82"/> </region> <region region-id="869" left="60" top="2918.25" width="101.25" height="17.25" align-x="86.25" align-y="2928" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="b2">T</ml:id> <ml:apply> <ml:mult/> <ml:apply> <ml:mult/> <ml:id xml:space="preserve" subscript="b0">A</ml:id> <ml:id xml:space="preserve" subscript="01">A</ml:id> </ml:apply> <ml:id xml:space="preserve" subscript="12">A</ml:id> </ml:apply> </ml:define> </math> <rendering item-idref="83"/> </region> <region region-id="872" left="60" top="2948.25" width="124.5" height="17.25" align-x="86.25" align-y="2958" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="b3">T</ml:id> <ml:apply> <ml:mult/> <ml:apply> <ml:mult/> <ml:apply> <ml:mult/> <ml:id xml:space="preserve" subscript="b0">A</ml:id> <ml:id xml:space="preserve" subscript="01">A</ml:id> </ml:apply> <ml:id xml:space="preserve" subscript="12">A</ml:id> </ml:apply> <ml:id xml:space="preserve" subscript="23">A</ml:id> </ml:apply> </ml:define> </math> <rendering item-idref="84"/> </region> <region region-id="552" left="432" top="2927.25" width="244.5" height="67.5" align-x="457.5" align-y="2964" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="b3">T</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="4" cols="4"> <ml:real>-0.82533561490967822</ml:real> <ml:real>0.56464247339503548</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0.56464247339503548</ml:real> <ml:real>0.82533561490967822</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0.51664208315985682</ml:real> <ml:real>0.87029073182945238</ml:real> <ml:real>1.4540000000000002</ml:real> <ml:real>1</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="85"/> </region> <region region-id="553" left="54" top="2990.25" width="310.5" height="12" align-x="54" align-y="3000" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> <f family="Arial CE" charset="238"> <inlineAttr line-through="false">Všechny vektory je třeba vyjádřit v základním souřadném systému</inlineAttr> </f> </text> </region> <region region-id="554" left="54" top="3020.25" width="167.25" height="12" align-x="54" align-y="3030" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> <f family="Arial CE" charset="238"> <inlineAttr line-through="false">Potřebné vektory ve výchozí poloze</inlineAttr> </f> </text> </region> <region region-id="943" left="60" top="3062.25" width="147.75" height="17.25" align-x="78.75" align-y="3072" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="0">k</ml:id> <ml:apply> <ml:id xml:space="preserve">submatrix</ml:id> <ml:sequence> <ml:id xml:space="preserve" subscript="b0">T</ml:id> <ml:real>1</ml:real> <ml:real>3</ml:real> <ml:real>3</ml:real> <ml:real>3</ml:real> </ml:sequence> </ml:apply> </ml:define> </math> <rendering item-idref="86"/> </region> <region region-id="962" left="276" top="3044.25" width="53.25" height="49.5" align-x="294" align-y="3072" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="0">k</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="3" cols="1"> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="87"/> </region> <region region-id="942" left="60" top="3134.25" width="147.75" height="17.25" align-x="78.75" align-y="3144" show-border="false" show-highlight="false" is-protected="true" z-order="0" 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align-x="85.5" align-y="3366" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="13">p</ml:id> <ml:apply> <ml:id xml:space="preserve">submatrix</ml:id> <ml:sequence> <ml:apply> <ml:minus/> <ml:id xml:space="preserve" subscript="b3">T</ml:id> <ml:id xml:space="preserve" subscript="b1">T</ml:id> </ml:apply> <ml:real>1</ml:real> <ml:real>3</ml:real> <ml:real>4</ml:real> <ml:real>4</ml:real> </ml:sequence> </ml:apply> </ml:define> </math> <rendering item-idref="94"/> </region> <region region-id="966" left="276" top="3338.25" width="105" height="49.5" align-x="300.75" align-y="3366" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="13">p</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="3" cols="1"> <ml:real>0.51664208315985682</ml:real> <ml:real>0.87029073182945238</ml:real> <ml:real>0.90000000000000013</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="95"/> </region> <region region-id="938" left="60" top="3434.25" width="186" height="17.25" align-x="85.5" align-y="3444" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="23">p</ml:id> <ml:apply> <ml:id xml:space="preserve">submatrix</ml:id> <ml:sequence> <ml:apply> <ml:minus/> <ml:id xml:space="preserve" subscript="b3">T</ml:id> <ml:id xml:space="preserve" subscript="b2">T</ml:id> </ml:apply> <ml:real>1</ml:real> <ml:real>3</ml:real> <ml:real>4</ml:real> <ml:real>4</ml:real> </ml:sequence> </ml:apply> </ml:define> </math> <rendering item-idref="96"/> </region> <region region-id="967" left="276" top="3416.25" width="105" height="49.5" align-x="300.75" align-y="3444" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="23">p</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="3" cols="1"> <ml:real>0.57028889812898587</ml:real> <ml:real>0.833588971058775</ml:real> <ml:real>0</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="97"/> </region> <region region-id="567" left="36" top="3524.25" width="104.25" height="12" align-x="36" align-y="3534" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> Matice výchozí polohy </text> </region> <region region-id="568" left="162" top="3524.25" width="119.25" height="17.25" align-x="183" align-y="3534" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">TV</ml:id> <ml:apply> <ml:mult/> <ml:apply> <ml:mult/> <ml:apply> <ml:mult/> <ml:id xml:space="preserve" subscript="b0">A</ml:id> <ml:id xml:space="preserve" subscript="01">A</ml:id> </ml:apply> <ml:id xml:space="preserve" subscript="12">A</ml:id> </ml:apply> <ml:id xml:space="preserve" subscript="23">A</ml:id> </ml:apply> </ml:define> </math> <rendering item-idref="98"/> </region> <region region-id="973" left="312" top="3497.25" width="239.25" height="67.5" align-x="332.25" align-y="3534" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">TV</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="4" cols="4"> <ml:real>-0.82533561490967822</ml:real> <ml:real>0.56464247339503548</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0.56464247339503548</ml:real> <ml:real>0.82533561490967822</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0.51664208315985682</ml:real> <ml:real>0.87029073182945238</ml:real> <ml:real>1.4540000000000002</ml:real> <ml:real>1</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="99"/> </region> <region region-id="977" left="30" top="3596.25" width="163.5" height="12" align-x="30" align-y="3606" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> Jakobiho matice ve výchozí poloze </text> </region> <region region-id="987" left="48" top="3638.25" width="111.75" height="17.25" align-x="60" align-y="3648" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedBIUnit" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">J</ml:id> <ml:matrix rows="1" cols="3"> <ml:apply> <ml:crossProduct/> <ml:id xml:space="preserve" subscript="0">k</ml:id> <ml:id xml:space="preserve" subscript="03">p</ml:id> </ml:apply> <ml:id xml:space="preserve" subscript="1">k</ml:id> <ml:id xml:space="preserve" subscript="2">k</ml:id> </ml:matrix> </ml:define> </math> <rendering item-idref="100"/> </region> <region region-id="1270" left="180" top="3638.25" width="450.75" height="36" align-x="193.5" align-y="3648" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> Tento zápis je matematicky správný, ale v ptosředí Matcad neplatný. Mathcad nesprávně přiřadí hodnoty, do matice nelze zapsat vektor, popř. jinou matici. Je nutno vkládat přímo jednotlivé prvky<sp count="2"/>!!!!!! </text> </region> <region region-id="986" left="48" top="3698.25" width="168.75" height="74.25" align-x="60" align-y="3738" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">J</ml:id> <ml:matrix rows="3" cols="3"> <ml:apply> <ml:indexer/> <ml:parens> <ml:apply> <ml:crossProduct/> <ml:id xml:space="preserve" subscript="0">k</ml:id> <ml:id xml:space="preserve" subscript="03">p</ml:id> </ml:apply> </ml:parens> <ml:sequence> <ml:real>1</ml:real> <ml:real>1</ml:real> </ml:sequence> </ml:apply> <ml:apply> <ml:indexer/> <ml:parens> <ml:apply> <ml:crossProduct/> <ml:id xml:space="preserve" subscript="0">k</ml:id> <ml:id xml:space="preserve" subscript="03">p</ml:id> </ml:apply> </ml:parens> <ml:sequence> <ml:real>2</ml:real> <ml:real>1</ml:real> 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subscript="1">s</ml:id> <ml:apply> <ml:plus/> <ml:id xml:space="preserve" subscript="1">s</ml:id> <ml:apply> <ml:indexer/> <ml:id xml:space="preserve">Δs</ml:id> <ml:sequence> <ml:real>1</ml:real> <ml:real>1</ml:real> </ml:sequence> </ml:apply> </ml:apply> </ml:define> </math> <rendering item-idref="108"/> </region> <region region-id="580" left="60" top="4004.25" width="83.25" height="19.5" align-x="78.75" align-y="4014" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="2">s</ml:id> <ml:apply> <ml:plus/> <ml:id xml:space="preserve" subscript="2">s</ml:id> <ml:apply> <ml:indexer/> <ml:id xml:space="preserve">Δs</ml:id> <ml:sequence> <ml:real>2</ml:real> <ml:real>1</ml:real> </ml:sequence> </ml:apply> </ml:apply> </ml:define> </math> <rendering item-idref="109"/> </region> <region region-id="581" left="60" top="4022.25" width="83.25" height="19.5" align-x="78.75" align-y="4032" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="3">s</ml:id> <ml:apply> <ml:plus/> <ml:id xml:space="preserve" subscript="3">s</ml:id> <ml:apply> <ml:indexer/> <ml:id xml:space="preserve">Δs</ml:id> <ml:sequence> <ml:real>3</ml:real> <ml:real>1</ml:real> </ml:sequence> </ml:apply> </ml:apply> </ml:define> </math> <rendering