Robotics Notes Unit I & III-1-1 PDF

ı Rn l Ľ
T M T 402
p a pe r C o d e E \ ı 4
P a pe r R o h o t ic s
TT ERS M A \ ıI L T M M A R K ￠: 7 5
O N S T O P A L E R Sı ￡
}
IN S T R U C T ı
I h ld b c o m pu ı s o r y a n d c o v e r t h e e n tire \ y lı ııh u s T h i i q u c \ ııo n \ h ( n J lu b a v c o trjc c tıw
1 Q u e s 【Lmi N o s o u e
w e r ty p e q し ıe h t itt n s It s h o u ld o f 2 5 m a r k ti
o r s h o ïl a n s
2 A p a n tro m q u e s o t i n n o I re s t o f t h e p a p e r s h a lıc u n s is ı u f lu u r u n it s n \ p c R ıh Ľ ) 1ıth u \ ri* e r y u n ıı
e t i n H o w e v e r s t u d e m m a y b e a s k e d to a tte m p t o n ı y ıq u e \ l it \n In ) m e ıc h u n ıı 4 k ' 8
x h (ııld h a v e q
l w o u s o s
s ti n \ h o u ld b e u r ı 2 5 m arkų
q tıe u
o b i( ľ riv ť T u in lr o d lıc e ıh e f. ı
łn d a ￠io ns o f r o b o tic s A ls o t1 ť o ıır s e o n R o b o ril s l11ıı\ ılłA ť t )ıtt ( l r ın o r ￠ \ ￠ıĺ tw fıf ť l￠?
lï u ￠ o n ly ľ is H a li ť fh ť ın o łio n a n d c hu rn M J 1o (n(ı
t re r is lic s o r r o b u ĺ s b H l t ï ł ł verAy ı ı łllťsı t'/tı t\iRH m łn l r \ ￠t w tı
l iv e n uppł
it(ı
fion
U N IT ï
F u n d a m e n t a ls o f R o b o t T e c h n o ł ogy
R o b o t d e fin itio n a u to m a tio n a n d r o b o tic s K o D o Ł a n a t o m y w o r K v o ıu m e u r ıw s Y s Ic M H C t ıH u u \ ) M c ııı) . ıJ
d y n i) m ic p e r fo r m a n c e A c c u r a c y a n d r e p e a ta b iı ity S e n s o r s a n d a c t u a to rs u s e d in r o b u t tL s M u c h ın c V i\ ıo n
R o b o t c o n fig u r a t io n s P a th c o n lr o ı In tro d u c tio n to r o b o t ı a n gu age s A ppı ic a t io n s : T y p e \ I M o b ile Parlı lch
S e r ia l: C itr te s ia n C y ı in d r ic a l e tc ; S o c ia ıIs s u e s
ľ ı飞丁ム了3 llベロ u r H r s ııI
U N IT Iı
R o b o t K in e m a t ic s : M a p p in g H o m o g e n e o u s tra n s fo r m a t io n s R o ta t io n m a tr ix H ) r w ııd K in v m a tıL \ (D H
N ) a n d in v e r s e kin e m
o ta t io n a t ic s : C lo s e d t\o r m s o ı
u t io n
R o b o t D iffe r e n t ia l M o tio n lj n ear an d A n g u la r v e lo c it y o f r ig id lin k V e lo c it y a lo n g lin k M a ip u lu to r ja c u b ia n

S ta tic s : L is e o f ja c o b ia n
[T I 1 2 T 3 IIN o o r H r ?i l ıı
U N IT ll
¡
R o b o t D y n a m ic s L a g ra n g ia n M æ h a n ic s L a g r a n g ia n F o r m u la t io n a n d n u m e r ic a ls D w la m ic s N e w tu n t u ı
c r
R e c u r s iv e A lg o r ith m S im u la t io n E u le r L a g ra n g e E q u a t io n s o f m o tio n /A n y u ne o r m tıı

o the r ı a t io n ı
ık c u s in g
[) e c o u pı
ed N a tu r a ıO r th o g o n a l C o m p le m e n ts (D e N O C )
E n d e H ec to r s : M e c h a n ic a ıa n d o th e r ty p e s o f g r ip p e r s T oo ls as e n d eflc tor s R o bu l :tn d e lT e c to r im c rlıc į e
G r ip p e r s e le c t io n a n d d e s ig n
[T IT 2 7 3 1 ıN o FH m 12 ı
U N IT IV
A p p lic a tio n s fo r M a n u fa c t u r in g F le x ib le a u to m a tio n R o b o t ce ll ı a y o u ts M aL hin b re
in te r ı n Le O the r
c o ns id e r a t io n s in w o r k ce ll d e s ig n W o r k c e ı ıc o n tr o ı in te r lo c k s R o bo t c y c le tim e a n a ly \ i* M ec h a n ic a ıd e \ ig n
o f ro b o t lin k s
T y p ic a l a p p lic a t io n s o f ro b o ts in m a te r ia ıtr a n s fe r M ac h in e lo a d in g /u n lo a d in g pn )c e s \ in g o p v r a t io n s asw m bı
y
an d in s p e c t io n
[T 1 , 1 2 T 3 IIN o o fH n i 10 1
T ex t B oo ks
łT ıj R K M itta ı I J N a g n ıth R o b o ric s & C o n tro l , T a ta M c G ra w & H ilı
s 20 0 5
IT 2 ] M ik e ll P G ro o v e r M itc h e ll W e is s In d u s tń a l R o b o t ic s :T ec hno ı
u gy P ro g r a m m in g a n d A p p lic H l iu n
T a ta M c G m w & H ills 2 0 0 9
ıd
ı
T 3j S a ha S K n tr o d u c tio
ı n [o R o b o tic s 2 E d itio n M c G ra w H ill E d u c a tio n N e w D c h r 2 0 14
ı
R e fe r e n ce B oo ks
[R ı] Jo h n J C ra ig ; In tr o d u c tio n to R o b o t ic s M e c h a n ic s & C o n [r cì ı P e a r x o n E d u c u t iu n 2 {x 14
IR 2 I R o b e r t J S c h illin g F u n d a m e n ta ls o f R o b o t ic s A n a ly s is & C m tm ì l P re m ic e H :lll d ! P 1 Td 0 0 2

IR 3 ] M a rk W S p o n g S e th H u tc h in s o n M V id y a s a g a r R o b o t M o d e lin g a n d C o n tm ı J ů h n W itc 2 " ! t u
[R 4 ] I S r in iv a s a n R V D u kklp a t i K R a m ji " R o b o tic s c o m r o ı&
p r o g r a m m in g N a n ) \ a
IR Ĵ I G h L )s a l A s h ila v a R o b o t ic s : F u n d a m e n ta l C o n c e p t s a n d A n iııs ıs O x fo r d L in i\
} c r l ily P r c s s J tX ]ħ
IR 6 ] M M u rm y M U Z e x ia n g S a s [r y S S A M a th e m a tic a ıı ntroduLlı on tu R u h u ti \ M a n ip u ln t ıu n
C R C P æ s s 19 9 4
IR 7 1 T sai L W R A ly s is : T ĥ M h a n ic s f S e r ia ı& P a r a lı
clM
na e ec o a n ip u \u tn r \ W ilť \ ı
W 9
IR B I N ik u S B ı
n tr o d u c tio n to R o b o t ic s : A ly s is S y s te m A pp ı i
na \ ı t
c a t *ì \
) P ı
r e n \ L v t u lı 0 0 1
i
Seme am ıS y lla b i r
B T e c h M e c ha i ıa n d A
U 0 *
n ca o m a tim
uı E n g in e e r in g ı y e a r (C o ın ı ı 1o a ı
no ı ı tw ıııc h c I w e r b * ł h 20 ı4 ıs a m l
(2 3 & 4 y e a n ) w * r h ıtc * 20 13 ı4 U
a pp r o w d in th e 2 2 BO S of U SET n 30
a
Ju n e 2(ı14 a n d \ o v c d in \tw Į ?* A C Suh C n +W
p ııtı C
M in g h e ld o n ł0 ・ J u ı 20 14
y
$
Ł
Scanned by CamScanner
tj r r o ll n o Im m e d ia t e ly ) R u l! t4 t ĵ
r it e yo
(p IL a se w
F ir s t T e rm Ex a m in a t io n
Te h) fe b ru a r / 20 1 F
V lll s e m e s te r (B c
Su b R o b o tï r
pa pe r C o de ET M T 40 2 f
n ıin IJ Ta y M a r kţ 30
T im e 1 h r 30
N o te A tte m p t Q N o 1 w h ic h is co m pu ı
s o ry a n d a n y tw o m o re qu e s t io n fr o n t re m a in in g
Q 1 ) (a ) D iffe re n t ia t e b e tw e e n PT P C o n t ro ıa n d CP Co n tr o lo f R o b o t
(b ) W ha t d o yo u m e a n by R P Y m o t io n ?