item-idref="110"/> </region> <region region-id="582" left="48" top="4076.25" width="179.25" height="12" align-x="48" align-y="4086" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> Žádaná hodnota na regulátory polohy </text> </region> <region region-id="1016" left="66" top="4118.25" width="84" height="17.25" align-x="84" align-y="4128" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="1">s</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:real>2.5429688695188077</ml:real> </result> </ml:eval> </math> <rendering item-idref="111"/> </region> <region region-id="1002" left="174" top="4118.25" width="115.5" height="17.25" align-x="223.5" align-y="4128" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:apply> <ml:id xml:space="preserve" subscript="1">q</ml:id> <ml:real>0.01</ml:real> </ml:apply> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:real>2.5429686701956515</ml:real> </result> </ml:eval> </math> <rendering item-idref="112"/> </region> <region region-id="1017" left="66" top="4142.25" width="60" height="17.25" align-x="84" align-y="4152" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="2">s</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:real>0.90099999999999991</ml:real> </result> </ml:eval> </math> <rendering item-idref="113"/> </region> <region region-id="1000" left="174" top="4142.25" width="91.5" height="17.25" align-x="223.5" align-y="4152" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:apply> <ml:id xml:space="preserve" subscript="2">q</ml:id> <ml:real>0.01</ml:real> </ml:apply> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:real>0.90099999999999969</ml:real> </result> </ml:eval> </math> <rendering item-idref="114"/> </region> <region region-id="1018" left="66" top="4166.25" width="84" height="17.25" align-x="84" align-y="4176" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="3">s</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:real>1.0103501471769005</ml:real> </result> </ml:eval> </math> <rendering item-idref="115"/> </region> <region region-id="999" left="174" top="4166.25" width="115.5" height="17.25" align-x="223.5" align-y="4176" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:apply> <ml:id xml:space="preserve" subscript="3">q</ml:id> <ml:real>0.01</ml:real> </ml:apply> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:real>1.010351265078141</ml:real> </result> </ml:eval> </math> <rendering item-idref="116"/> </region> <region region-id="586" left="48" top="4214.25" width="69" height="12" align-x="48" align-y="4224" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> Další hodnota </text> </region> <region region-id="587" left="54" top="4232.25" width="44.25" height="13.5" align-x="64.5" align-y="4242" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">t</ml:id> <ml:apply> <ml:plus/> <ml:id xml:space="preserve">t</ml:id> <ml:id xml:space="preserve">dt</ml:id> </ml:apply> </ml:define> </math> <rendering item-idref="117"/> </region> <region region-id="1023" left="66" top="4274.25" width="84" height="17.25" align-x="84" align-y="4284" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="1">s</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> 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</ml:apply> </ml:apply> <ml:apply> <ml:id xml:space="preserve">y</ml:id> <ml:id xml:space="preserve">t</ml:id> </ml:apply> </ml:apply> </ml:define> </math> <rendering item-idref="126"/> </region> <region region-id="1029" left="192" top="4376.25" width="78.75" height="19.5" align-x="213.75" align-y="4392" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">Δy</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:real>0.0030000000000000027</ml:real> </result> </ml:eval> </math> <rendering item-idref="127"/> </region> <region region-id="598" left="60" top="4406.25" width="102" height="13.5" align-x="82.5" align-y="4416" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">Δz</ml:id> <ml:apply> <ml:minus/> <ml:apply> <ml:id xml:space="preserve">z</ml:id> <ml:apply> <ml:plus/> <ml:id xml:space="preserve">t</ml:id> <ml:id xml:space="preserve">dt</ml:id> </ml:apply> </ml:apply> <ml:apply> <ml:id xml:space="preserve">z</ml:id> <ml:id xml:space="preserve">t</ml:id> </ml:apply> </ml:apply> </ml:define> </math> <rendering item-idref="128"/> </region> <region region-id="1028" left="192" top="4400.25" width="78.75" height="19.5" align-x="213.75" align-y="4416" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">Δz</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:real>0.0030000000000001137</ml:real> </result> </ml:eval> </math> <rendering item-idref="129"/> </region> <region region-id="600" left="90" top="4448.25" width="225.75" height="12" align-x="90" align-y="4458" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> <f family="Arial CE" charset="238"> <inlineAttr line-through="false">Transformační matice mezi souřadnými systémy</inlineAttr> </f> </text> </region> <region region-id="601" left="84" top="4484.25" width="117.75" height="12" align-x="84" align-y="4494" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> Matice ve výchozí poloze </text> </region> <region region-id="602" left="66" top="4511.25" width="120" height="67.5" align-x="93" align-y="4548" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="b0">A</ml:id> <ml:matrix rows="4" cols="4"> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0.554</ml:real> <ml:real>1</ml:real> </ml:matrix> </ml:define> </math> <rendering item-idref="130"/> </region> <region region-id="1035" left="216" top="4507.5" width="162" height="75" align-x="243" align-y="4548" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="01">A</ml:id> <ml:matrix rows="4" cols="4"> <ml:apply> <ml:id xml:space="preserve">cos</ml:id> <ml:id xml:space="preserve" subscript="1">s</ml:id> </ml:apply> <ml:apply> <ml:id xml:space="preserve">sin</ml:id> <ml:id xml:space="preserve" subscript="1">s</ml:id> </ml:apply> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:apply> <ml:neg/> <ml:apply> <ml:id xml:space="preserve">sin</ml:id> <ml:id xml:space="preserve" subscript="1">s</ml:id> </ml:apply> </ml:apply> <ml:apply> <ml:id xml:space="preserve">cos</ml:id> <ml:id xml:space="preserve" subscript="1">s</ml:id> </ml:apply> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> </ml:matrix> </ml:define> </math> <rendering item-idref="131"/> </region> <region region-id="1042" left="414" top="4509.75" width="126" height="71.25" align-x="441" align-y="4548" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="12">A</ml:id> <ml:matrix rows="4" cols="4"> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>-1</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0.065</ml:real> <ml:real>0</ml:real> <ml:id xml:space="preserve" subscript="2">s</ml:id> <ml:real>1</ml:real> </ml:matrix> </ml:define> </math> <rendering item-idref="132"/> </region> <region region-id="1048" left="564" top="4509.75" width="104.25" height="71.25" align-x="591" align-y="4548" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="23">A</ml:id> <ml:matrix rows="4" cols="4"> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:id xml:space="preserve" subscript="3">s</ml:id> <ml:real>1</ml:real> </ml:matrix> </ml:define> </math> <rendering item-idref="133"/> </region> <region region-id="1069" left="66" top="4616.25" width="54.75" height="17.25" align-x="92.25" align-y="4626" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="b0">T</ml:id> <ml:id xml:space="preserve" subscript="b0">A</ml:id> </ml:define> </math> <rendering item-idref="134"/> </region> <region region-id="1070" left="66" top="4646.25" width="78" height="17.25" align-x="92.25" align-y="4656" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="b1">T</ml:id> <ml:apply> <ml:mult/> <ml:id xml:space="preserve" subscript="b0">A</ml:id> <ml:id xml:space="preserve" subscript="01">A</ml:id> </ml:apply> </ml:define> </math> <rendering item-idref="135"/> </region> <region region-id="1071" left="66" top="4676.25" width="101.25" height="17.25" align-x="92.25" align-y="4686" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="b2">T</ml:id> <ml:apply> <ml:mult/> <ml:apply> <ml:mult/> <ml:id xml:space="preserve" subscript="b0">A</ml:id> <ml:id xml:space="preserve" subscript="01">A</ml:id> </ml:apply> <ml:id xml:space="preserve" subscript="12">A</ml:id> </ml:apply> </ml:define> </math> <rendering item-idref="136"/> </region> <region region-id="1073" left="66" top="4706.25" width="124.5" height="17.25" align-x="92.25" align-y="4716" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="b3">T</ml:id> <ml:apply> <ml:mult/> <ml:apply> <ml:mult/> <ml:apply> <ml:mult/> <ml:id xml:space="preserve" subscript="b0">A</ml:id> <ml:id xml:space="preserve" subscript="01">A</ml:id> </ml:apply> <ml:id xml:space="preserve" subscript="12">A</ml:id> </ml:apply> <ml:id xml:space="preserve" subscript="23">A</ml:id> </ml:apply> </ml:define> </math> <rendering item-idref="137"/> </region> <region region-id="610" left="432" top="4697.25" width="244.5" height="67.5" align-x="457.5" align-y="4734" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="b3">T</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="4" cols="4"> <ml:real>-0.82611190305003068</ml:real> <ml:real>0.56350609902560655</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0.56350609902560655</ml:real> <ml:real>0.82611190305003068</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0.51564119638735073</ml:real> <ml:real>0.87129017926785235</ml:real> <ml:real>1.455</ml:real> <ml:real>1</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="138"/> </region> <region region-id="611" left="90" top="4748.25" width="310.5" height="12" align-x="90" align-y="4758" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> <f family="Arial CE" charset="238"> <inlineAttr line-through="false">Všechny vektory je třeba vyjádřit v základním souřadném systému</inlineAttr> </f> </text> </region> <region region-id="612" left="90" top="4796.25" width="167.25" height="12" align-x="90" align-y="4806" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> <f family="Arial CE" charset="238"> <inlineAttr line-through="false">Potřebné vektory ve výchozí poloze</inlineAttr> </f> </text> </region> <region region-id="1142" left="54" top="4844.25" width="147.75" height="17.25" align-x="72.75" align-y="4854" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="0">k</ml:id> <ml:apply> <ml:id xml:space="preserve">submatrix</ml:id> <ml:sequence> <ml:id xml:space="preserve" subscript="b0">T</ml:id> <ml:real>1</ml:real> <ml:real>3</ml:real> <ml:real>3</ml:real> <ml:real>3</ml:real> </ml:sequence> </ml:apply> </ml:define> </math> <rendering item-idref="139"/> </region> <region region-id="1176" left="288" top="4826.25" width="53.25" height="49.5" align-x="306" align-y="4854" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="0">k</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="3" cols="1"> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="140"/> </region> <region region-id="1093" left="54" top="4904.25" width="147.75" height="17.25" align-x="72.75" align-y="4914" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="1">k</ml:id> <ml:apply> <ml:id xml:space="preserve">submatrix</ml:id> <ml:sequence> <ml:id xml:space="preserve" subscript="b1">T</ml:id> <ml:real>1</ml:real> <ml:real>3</ml:real> <ml:real>3</ml:real> <ml:real>3</ml:real> </ml:sequence> </ml:apply> </ml:define> </math> <rendering item-idref="141"/> </region> <region region-id="1177" left="288" top="4886.25" width="53.25" height="49.5" align-x="306" align-y="4914" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="1">k</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="3" cols="1"> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="142"/> </region> <region region-id="1094" left="54" top="4970.25" width="147.75" height="17.25" align-x="72.75" align-y="4980" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="2">k</ml:id> <ml:apply> <ml:id xml:space="preserve">submatrix</ml:id> <ml:sequence> <ml:id xml:space="preserve" subscript="b2">T</ml:id> <ml:real>1</ml:real> <ml:real>3</ml:real> <ml:real>3</ml:real> <ml:real>3</ml:real> </ml:sequence> </ml:apply> </ml:define> </math> <rendering item-idref="143"/> </region> <region region-id="1178" left="288" top="4952.25" width="98.25" height="49.5" align-x="306" align-y="4980" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="2">k</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="3" cols="1"> <ml:real>0.56350609902560655</ml:real> <ml:real>0.82611190305003068</ml:real> <ml:real>0</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="144"/> </region> <region region-id="1095" left="54" top="5042.25" width="186" height="17.25" align-x="79.5" align-y="5052" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="03">p</ml:id> <ml:apply> <ml:id xml:space="preserve">submatrix</ml:id> <ml:sequence> <ml:apply> <ml:minus/> <ml:id xml:space="preserve" subscript="b3">T</ml:id> <ml:id xml:space="preserve" subscript="b0">T</ml:id> </ml:apply> <ml:real>1</ml:real> <ml:real>3</ml:real> <ml:real>4</ml:real> <ml:real>4</ml:real> </ml:sequence> </ml:apply> </ml:define> </math> <rendering item-idref="145"/> </region> <region region-id="1179" left="288" top="5024.25" width="105" height="49.5" align-x="312.75" align-y="5052" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="03">p</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="3" cols="1"> <ml:real>0.51564119638735073</ml:real> <ml:real>0.87129017926785235</ml:real> <ml:real>0.901</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="146"/> </region> <region region-id="1096" left="54" top="5126.25" width="186" height="17.25" align-x="79.5" align-y="5136" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="13">p</ml:id> <ml:apply> <ml:id xml:space="preserve">submatrix</ml:id> <ml:sequence> <ml:apply> <ml:minus/> <ml:id xml:space="preserve" subscript="b3">T</ml:id> <ml:id xml:space="preserve" subscript="b1">T</ml:id> </ml:apply> <ml:real>1</ml:real> <ml:real>3</ml:real> <ml:real>4</ml:real> <ml:real>4</ml:real> </ml:sequence> </ml:apply> </ml:define> </math> <rendering item-idref="147"/> </region> <region region-id="1180" left="288" top="5108.25" width="105" height="49.5" align-x="312.75" align-y="5136" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="13">p</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="3" cols="1"> <ml:real>0.51564119638735073</ml:real> <ml:real>0.87129017926785235</ml:real> <ml:real>0.901</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="148"/> </region> <region region-id="1097" left="54" top="5204.25" width="186" height="17.25" align-x="79.5" align-y="5214" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="23">p</ml:id> <ml:apply> <ml:id xml:space="preserve">submatrix</ml:id> <ml:sequence> <ml:apply> <ml:minus/> <ml:id xml:space="preserve" subscript="b3">T</ml:id> <ml:id xml:space="preserve" subscript="b2">T</ml:id> </ml:apply> <ml:real>1</ml:real> <ml:real>3</ml:real> <ml:real>4</ml:real> <ml:real>4</ml:real> </ml:sequence> </ml:apply> </ml:define> </math> <rendering item-idref="149"/> </region> <region region-id="1181" left="288" top="5186.25" width="105" height="49.5" align-x="312.75" align-y="5214" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="23">p</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="3" cols="1"> <ml:real>0.56933847008560268</ml:real> <ml:real>0.83466228283118793</ml:real> <ml:real>0</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="150"/> </region> <region region-id="625" left="36" top="5294.25" width="104.25" height="12" align-x="36" align-y="5304" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> Matice výchozí polohy </text> </region> <region region-id="626" left="162" top="5294.25" width="119.25" height="17.25" align-x="183" align-y="5304" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">TV</ml:id> <ml:apply> <ml:mult/> <ml:apply> <ml:mult/> <ml:apply> <ml:mult/> <ml:id xml:space="preserve" subscript="b0">A</ml:id> <ml:id xml:space="preserve" subscript="01">A</ml:id> </ml:apply> <ml:id xml:space="preserve" subscript="12">A</ml:id> </ml:apply> <ml:id xml:space="preserve" subscript="23">A</ml:id> </ml:apply> </ml:define> </math> <rendering item-idref="151"/> </region> <region region-id="1151" left="312" top="5267.25" width="239.25" height="67.5" align-x="332.25" align-y="5304" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">TV</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="4" cols="4"> <ml:real>-0.82611190305003068</ml:real> <ml:real>0.56350609902560655</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0.56350609902560655</ml:real> <ml:real>0.82611190305003068</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0.51564119638735073</ml:real> <ml:real>0.87129017926785235</ml:real> <ml:real>1.455</ml:real> <ml:real>1</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="152"/> </region> <region region-id="628" left="54" top="5366.25" width="163.5" height="12" align-x="54" align-y="5376" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> Jakobiho matice ve výchozí poloze </text> </region> <region region-id="695" left="42" top="5420.25" width="168.75" height="74.25" align-x="54" align-y="5460" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">J</ml:id> <ml:matrix rows="3" cols="3"> <ml:apply> <ml:indexer/> <ml:parens> <ml:apply> <ml:crossProduct/> <ml:id xml:space="preserve" subscript="0">k</ml:id> <ml:id xml:space="preserve" subscript="03">p</ml:id> </ml:apply> </ml:parens> <ml:sequence> <ml:real>1</ml:real> <ml:real>1</ml:real> </ml:sequence> </ml:apply> <ml:apply> <ml:indexer/> <ml:parens> <ml:apply> <ml:crossProduct/> <ml:id xml:space="preserve" subscript="0">k</ml:id> <ml:id xml:space="preserve" subscript="03">p</ml:id> </ml:apply> </ml:parens> <ml:sequence> <ml:real>2</ml:real> <ml:real>1</ml:real> </ml:sequence> </ml:apply> <ml:apply> <ml:indexer/> <ml:parens> <ml:apply> <ml:crossProduct/> <ml:id xml:space="preserve" subscript="0">k</ml:id> <ml:id xml:space="preserve" subscript="03">p</ml:id> </ml:apply> </ml:parens> <ml:sequence> <ml:real>3</ml:real> <ml:real>1</ml:real> </ml:sequence> </ml:apply> <ml:apply> <ml:indexer/> <ml:id xml:space="preserve" subscript="1">k</ml:id> <ml:sequence> <ml:real>1</ml:real> <ml:real>1</ml:real> </ml:sequence> </ml:apply> <ml:apply> <ml:indexer/> <ml:id xml:space="preserve" subscript="1">k</ml:id> <ml:sequence> <ml:real>2</ml:real> <ml:real>1</ml:real> </ml:sequence> </ml:apply> <ml:apply> <ml:indexer/> <ml:id xml:space="preserve" subscript="1">k</ml:id> <ml:sequence> <ml:real>3</ml:real> <ml:real>1</ml:real> </ml:sequence> </ml:apply> <ml:apply> <ml:indexer/> <ml:id xml:space="preserve" subscript="2">k</ml:id> <ml:sequence> <ml:real>1</ml:real> <ml:real>1</ml:real> </ml:sequence> </ml:apply> <ml:apply> <ml:indexer/> <ml:id xml:space="preserve" subscript="2">k</ml:id> <ml:sequence> <ml:real>2</ml:real> <ml:real>1</ml:real> </ml:sequence> </ml:apply> <ml:apply> <ml:indexer/> <ml:id xml:space="preserve" subscript="2">k</ml:id> <ml:sequence> <ml:real>3</ml:real> <ml:real>1</ml:real> </ml:sequence> </ml:apply> </ml:matrix> </ml:define> </math> <rendering item-idref="153"/> </region> <region