(c ) B r ie fly e x pı
a in R o bo t Co o r d in a t e s y s t e m s
(d ) W h a t is J a c o b ia n M a n ip u la t o r ?
(e ) W ha t d o yo u m e a n by h o m o ge n e o u s t r a n s fo r m a t io n a ls o w r it e h o m o g e n e o u s
transformation m a t r ix c o r r e s po n d in g t o a ro t a t io n by a n a n g le Q a bo u t Z a x is (2 ×5 !
Q 2) do yo u m e a n by S e n s o rs E x p la in d iffe r e n t ty p e s Q f t o u c h a n d t a c t ile s e n s o rs u s e d in
RO b l ￥ V i t h n e a t s ke tc h
b )W h a t diyou m e a n b y A c tu a to rs ? E x p la in it s a lıty p e s w it h e xa m p le s a n d n e a t s k e tc h (5 ×2 !
Q 3 ) a ) E x p la in t h e c o n ce p t o f fo r w a r d a n d in v e r s e k in e m a t ic s o f r o b o t s
t a t e d w it h r e s p e c t t o fr a m e {1 } a b o u t th e x a x is by g le f60 °
The Po s ľ tïo n
b ) Fra m e {2 } is ro a n a n o
o f th e o r ig in o f fr a m {1 } is D 2 [7 0
e {2 } a s se e n fr o m fr a m e
'
・ 5 0 7 0l】O b t a in t h e f
, r ı
'
c ř i d e s c r ib e fr a m e 12 } r e la t iv e
Ł i , ĺ ü r n i d t io r 1 m a t r ix l 2 w r\ı ,
t o fr a m
AhŘirrd q 4
4 ]
4 r ・
d e s c r ip t io n o f p o in t p in fr a m e (1 ) if p [2 0 4 0 6 이a
z
.
, m (5 ×2 1
c o n v e n t io n fo ig n in g fr a m e s to in k s
ı a n d id e n t ify in g jo in t ı
in k p a ra m e te rs
Q 4 ) a ) E x p la in D H r a ss
ıN o
Ro ı
u r ro lın o Im m e d ia t e ly )
(p le a s e w r it e yo
F ir s t T e rm Ex a m in a t io n
Fe b ru a ry 2 0 16
l s e m e s te
v lı r (B Te ch)
Su b Ro b c ıt lc s
pa pe r C o d e ET M E 4 0 4
M ax M a rk s 30
T im e 1 hr 30 m in
e s t io n fr o re m a in ı
n s
N o te A tt e m p t q N o 1 w h ic h is co m pu ı
s o ry a n d a n y tw o m o re qu m
Q 1 ) (a )S t a t e La w s o f R o b o t ic s
(b ) W h a t d o y o u m e a n by R P Y m o t io n ?
(c ) W hat do yo u m e a n by A c c u ra c y a n d R e p e a t a b ìlit y ?
(d ) D iffe r e n t ia t e b e t w e e n PT P C o n t r o ıa n d C P C o n t r o l f R o b o t
(e ) W h a t d o yo u m e a n by h o m o ge n e o u s t r a n s fo r m a t io n a ls o w r it e ho m o ge n e o u s
t r a n s fo r m a t io n m a t r ix c o r r e s p o n d in g t o a r o t a t io n b y a n a n g le 中 a bo u t Z a x is (2 ×5 )
& 2 )a ) W hat do yo u m e a n by Se n s o rs a in d iffe

Ex pı r e n t ty p e s o f to u ch A n d t a c tile s e n s o rs u s e d in
R o b o t W it h n e a t s k e t c h
đî a in d iffe re n t Ro bo t Co o r d in a t e S y s te m w it h n e a t s k e tc h (5 ×2 )
& ) a ) E x p la l+n t h e c o n c e p t o f fo r w a r d a n d in v e r s e k in e m a tic s o f r o b o t s

ti) i è m e 12 } is r o t a t e d w it h r e s p e c t t o fr a m e {1 } a b o u t t h e x a x is b y a n a n g ıe o f 60 T h e p o s it io
°
n
ìt o r ig i i c f fr a p 1 e {2 } a s s e e n fr o m fr ĵ m e {1 } is D z [7 0 5 0 7 0 ] O b t a in t h e
'
o f tı , -
t r a n s fo r m a t io n m a t r ix T z w h ic h d e s c r ib e fr a m e {2 } r e la t iv e t o fr a m e {1 } A ls o i n d t h e
, ,
d e s c r ip t io n o f p o in t P in fr a m e {1 } if 2 p 12 0 4 0 6 이0 -
{5 ×2 )
Q 4 ) a ) E x p la in D H c o n v e n t io n fo r a s s ig n in g fra m e s to lin k s and id e n t ify in g jo in t lin k p a ra m e te r s

b ) W h a t is Ja co b ia n s in a r it ie s ?