region-id="1199" left="228" top="5432.25" width="171" height="49.5" align-x="239.25" align-y="5460" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">J</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="3" cols="3"> <ml:real>-0.87129017926785235</ml:real> <ml:real>0.51564119638735073</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> <ml:real>0.56350609902560655</ml:real> <ml:real>0.82611190305003068</ml:real> <ml:real>0</ml:real> </ml:matrix> </result> </ml:eval> 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align-x="89.25" align-y="5550" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">Δp</ml:id> <ml:matrix rows="3" cols="1"> <ml:id xml:space="preserve">Δx</ml:id> <ml:id xml:space="preserve">Δy</ml:id> <ml:id xml:space="preserve">Δz</ml:id> </ml:matrix> </ml:define> </math> <rendering item-idref="156"/> </region> <region region-id="1225" left="228" top="5513.25" width="99.75" height="67.5" align-x="250.5" align-y="5550" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">Δp</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="3" cols="1"> <ml:real>-0.0030000000000000027</ml:real> <ml:real>0.0030000000000000027</ml:real> <ml:real>0.0030000000000001137</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="157"/> </region> <region region-id="1226" left="66" top="5618.25" width="68.25" height="19.5" align-x="88.5" align-y="5634" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">Δs</ml:id> <ml:apply> <ml:mult/> <ml:apply> <ml:pow/> <ml:id xml:space="preserve">J</ml:id> <ml:real>-1</ml:real> </ml:apply> <ml:id xml:space="preserve">Δp</ml:id> </ml:apply> </ml:define> </math> <rendering item-idref="158"/> </region> <region region-id="1224" left="228" top="5597.25" width="138" height="67.5" align-x="249.75" align-y="5634" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">Δs</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="3" cols="1"> <ml:real>0.0041261477695385511</ml:real> <ml:real>0.0030000000000001137</ml:real> <ml:real>0.0010560170170932786</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="159"/> </region> <region region-id="637" left="60" top="5690.25" width="83.25" height="19.5" align-x="78.75" align-y="5700" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="1">s</ml:id> <ml:apply> <ml:plus/> <ml:id xml:space="preserve" subscript="1">s</ml:id> <ml:apply> <ml:indexer/> <ml:id xml:space="preserve">Δs</ml:id> <ml:sequence> <ml:real>1</ml:real> <ml:real>1</ml:real> </ml:sequence> </ml:apply> </ml:apply> </ml:define> </math> <rendering item-idref="160"/> </region> <region region-id="638" left="60" top="5708.25" width="83.25" height="19.5" align-x="78.75" align-y="5718" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="2">s</ml:id> <ml:apply> <ml:plus/> <ml:id xml:space="preserve" subscript="2">s</ml:id> <ml:apply> <ml:indexer/> <ml:id xml:space="preserve">Δs</ml:id> <ml:sequence> <ml:real>2</ml:real> <ml:real>1</ml:real> </ml:sequence> </ml:apply> </ml:apply> </ml:define> </math> <rendering item-idref="161"/> </region> <region region-id="639" left="60" top="5726.25" width="83.25" height="19.5" align-x="78.75" align-y="5736" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="3">s</ml:id> <ml:apply> <ml:plus/> <ml:id xml:space="preserve" subscript="3">s</ml:id> <ml:apply> <ml:indexer/> <ml:id xml:space="preserve">Δs</ml:id> <ml:sequence> <ml:real>3</ml:real> <ml:real>1</ml:real> </ml:sequence> </ml:apply> </ml:apply> </ml:define> </math> <rendering item-idref="162"/> </region> <region region-id="640" left="48" top="5780.25" width="430.5" height="36" align-x="48" align-y="5790" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> Žádaná hodnota na regulátory polohy - zde je vidět, že rychlost je větší a tedy i změna polohy koncového bodu za nastavený časový krok - výpočet již není tak přesný, ale vyhovuje </text> </region> <region region-id="1230" left="72" top="5840.25" width="78" height="17.25" align-x="90" align-y="5850" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="1">s</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:real>2.5470950172883464</ml:real> </result> </ml:eval> </math> <rendering item-idref="163"/> </region> <region region-id="1231" left="174" top="5840.25" width="109.5" height="17.25" align-x="223.5" align-y="5850" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:apply> <ml:id xml:space="preserve" subscript="1">q</ml:id> <ml:real>0.02</ml:real> </ml:apply> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:real>2.547091029150216</ml:real> </result> </ml:eval> </math> <rendering item-idref="164"/> </region> <region region-id="1234" left="72" top="5864.25" width="60" height="17.25" align-x="90" align-y="5874" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="2">s</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:real>0.904</ml:real> </result> </ml:eval> </math> <rendering item-idref="165"/> </region> <region region-id="1235" left="174" top="5864.25" width="91.5" height="17.25" align-x="223.5" align-y="5874" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:apply> <ml:id xml:space="preserve" subscript="2">q</ml:id> <ml:real>0.02</ml:real> </ml:apply> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:real>0.90399999999999991</ml:real> </result> </ml:eval> </math> <rendering item-idref="166"/> </region> <region region-id="1237" left="72" top="5888.25" width="84" height="17.25" align-x="90" align-y="5898" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="3">s</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:real>1.0114061641939938</ml:real> </result> </ml:eval> </math> <rendering item-idref="167"/> </region> <region region-id="1236" left="174" top="5888.25" width="115.5" height="17.25" align-x="223.5" align-y="5898" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:apply> <ml:id xml:space="preserve" subscript="3">q</ml:id> <ml:real>0.02</ml:real> </ml:apply> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:real>1.0114156281395894</ml:real> </result> </ml:eval> </math> <rendering item-idref="168"/> </region> <region region-id="1239" left="48" top="5918.25" width="375" height="24" align-x="69.75" align-y="5928" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> Obdobně by výpočet pokračoval dále, naprogramovaný v některém vhodném programovacím jazyce </text> </region> <region region-id="1241" left="48" top="6026.25" width="342.75" height="24" align-x="67.5" align-y="6036" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="false"> Program v prostředí Mathcad, zadána výchozí poloha koncového bodu a výchozí kloubové proměnné </text> </region> <region region-id="1303" left="42" top="6068.25" width="72" height="17.25" align-x="60" align-y="6078" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="0">x</ml:id> <ml:real>0.516642</ml:real> </ml:define> </math> <rendering item-idref="169"/> </region> <region region-id="1256" left="126" top="6068.25" width="63.75" height="17.25" align-x="145.5" align-y="6078" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDFunction" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="1">q</ml:id> <ml:apply> <ml:minus/> <ml:id xml:space="preserve">π</ml:id> <ml:real>0.6</ml:real> </ml:apply> </ml:define> </math> <rendering item-idref="170"/> </region> <region region-id="1304" left="42" top="6092.25" width="72.75" height="17.25" align-x="60.75" align-y="6102" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="0">y</ml:id> <ml:real>0.870291</ml:real> </ml:define> </math> <rendering item-idref="171"/> </region> <region region-id="1258" left="126" top="6092.25" width="43.5" height="17.25" align-x="145.5" align-y="6102" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDFunction" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="2">q</ml:id> <ml:real>0.9</ml:real> </ml:define> </math> <rendering item-idref="172"/> </region> <region region-id="1305" left="42" top="6116.25" width="54" height="17.25" align-x="60" align-y="6126" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="0">z</ml:id> <ml:real>1.454</ml:real> </ml:define> </math> <rendering item-idref="173"/> </region> <region region-id="1261" left="126" top="6116.25" width="49.5" height="17.25" align-x="145.5" align-y="6126" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDFunction" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="3">q</ml:id> <ml:real>1.01</ml:real> </ml:define> </math> <rendering item-idref="174"/> </region> <region region-id="1347" left="48" top="6146.25" width="144" height="12" align-x="71.25" align-y="6156" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="false"> Počáteční kloubové proměnné </text> </region> <region region-id="1255" left="48" top="6176.25" width="76.5" height="49.5" align-x="66" align-y="6204" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">sv</ml:id> <ml:matrix rows="3" cols="1"> <ml:apply> <ml:minus/> <ml:id xml:space="preserve">π</ml:id> <ml:real>0.6</ml:real> </ml:apply> <ml:real>0.9</ml:real> <ml:real>1.01</ml:real> </ml:matrix> </ml:define> </math> <rendering item-idref="175"/> </region> <region region-id="1264" left="48" top="6248.25" width="588.75" height="24" align-x="66.75" align-y="6258" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> Definice výpočtové funkce - argumenty této funkce jsou žádané hodnoty xd,yd a zd. Pozor - indexy u kloubové proměnné jsou indexy vektoru s (vkládané levou hranatou závorkou), ne textové indexy (ty se vkládají pomocí tečky) </text> </region> <region region-id="1262" left="54" top="6320.25" width="429" height="1151.25" align-x="123.75" align-y="6330" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDFunction" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:function> <ml:id xml:space="preserve">Q</ml:id> <ml:boundVars> <ml:id xml:space="preserve">xd</ml:id> <ml:id xml:space="preserve">yd</ml:id> <ml:id xml:space="preserve">zd</ml:id> </ml:boundVars> </ml:function> <ml:program> <ml:localDefine> <ml:id xml:space="preserve">x</ml:id> <ml:id xml:space="preserve" subscript="0">x</ml:id> </ml:localDefine> <ml:localDefine> <ml:id xml:space="preserve">y</ml:id> <ml:id xml:space="preserve" subscript="0">y</ml:id> </ml:localDefine> 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<ml:real>0</ml:real> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0.56464247339503548</ml:real> <ml:real>0.82533561490967822</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0.51664208315985682</ml:real> <ml:real>0.87029073182945238</ml:real> <ml:real>1.4540000000000002</ml:real> <ml:real>1</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="41"/> </region> <region region-id="524" left="48" top="1772.25" width="307.5" height="24" align-x="48" align-y="1782" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> <f family="Arial CE" charset="238"> <inlineAttr line-through="false">Řešení soustavy transcendentních rovnic - nalezení referenčních průběhů kloubových proměnných q1, q2 a q3</inlineAttr> </f> </text> </region> <region region-id="496" left="54" top="1814.25" width="28.5" height="13.5" align-x="67.5" align-y="1824" 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subscript="01">A</ml:id> </ml:apply> </ml:define> </math> <rendering item-idref="82"/> </region> <region region-id="869" left="60" top="2918.25" width="101.25" height="17.25" align-x="86.25" align-y="2928" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="b2">T</ml:id> <ml:apply> <ml:mult/> <ml:apply> <ml:mult/> <ml:id xml:space="preserve" subscript="b0">A</ml:id> <ml:id xml:space="preserve" subscript="01">A</ml:id> </ml:apply> <ml:id xml:space="preserve" subscript="12">A</ml:id> </ml:apply> </ml:define> </math> <rendering item-idref="83"/> </region> <region region-id="872" left="60" top="2948.25" width="124.5" height="17.25" align-x="86.25" align-y="2958" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="b3">T</ml:id> <ml:apply> <ml:mult/> <ml:apply> <ml:mult/> <ml:apply> <ml:mult/> <ml:id xml:space="preserve" subscript="b0">A</ml:id> <ml:id xml:space="preserve" subscript="01">A</ml:id> </ml:apply> <ml:id xml:space="preserve" subscript="12">A</ml:id> </ml:apply> <ml:id xml:space="preserve" subscript="23">A</ml:id> </ml:apply> </ml:define> </math> <rendering item-idref="84"/> </region> <region region-id="552" left="432" top="2927.25" width="244.5" height="67.5" align-x="457.5" align-y="2964" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="b3">T</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="4" cols="4"> <ml:real>-0.82533561490967822</ml:real> <ml:real>0.56464247339503548</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0.56464247339503548</ml:real> <ml:real>0.82533561490967822</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0.51664208315985682</ml:real> <ml:real>0.87029073182945238</ml:real> <ml:real>1.4540000000000002</ml:real> <ml:real>1</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="85"/> </region> <region region-id="553" left="54" top="2990.25" width="310.5" height="12" align-x="54" align-y="3000" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> <f family="Arial CE" charset="238"> <inlineAttr line-through="false">Všechny vektory je třeba vyjádřit v základním souřadném systému</inlineAttr> </f> </text> </region> <region region-id="554" left="54" top="3020.25" width="167.25" height="12" align-x="54" align-y="3030" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> <f family="Arial CE" charset="238"> <inlineAttr line-through="false">Potřebné vektory ve výchozí poloze</inlineAttr> </f> </text> </region> <region region-id="943" left="60" top="3062.25" width="147.75" height="17.25" align-x="78.75" align-y="3072" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="0">k</ml:id> <ml:apply> <ml:id xml:space="preserve">submatrix</ml:id> <ml:sequence> <ml:id xml:space="preserve" subscript="b0">T</ml:id> <ml:real>1</ml:real> <ml:real>3</ml:real> <ml:real>3</ml:real> <ml:real>3</ml:real> </ml:sequence> </ml:apply> </ml:define> </math> <rendering item-idref="86"/> </region> <region region-id="962" left="276" top="3044.25" width="53.25" height="49.5" align-x="294" align-y="3072" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="0">k</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="3" cols="1"> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="87"/> </region> <region region-id="942" left="60" top="3134.25" width="147.75" height="17.25" align-x="78.75" align-y="3144" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="1">k</ml:id> <ml:apply> <ml:id xml:space="preserve">submatrix</ml:id> <ml:sequence> <ml:id xml:space="preserve" subscript="b1">T</ml:id> <ml:real>1</ml:real> <ml:real>3</ml:real> <ml:real>3</ml:real> <ml:real>3</ml:real> </ml:sequence> </ml:apply> </ml:define> </math> <rendering item-idref="88"/> </region> <region region-id="963" left="276" top="3116.25" width="53.25" height="49.5" align-x="294" align-y="3144" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="1">k</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="3" cols="1"> <ml:real>0</ml:real> 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align-x="85.5" align-y="3366" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="13">p</ml:id> <ml:apply> <ml:id xml:space="preserve">submatrix</ml:id> <ml:sequence> <ml:apply> <ml:minus/> <ml:id xml:space="preserve" subscript="b3">T</ml:id> <ml:id xml:space="preserve" subscript="b1">T</ml:id> </ml:apply> <ml:real>1</ml:real> <ml:real>3</ml:real> <ml:real>4</ml:real> <ml:real>4</ml:real> </ml:sequence> </ml:apply> </ml:define> </math> <rendering item-idref="94"/> </region> <region region-id="966" left="276" top="3338.25" width="105" height="49.5" align-x="300.75" align-y="3366" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="13">p</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="3" cols="1"> <ml:real>0.51664208315985682</ml:real> <ml:real>0.87029073182945238</ml:real> <ml:real>0.90000000000000013</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="95"/> </region> <region region-id="938" left="60" top="3434.25" width="186" height="17.25" align-x="85.5" align-y="3444" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="23">p</ml:id> <ml:apply> <ml:id xml:space="preserve">submatrix</ml:id> <ml:sequence> <ml:apply> <ml:minus/> <ml:id xml:space="preserve" subscript="b3">T</ml:id> <ml:id xml:space="preserve" subscript="b2">T</ml:id> </ml:apply> <ml:real>1</ml:real> <ml:real>3</ml:real> <ml:real>4</ml:real> <ml:real>4</ml:real> </ml:sequence> </ml:apply> </ml:define> </math> <rendering item-idref="96"/> </region> <region region-id="967" left="276" top="3416.25" width="105" height="49.5" align-x="300.75" align-y="3444" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="23">p</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="3" cols="1"> <ml:real>0.57028889812898587</ml:real> <ml:real>0.833588971058775</ml:real> <ml:real>0</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="97"/> </region> <region region-id="567" left="36" top="3524.25" width="104.25" height="12" align-x="36" align-y="3534" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> Matice výchozí polohy </text> </region> <region region-id="568" left="162" top="3524.25" width="119.25" height="17.25" align-x="183" align-y="3534" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">TV</ml:id> <ml:apply> <ml:mult/> <ml:apply> <ml:mult/> <ml:apply> <ml:mult/> <ml:id xml:space="preserve" subscript="b0">A</ml:id> <ml:id xml:space="preserve" subscript="01">A</ml:id> </ml:apply> <ml:id xml:space="preserve" subscript="12">A</ml:id> </ml:apply> <ml:id xml:space="preserve" subscript="23">A</ml:id> </ml:apply> </ml:define> </math> <rendering item-idref="98"/> </region> <region region-id="973" left="312" top="3497.25" width="239.25" height="67.5" align-x="332.25" align-y="3534" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">TV</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="4" cols="4"> <ml:real>-0.82533561490967822</ml:real> <ml:real>0.56464247339503548</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0.56464247339503548</ml:real> <ml:real>0.82533561490967822</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0.51664208315985682</ml:real> <ml:real>0.87029073182945238</ml:real> <ml:real>1.4540000000000002</ml:real> <ml:real>1</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="99"/> </region> <region region-id="977" left="30" top="3596.25" width="163.5" height="12" align-x="30" align-y="3606" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> Jakobiho matice ve výchozí poloze </text> </region> <region region-id="987" left="48" top="3638.25" width="111.75" height="17.25" align-x="60" align-y="3648" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedBIUnit" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">J</ml:id> <ml:matrix rows="1" cols="3"> <ml:apply> <ml:crossProduct/> <ml:id xml:space="preserve" subscript="0">k</ml:id> <ml:id xml:space="preserve" subscript="03">p</ml:id> </ml:apply> <ml:id xml:space="preserve" subscript="1">k</ml:id> <ml:id xml:space="preserve" subscript="2">k</ml:id> </ml:matrix> </ml:define> </math> <rendering item-idref="100"/> </region> <region region-id="1270" left="180" top="3638.25" width="450.75" height="36" align-x="193.5" align-y="3648" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> Tento zápis je matematicky správný, ale v ptosředí Matcad neplatný. Mathcad nesprávně přiřadí hodnoty, do matice nelze zapsat vektor, popř. jinou matici. Je nutno vkládat přímo jednotlivé prvky<sp count="2"/>!!!!!! </text> </region> <region region-id="986" left="48" top="3698.25" width="168.75" height="74.25" align-x="60" align-y="3738" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">J</ml:id> <ml:matrix