gu ı Aı
so ex p la in co m p u t a t io n o f s in g u ıa r īt ie s (5 ×2 )
(n e a se w r it Ro ur R o ll \ o ı
m n Je d ia tll ly ) IOU N o
n d
2 Te rm Ex a m ln a t ı
o n
V llıS e m [B Te chl A p r2 0 14
CS
Su b : R O B O T ı P ı p l r C o d ・ ET M E 4 0 4
T im e : 1 :3 0 h r s M a x M ・r k s 3 0
N o Æ Ąt t m a m B m n t ą n is c o m r M m a n y Ŕ g m Q æn §m l m m ıq &
Q 1 (2 X 5 10 }
-
a ) E x p la in Ja c o b ia n
b } D is c u s s e n d e ffe c t o r
c ) D is c u s s fıe x ib le a u t o m a t io n
F ill t h e fo llo w in g b la n ks
fo r o b je c ts
e )Ro ta t io n a bo u t g e n e r a l a x is :
F irld t h e e ffe
R o t(q d e
c
)
L;
t o f a d iffe r e n t ia l r o ta t io n
į į
o f 0 2 r a d a b o u t t h e y a x is fo llo w e d by a d iffe re n t ia l
tio n o f [0 1 0 0 2 ] o n t h e g iv e n fr a m e B
(4 )
,
2 b )T h e h a
"
Ēį ;
ĝ】
g n d a m e o f a S Do F ro b o t, its n u m e r ic a l ja c o b ia n fo r t h is in s t a n c e d f d iffe
,
a n a se t o re n t ia ı
m o tio n a r e T he bo t ha s
e n ro a 2R p2R
configation F in d t h e n e w ı
o c a tio n o f th e h a n d a fte r t h e
d iffe r e n t ia ı
(6 )
" ,
ĺįį įș1 ł
ĺĮļť{ .
.
Į
q 3 a )E n ı
is t c o n s id e ra t io n fo r s e le c t io n o f e n d e ffe c to r
(4 )
L Q 3 b) T he fo llo w in g d a ta r e la te d to a
ı L ￡n e c ha n ic a l g r ip p e r u s in g fr ic t io n to ßr a s p
8 ū F §ţ je c t : W e ig h t o f th e p a r t 30 N =
,
C o e fn c lie o t o f fr ic t io n b e tw e e n t h e g r ip p e r
pad a n d th e o b je c t = 0 3 ,
L e n B t h s : ll -
) 72 m m l2 = 48m m r, ı
3 18 m = m ,
l4 = 5 4
D f* Q f th e p lw n o f th e pn e u m a tic
c y lin d e r = 78m m ,
FO S = 1 4
If t h e g r ip p e r is a c c e le r a t in g d o w n w it h a n
2
a c c e le r a t io n /5 ・ 9 81 m
(i)T h e g r ip p in g fo r c e to r e t a in th e p a rt
(ii)A c t u a t io n fo r c e r e q u ir e d t o o b t a in t h is
B r ip p in g fo rc e
(6 )
Q 4 W r ite s h o r t n o te s (a n y tw o ) (5 X 2 ・ 10 )
a ) S t a tic fo rc e a n a ly s is f r o b o t w ith
o e xa m p le
b )M a c h in e ı
n te r fe r e n c e
c ) ın te r ı
o ck
d )R o b o t ce lı
ı a yo ut
Ē
1ĺ n o i 11 m r d ia t t ly ) R o lt N o
(p ïe a s e w r it e yo u r ro
Se co n d Term Ex a m in a t io n
V III S e m e s t e r (B Te c h A p r il 2 0 1 6,
pap e : C o d e ET M E 4 0 4 S u b R o b o tı
cs
l in i e n r 30 1T l in M a M a rks 30
N o te A tt e m pt Q N o 1 w h ic h is co m puı d e s t io n s fr o a in in
s o ry a n a n y tw o m o re qu m re m g
0 1 ) (a ) W h a t d o y o LI m e a n by a c t iv e a n d p a s s iv e g r ip o e r?