rows="3" cols="3"> <ml:apply> <ml:indexer/> <ml:parens> <ml:apply> <ml:crossProduct/> <ml:id xml:space="preserve" subscript="0">k</ml:id> <ml:id xml:space="preserve" subscript="03">p</ml:id> </ml:apply> </ml:parens> <ml:sequence> <ml:real>1</ml:real> <ml:real>1</ml:real> </ml:sequence> </ml:apply> <ml:apply> <ml:indexer/> <ml:parens> <ml:apply> <ml:crossProduct/> <ml:id xml:space="preserve" subscript="0">k</ml:id> <ml:id xml:space="preserve" subscript="03">p</ml:id> </ml:apply> </ml:parens> <ml:sequence> <ml:real>2</ml:real> <ml:real>1</ml:real> 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subscript="1">s</ml:id> <ml:apply> <ml:plus/> <ml:id xml:space="preserve" subscript="1">s</ml:id> <ml:apply> <ml:indexer/> <ml:id xml:space="preserve">Δs</ml:id> <ml:sequence> <ml:real>1</ml:real> <ml:real>1</ml:real> </ml:sequence> </ml:apply> </ml:apply> </ml:define> </math> <rendering item-idref="108"/> </region> <region region-id="580" left="60" top="4004.25" width="83.25" height="19.5" align-x="78.75" align-y="4014" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="2">s</ml:id> <ml:apply> <ml:plus/> <ml:id xml:space="preserve" subscript="2">s</ml:id> <ml:apply> <ml:indexer/> <ml:id xml:space="preserve">Δs</ml:id> <ml:sequence> <ml:real>2</ml:real> <ml:real>1</ml:real> </ml:sequence> </ml:apply> </ml:apply> </ml:define> </math> <rendering item-idref="109"/> </region> <region region-id="581" left="60" top="4022.25" width="83.25" height="19.5" align-x="78.75" align-y="4032" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="3">s</ml:id> <ml:apply> <ml:plus/> <ml:id xml:space="preserve" subscript="3">s</ml:id> <ml:apply> <ml:indexer/> <ml:id xml:space="preserve">Δs</ml:id> <ml:sequence> <ml:real>3</ml:real> <ml:real>1</ml:real> </ml:sequence> </ml:apply> </ml:apply> </ml:define> </math> <rendering item-idref="110"/> </region> <region region-id="582" left="48" top="4076.25" width="179.25" height="12" align-x="48" align-y="4086" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> Žádaná hodnota na regulátory polohy </text> </region> <region region-id="1016" left="66" top="4118.25" width="84" height="17.25" align-x="84" align-y="4128" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="1">s</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:real>2.5429688695188077</ml:real> </result> </ml:eval> </math> <rendering item-idref="111"/> </region> <region region-id="1002" left="174" top="4118.25" width="115.5" height="17.25" align-x="223.5" align-y="4128" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:apply> <ml:id xml:space="preserve" subscript="1">q</ml:id> <ml:real>0.01</ml:real> </ml:apply> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:real>2.5429686701956515</ml:real> </result> </ml:eval> </math> <rendering item-idref="112"/> </region> <region region-id="1017" left="66" top="4142.25" width="60" height="17.25" align-x="84" align-y="4152" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="2">s</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:real>0.90099999999999991</ml:real> </result> </ml:eval> </math> <rendering item-idref="113"/> </region> <region region-id="1000" left="174" top="4142.25" width="91.5" height="17.25" align-x="223.5" align-y="4152" show-border="false" show-highlight="false" is-protected="true" 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</ml:apply> </ml:apply> <ml:apply> <ml:id xml:space="preserve">y</ml:id> <ml:id xml:space="preserve">t</ml:id> </ml:apply> </ml:apply> </ml:define> </math> <rendering item-idref="126"/> </region> <region region-id="1029" left="192" top="4376.25" width="78.75" height="19.5" align-x="213.75" align-y="4392" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">Δy</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:real>0.0030000000000000027</ml:real> </result> </ml:eval> </math> <rendering item-idref="127"/> </region> <region region-id="598" left="60" top="4406.25" width="102" height="13.5" align-x="82.5" align-y="4416" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">Δz</ml:id> <ml:apply> <ml:minus/> <ml:apply> <ml:id xml:space="preserve">z</ml:id> <ml:apply> <ml:plus/> <ml:id xml:space="preserve">t</ml:id> <ml:id xml:space="preserve">dt</ml:id> </ml:apply> </ml:apply> <ml:apply> <ml:id xml:space="preserve">z</ml:id> <ml:id xml:space="preserve">t</ml:id> </ml:apply> </ml:apply> </ml:define> </math> <rendering item-idref="128"/> </region> <region region-id="1028" left="192" top="4400.25" width="78.75" height="19.5" align-x="213.75" align-y="4416" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">Δz</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:real>0.0030000000000001137</ml:real> </result> </ml:eval> </math> <rendering item-idref="129"/> </region> <region region-id="600" left="90" top="4448.25" width="225.75" height="12" align-x="90" align-y="4458" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> <f family="Arial CE" charset="238"> <inlineAttr line-through="false">Transformační matice mezi souřadnými systémy</inlineAttr> </f> </text> </region> <region region-id="601" left="84" top="4484.25" width="117.75" height="12" align-x="84" align-y="4494" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> Matice ve výchozí poloze </text> </region> <region region-id="602" left="66" top="4511.25" width="120" height="67.5" align-x="93" align-y="4548" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="b0">A</ml:id> <ml:matrix rows="4" cols="4"> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0.554</ml:real> <ml:real>1</ml:real> </ml:matrix> </ml:define> </math> <rendering item-idref="130"/> </region> <region region-id="1035" left="216" top="4507.5" width="162" height="75" align-x="243" align-y="4548" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="01">A</ml:id> <ml:matrix rows="4" cols="4"> <ml:apply> <ml:id xml:space="preserve">cos</ml:id> <ml:id xml:space="preserve" subscript="1">s</ml:id> </ml:apply> <ml:apply> <ml:id xml:space="preserve">sin</ml:id> <ml:id xml:space="preserve" subscript="1">s</ml:id> </ml:apply> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:apply> <ml:neg/> <ml:apply> <ml:id xml:space="preserve">sin</ml:id> <ml:id xml:space="preserve" subscript="1">s</ml:id> </ml:apply> </ml:apply> <ml:apply> <ml:id xml:space="preserve">cos</ml:id> <ml:id xml:space="preserve" subscript="1">s</ml:id> </ml:apply> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> </ml:matrix> </ml:define> </math> <rendering item-idref="131"/> </region> <region region-id="1042" left="414" top="4509.75" width="126" height="71.25" align-x="441" align-y="4548" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="12">A</ml:id> <ml:matrix rows="4" cols="4"> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>-1</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0.065</ml:real> <ml:real>0</ml:real> <ml:id xml:space="preserve" subscript="2">s</ml:id> <ml:real>1</ml:real> </ml:matrix> </ml:define> </math> <rendering item-idref="132"/> </region> <region region-id="1048" left="564" top="4509.75" width="104.25" height="71.25" align-x="591" align-y="4548" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="23">A</ml:id> <ml:matrix rows="4" cols="4"> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:id xml:space="preserve" subscript="3">s</ml:id> <ml:real>1</ml:real> </ml:matrix> </ml:define> </math> <rendering item-idref="133"/> </region> <region region-id="1069" left="66" top="4616.25" width="54.75" height="17.25" align-x="92.25" align-y="4626" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="b0">T</ml:id> <ml:id xml:space="preserve" subscript="b0">A</ml:id> </ml:define> </math> <rendering item-idref="134"/> </region> <region region-id="1070" left="66" top="4646.25" width="78" height="17.25" align-x="92.25" align-y="4656" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="b1">T</ml:id> <ml:apply> <ml:mult/> <ml:id xml:space="preserve" subscript="b0">A</ml:id> <ml:id xml:space="preserve" subscript="01">A</ml:id> </ml:apply> </ml:define> </math> <rendering item-idref="135"/> </region> <region region-id="1071" left="66" top="4676.25" width="101.25" height="17.25" align-x="92.25" align-y="4686" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="b2">T</ml:id> <ml:apply> <ml:mult/> <ml:apply> <ml:mult/> <ml:id xml:space="preserve" subscript="b0">A</ml:id> <ml:id xml:space="preserve" subscript="01">A</ml:id> </ml:apply> <ml:id xml:space="preserve" subscript="12">A</ml:id> </ml:apply> </ml:define> </math> <rendering item-idref="136"/> </region> <region region-id="1073" left="66" top="4706.25" width="124.5" height="17.25" align-x="92.25" align-y="4716" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="b3">T</ml:id> <ml:apply> <ml:mult/> <ml:apply> <ml:mult/> <ml:apply> <ml:mult/> <ml:id xml:space="preserve" subscript="b0">A</ml:id> <ml:id xml:space="preserve" subscript="01">A</ml:id> </ml:apply> <ml:id xml:space="preserve" subscript="12">A</ml:id> </ml:apply> <ml:id xml:space="preserve" subscript="23">A</ml:id> </ml:apply> </ml:define> </math> <rendering item-idref="137"/> </region> <region region-id="610" left="432" top="4697.25" width="244.5" height="67.5" align-x="457.5" align-y="4734" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="b3">T</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="4" cols="4"> <ml:real>-0.82611190305003068</ml:real> <ml:real>0.56350609902560655</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0.56350609902560655</ml:real> <ml:real>0.82611190305003068</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0.51564119638735073</ml:real> <ml:real>0.87129017926785235</ml:real> <ml:real>1.455</ml:real> <ml:real>1</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="138"/> </region> <region region-id="611" left="90" top="4748.25" width="310.5" height="12" align-x="90" align-y="4758" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> <f family="Arial CE" charset="238"> <inlineAttr line-through="false">Všechny vektory je třeba vyjádřit v základním souřadném systému</inlineAttr> </f> </text> </region> <region region-id="612" left="90" top="4796.25" width="167.25" height="12" align-x="90" align-y="4806" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> <f family="Arial CE" charset="238"> <inlineAttr line-through="false">Potřebné vektory ve výchozí poloze</inlineAttr> </f> </text> </region> <region region-id="1142" left="54" top="4844.25" width="147.75" height="17.25" align-x="72.75" align-y="4854" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="0">k</ml:id> <ml:apply> <ml:id xml:space="preserve">submatrix</ml:id> <ml:sequence> <ml:id xml:space="preserve" subscript="b0">T</ml:id> <ml:real>1</ml:real> <ml:real>3</ml:real> <ml:real>3</ml:real> <ml:real>3</ml:real> </ml:sequence> </ml:apply> </ml:define> </math> <rendering item-idref="139"/> </region> <region region-id="1176" left="288" top="4826.25" width="53.25" height="49.5" align-x="306" align-y="4854" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="0">k</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="3" cols="1"> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="140"/> </region> <region region-id="1093" left="54" top="4904.25" width="147.75" height="17.25" align-x="72.75" align-y="4914" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="1">k</ml:id> <ml:apply> <ml:id xml:space="preserve">submatrix</ml:id> <ml:sequence> <ml:id xml:space="preserve" subscript="b1">T</ml:id> <ml:real>1</ml:real> <ml:real>3</ml:real> <ml:real>3</ml:real> <ml:real>3</ml:real> </ml:sequence> </ml:apply> </ml:define> </math> <rendering item-idref="141"/> </region> <region region-id="1177" left="288" top="4886.25" width="53.25" height="49.5" align-x="306" align-y="4914" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="1">k</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="3" cols="1"> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="142"/> </region> <region region-id="1094" left="54" top="4970.25" width="147.75" height="17.25" align-x="72.75" align-y="4980" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="2">k</ml:id> <ml:apply> <ml:id xml:space="preserve">submatrix</ml:id> <ml:sequence> <ml:id xml:space="preserve" subscript="b2">T</ml:id> <ml:real>1</ml:real> <ml:real>3</ml:real> <ml:real>3</ml:real> <ml:real>3</ml:real> </ml:sequence> </ml:apply> </ml:define> </math> <rendering item-idref="143"/> </region> <region region-id="1178" left="288" top="4952.25" width="98.25" height="49.5" align-x="306" align-y="4980" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="2">k</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="3" cols="1"> <ml:real>0.56350609902560655</ml:real> <ml:real>0.82611190305003068</ml:real> <ml:real>0</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="144"/> </region> <region region-id="1095" left="54" top="5042.25" width="186" height="17.25" align-x="79.5" align-y="5052" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="03">p</ml:id> <ml:apply> <ml:id xml:space="preserve">submatrix</ml:id> <ml:sequence> <ml:apply> <ml:minus/> <ml:id xml:space="preserve" subscript="b3">T</ml:id> <ml:id xml:space="preserve" subscript="b0">T</ml:id> </ml:apply> <ml:real>1</ml:real> <ml:real>3</ml:real> <ml:real>4</ml:real> <ml:real>4</ml:real> </ml:sequence> </ml:apply> </ml:define> </math> <rendering item-idref="145"/> </region> <region region-id="1179" left="288" top="5024.25" width="105" height="49.5" align-x="312.75" align-y="5052" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="03">p</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="3" cols="1"> <ml:real>0.51564119638735073</ml:real> <ml:real>0.87129017926785235</ml:real> <ml:real>0.901</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="146"/> </region> <region region-id="1096" left="54" top="5126.25" width="186" height="17.25" align-x="79.5" align-y="5136" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="13">p</ml:id> <ml:apply> <ml:id xml:space="preserve">submatrix</ml:id> <ml:sequence> <ml:apply> <ml:minus/> <ml:id xml:space="preserve" subscript="b3">T</ml:id> <ml:id xml:space="preserve" subscript="b1">T</ml:id> </ml:apply> <ml:real>1</ml:real> <ml:real>3</ml:real> <ml:real>4</ml:real> <ml:real>4</ml:real> </ml:sequence> </ml:apply> </ml:define> </math> <rendering item-idref="147"/> </region> <region region-id="1180" left="288" top="5108.25" width="105" height="49.5" align-x="312.75" align-y="5136" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="13">p</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="3" cols="1"> <ml:real>0.51564119638735073</ml:real> <ml:real>0.87129017926785235</ml:real> <ml:real>0.901</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="148"/> </region> <region region-id="1097" left="54" top="5204.25" width="186" height="17.25" align-x="79.5" align-y="5214" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="23">p</ml:id> <ml:apply> <ml:id xml:space="preserve">submatrix</ml:id> <ml:sequence> <ml:apply> <ml:minus/> <ml:id xml:space="preserve" subscript="b3">T</ml:id> <ml:id xml:space="preserve" subscript="b2">T</ml:id> </ml:apply> <ml:real>1</ml:real> <ml:real>3</ml:real> <ml:real>4</ml:real> <ml:real>4</ml:real> </ml:sequence> </ml:apply> </ml:define> </math> <rendering item-idref="149"/> </region> <region region-id="1181" left="288" top="5186.25" width="105" height="49.5" align-x="312.75" align-y="5214" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="23">p</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="3" cols="1"> <ml:real>0.56933847008560268</ml:real> <ml:real>0.83466228283118793</ml:real> <ml:real>0</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="150"/> </region> <region region-id="625" left="36" top="5294.25" width="104.25" height="12" align-x="36" align-y="5304" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> Matice výchozí polohy </text> </region> <region region-id="626" left="162" top="5294.25" width="119.25" height="17.25" align-x="183" align-y="5304" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">TV</ml:id> <ml:apply> <ml:mult/> <ml:apply> <ml:mult/> <ml:apply> <ml:mult/> <ml:id xml:space="preserve" subscript="b0">A</ml:id> <ml:id xml:space="preserve" subscript="01">A</ml:id> </ml:apply> <ml:id xml:space="preserve" subscript="12">A</ml:id> </ml:apply> <ml:id xml:space="preserve" subscript="23">A</ml:id> </ml:apply> </ml:define> </math> <rendering item-idref="151"/> </region> <region region-id="1151" left="312" top="5267.25" width="239.25" height="67.5" align-x="332.25" align-y="5304" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">TV</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="4" cols="4"> <ml:real>-0.82611190305003068</ml:real> <ml:real>0.56350609902560655</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> <ml:real>0</ml:real> <ml:real>0.56350609902560655</ml:real> <ml:real>0.82611190305003068</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0.51564119638735073</ml:real> <ml:real>0.87129017926785235</ml:real> <ml:real>1.455</ml:real> <ml:real>1</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="152"/> </region> <region region-id="628" left="54" top="5366.25" width="163.5" height="12" align-x="54" align-y="5376" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> Jakobiho matice ve výchozí poloze </text> </region> <region region-id="695" left="42" top="5420.25" width="168.75" height="74.25" align-x="54" align-y="5460" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">J</ml:id> <ml:matrix rows="3" cols="3"> <ml:apply> <ml:indexer/> <ml:parens> <ml:apply> <ml:crossProduct/> <ml:id xml:space="preserve" subscript="0">k</ml:id> <ml:id xml:space="preserve" subscript="03">p</ml:id> </ml:apply> </ml:parens> <ml:sequence> <ml:real>1</ml:real> <ml:real>1</ml:real> </ml:sequence> </ml:apply> <ml:apply> <ml:indexer/> <ml:parens> <ml:apply> <ml:crossProduct/> <ml:id xml:space="preserve" subscript="0">k</ml:id> <ml:id xml:space="preserve" subscript="03">p</ml:id> </ml:apply> </ml:parens> <ml:sequence> <ml:real>2</ml:real> <ml:real>1</ml:real> </ml:sequence> </ml:apply> <ml:apply> <ml:indexer/> <ml:parens> <ml:apply> <ml:crossProduct/> <ml:id xml:space="preserve" 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<ml:indexer/> <ml:id xml:space="preserve" subscript="2">k</ml:id> <ml:sequence> <ml:real>3</ml:real> <ml:real>1</ml:real> </ml:sequence> </ml:apply> </ml:matrix> </ml:define> </math> <rendering item-idref="153"/> </region> <region region-id="1199" left="228" top="5432.25" width="171" height="49.5" align-x="239.25" align-y="5460" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">J</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="3" cols="3"> <ml:real>-0.87129017926785235</ml:real> <ml:real>0.51564119638735073</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>0</ml:real> <ml:real>1</ml:real> <ml:real>0.56350609902560655</ml:real> <ml:real>0.82611190305003068</ml:real> <ml:real>0</ml:real> </ml:matrix> </result> </ml:eval> 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align-x="89.25" align-y="5550" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">Δp</ml:id> <ml:matrix rows="3" cols="1"> <ml:id xml:space="preserve">Δx</ml:id> <ml:id xml:space="preserve">Δy</ml:id> <ml:id xml:space="preserve">Δz</ml:id> </ml:matrix> </ml:define> </math> <rendering item-idref="156"/> </region> <region region-id="1225" left="228" top="5513.25" width="99.75" height="67.5" align-x="250.5" align-y="5550" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">Δp</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="3" cols="1"> <ml:real>-0.0030000000000000027</ml:real> <ml:real>0.0030000000000000027</ml:real> <ml:real>0.0030000000000001137</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="157"/> </region> <region region-id="1226" left="66" top="5618.25" width="68.25" height="19.5" align-x="88.5" align-y="5634" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">Δs</ml:id> <ml:apply> <ml:mult/> <ml:apply> <ml:pow/> <ml:id xml:space="preserve">J</ml:id> <ml:real>-1</ml:real> </ml:apply> <ml:id xml:space="preserve">Δp</ml:id> </ml:apply> </ml:define> </math> <rendering item-idref="158"/> </region> <region region-id="1224" left="228" top="5597.25" width="138" height="67.5" align-x="249.75" align-y="5634" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">Δs</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:matrix rows="3" cols="1"> <ml:real>0.0041261477695385511</ml:real> <ml:real>0.0030000000000001137</ml:real> <ml:real>0.0010560170170932786</ml:real> </ml:matrix> </result> </ml:eval> </math> <rendering item-idref="159"/> </region> <region region-id="637" left="60" top="5690.25" width="83.25" height="19.5" align-x="78.75" align-y="5700" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="1">s</ml:id> <ml:apply> <ml:plus/> <ml:id xml:space="preserve" subscript="1">s</ml:id> <ml:apply> <ml:indexer/> <ml:id xml:space="preserve">Δs</ml:id> <ml:sequence> <ml:real>1</ml:real> <ml:real>1</ml:real> </ml:sequence> </ml:apply> </ml:apply> </ml:define> </math> <rendering item-idref="160"/> </region> <region region-id="638" left="60" top="5708.25" width="83.25" height="19.5" align-x="78.75" align-y="5718" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="2">s</ml:id> <ml:apply> <ml:plus/> <ml:id xml:space="preserve" subscript="2">s</ml:id> <ml:apply> <ml:indexer/> <ml:id xml:space="preserve">Δs</ml:id> <ml:sequence> <ml:real>2</ml:real> <ml:real>1</ml:real> </ml:sequence> </ml:apply> </ml:apply> </ml:define> </math> <rendering item-idref="161"/> </region> <region region-id="639" left="60" top="5726.25" width="83.25" height="19.5" align-x="78.75" align-y="5736" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="3">s</ml:id> <ml:apply> <ml:plus/> <ml:id xml:space="preserve" subscript="3">s</ml:id> <ml:apply> <ml:indexer/> <ml:id xml:space="preserve">Δs</ml:id> <ml:sequence> <ml:real>3</ml:real> <ml:real>1</ml:real> </ml:sequence> </ml:apply> </ml:apply> </ml:define> </math> <rendering item-idref="162"/> </region> <region region-id="640" left="48" top="5780.25" width="430.5" height="36" align-x="48" align-y="5790" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> Žádaná hodnota na regulátory polohy - zde je vidět, že rychlost je větší a tedy i změna polohy koncového bodu za nastavený časový krok - výpočet již není tak přesný, ale vyhovuje </text> </region> <region region-id="1230" left="72" top="5840.25" width="78" height="17.25" align-x="90" align-y="5850" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="1">s</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:real>2.5470950172883464</ml:real> </result> </ml:eval> </math> <rendering item-idref="163"/> </region> <region region-id="1231" left="174" top="5840.25" width="109.5" height="17.25" align-x="223.5" align-y="5850" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:apply> <ml:id xml:space="preserve" subscript="1">q</ml:id> <ml:real>0.02</ml:real> </ml:apply> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:real>2.547091029150216</ml:real> </result> </ml:eval> </math> <rendering item-idref="164"/> </region> <region region-id="1234" left="72" top="5864.25" width="60" height="17.25" align-x="90" align-y="5874" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="2">s</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:real>0.904</ml:real> </result> </ml:eval> </math> <rendering item-idref="165"/> </region> <region region-id="1235" left="174" top="5864.25" width="91.5" height="17.25" align-x="223.5" align-y="5874" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:apply> <ml:id xml:space="preserve" subscript="2">q</ml:id> <ml:real>0.02</ml:real> </ml:apply> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:real>0.90399999999999991</ml:real> </result> </ml:eval> </math> <rendering item-idref="166"/> </region> <region region-id="1237" left="72" top="5888.25" width="84" height="17.25" align-x="90" align-y="5898" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="3">s</ml:id> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:real>1.0114061641939938</ml:real> </result> </ml:eval> </math> <rendering item-idref="167"/> </region> <region region-id="1236" left="174" top="5888.25" width="115.5" height="17.25" align-x="223.5" align-y="5898" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:eval placeholderMultiplicationStyle="default" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:apply> <ml:id xml:space="preserve" subscript="3">q</ml:id> <ml:real>0.02</ml:real> </ml:apply> <result xmlns="http://schemas.mathsoft.com/math30"> <ml:real>1.0114156281395894</ml:real> </result> </ml:eval> </math> <rendering item-idref="168"/> </region> <region region-id="1239" left="48" top="5918.25" width="375" height="24" align-x="69.75" align-y="5928" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> Obdobně by výpočet pokračoval dále, naprogramovaný v některém vhodném programovacím jazyce </text> </region> <region region-id="1241" left="48" top="6026.25" width="342.75" height="24" align-x="67.5" align-y="6036" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="false"> Program v prostředí Mathcad, zadána výchozí poloha koncového bodu a výchozí kloubové proměnné </text> </region> <region region-id="1303" left="42" top="6068.25" width="72" height="17.25" align-x="60" align-y="6078" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="0">x</ml:id> <ml:real>0.516642</ml:real> </ml:define> </math> <rendering item-idref="169"/> </region> <region region-id="1256" left="126" top="6068.25" width="63.75" height="17.25" align-x="145.5" align-y="6078" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDFunction" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="1">q</ml:id> <ml:apply> <ml:minus/> <ml:id xml:space="preserve">π</ml:id> <ml:real>0.6</ml:real> </ml:apply> </ml:define> </math> <rendering item-idref="170"/> </region> <region region-id="1304" left="42" top="6092.25" width="72.75" height="17.25" align-x="60.75" align-y="6102" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="0">y</ml:id> <ml:real>0.870291</ml:real> </ml:define> </math> <rendering item-idref="171"/> </region> <region region-id="1258" left="126" top="6092.25" width="43.5" height="17.25" align-x="145.5" align-y="6102" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDFunction" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="2">q</ml:id> <ml:real>0.9</ml:real> </ml:define> </math> <rendering item-idref="172"/> </region> <region region-id="1305" left="42" top="6116.25" width="54" height="17.25" align-x="60" align-y="6126" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDScalar" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="0">z</ml:id> <ml:real>1.454</ml:real> </ml:define> </math> <rendering item-idref="173"/> </region> <region region-id="1261" left="126" top="6116.25" width="49.5" height="17.25" align-x="145.5" align-y="6126" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDFunction" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve" subscript="3">q</ml:id> <ml:real>1.01</ml:real> </ml:define> </math> <rendering item-idref="174"/> </region> <region region-id="1347" left="48" top="6146.25" width="144" height="12" align-x="71.25" align-y="6156" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="false"> Počáteční kloubové proměnné </text> </region> <region region-id="1255" left="48" top="6176.25" width="76.5" height="49.5" align-x="66" align-y="6204" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:id xml:space="preserve">sv</ml:id> <ml:matrix rows="3" cols="1"> <ml:apply> <ml:minus/> <ml:id xml:space="preserve">π</ml:id> <ml:real>0.6</ml:real> </ml:apply> <ml:real>0.9</ml:real> <ml:real>1.01</ml:real> </ml:matrix> </ml:define> </math> <rendering item-idref="175"/> </region> <region region-id="1264" left="48" top="6248.25" width="588.75" height="24" align-x="66.75" align-y="6258" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <text use-page-width="false" push-down="false" lock-width="true"> Definice výpočtové funkce - argumenty této funkce jsou žádané hodnoty xd,yd a zd. Pozor - indexy u kloubové proměnné jsou indexy vektoru s (vkládané levou hranatou závorkou), ne textové indexy (ty se vkládají pomocí tečky) </text> </region> <region region-id="1262" left="54" top="6320.25" width="429" height="1151.25" align-x="123.75" align-y="6330" show-border="false" show-highlight="false" is-protected="true" z-order="0" background-color="inherit" tag=""> <math optimize="false" disable-calc="false"> <ml:define warning="WarnRedefinedUDFunction" xmlns:ml="http://schemas.mathsoft.com/math30"> <ml:function> <ml:id xml:space="preserve">Q</ml:id> <ml:boundVars> <ml:id xml:space="preserve">xd</ml:id> <ml:id xml:space="preserve">yd</ml:id> <ml:id xml:space="preserve">zd</ml:id> </ml:boundVars> </ml:function> <ml:program> <ml:localDefine> <ml:id xml:space="preserve">x</ml:id> <ml:id xml:space="preserve" subscript="0">x</ml:id> </ml:localDefine> <ml:localDefine> <ml:id xml:space="preserve">y</ml:id> <ml:id xml:space="preserve" subscript="0">y</ml:id> </ml:localDefine> 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