(b ) W h a t d ņ yo u m e an b y V A L la n g u a g e p r o r a in g ?
g m m
(c ) D e fin e fle x ib le a u t o m a t ic n ?
(d ) D e fin e e n d e ffe c t o rs M e n t io n it s d iffe r e n t ty p e s
(e ) W r it e d iffe re n t in d u s t r ia l a p p lic a t io n o f R o b t
o (2 ×5 )
n 7 1 W h P
Q 3) n th e a p p lic a t io n o f ro b o t s in
a ) m b ly o pe ıu t io n
& ı
n io n
g ħ
Aterial t r a n s fe r
d) M a c h in e lo a d in g a n d u n io a d in g
(1 0 )
二川ラらy ヂ手ゴ
' ' " "
バ
ノ两田ー、、。
_ 。。蓉园 ― ― ― ―
d ) R o b o t c y c le t im e a n a ly s is
(1 0 )
i
(p le a s e w r it e yo u r ro ll n o Im m e d ia t e ı
y) R o lıN o
Se co n d T e rm Ex a m in a t io n
ll S e m e s t e
V ı r (B T e c h ) / p r it 2 [j l ?
Pa p e r Co de ET M T 4 0 2 Su b R o b o ĺ ïc$
T im e 1 hr 30 m in M il K M a rks 30
N o te A tt e m pt q N o 1 w h ic h is co m p u ls o r y a n d a n y tw o m o re q u e s t io n s fr o m re m a in in g
Q 1 ) (a ) W h a t a r e th e d e s ißn co n s id e r a t io n fo r A c t iv e a n d p a s s iv e g r ip p e r ?
(b ) W h a t is G r ip p e r ? E x p la in it s d iffe re n t ty p e s
(c ) D e fin e fı
e x ib le a u to m a t io n ?
(d ) D e fin e W o r k c e ll c o n t r o l a n d R o b o t c y c le t im e a n a l s is b r ie fly
y
(e ) D is c u ss M e c ha n ic a lD e s ig n o f R o b o t L in k (2 ×5 )
i& 2 ) D e fin d ffe c to D is c u it s d iffe c o n s id e r a t io n

e e n e rs ss re n t ty p e s A ls o e x p la in t h e d e s ig n in t h e
ro bo t e n d o f th e a rm t o o lin g (1 0 )
Q 3 )M a ke a n a lßo r lt h m o f L a g r a n g e E u le r fo rm u la t io n t o d e r iv e t h e c lo s e fo rm e q u a t io n o fm o t io n
o fa m a n ip u la t o r o f an n D O F
(1 0 )
R ,
4 8 E x p la in t h e a p p lic a t io n o f r o b o t s in
a ) A sse m b ly o p e ra t io n
b ) In s p e c t io n
c ) M a t e r ia ıt r a n s fe r
d) M a c h in e lo a d in g a n d u n ı
o a d in g (1 0 )
뇨
ゑ
$ ı
E N D T E R M E X A M IN A T I O N
e ıo h t h s = ıııi t e r @ t æ n lm a t e 2 0 ı7
e r C o « te 8 T , 4 0 2 b ￠m
n m e 3 H o u rs l « a x tm u n ıM a p k l 7S
N b te A t te m p t a n y ßu e g u e s t to n * tn c ıu d ln g Qn o ı ıu lıtc h b c o w lıo r ￥ l
S « ı
« c t o n e q ıłe a t to n Æ m e a c lı u n fŁ
j
(I O a￠2 8« 28)
(a ) D e fin e (i) R o b o t a s p e r R IA (ii) D o F '
(b ) E x p la in d ifï e r e n t d r iv e s y s te m s u s e d in r o b o t s
(c ) E x p la in th e d o f A s s o c ia te d w ith a r m a n d b o d y o fa ro bo t
(d ) D iffe r e n tia t e b e t w e e n o p e n lo o p a n d c lo s e d lo o p ro b o tic s y s te m
(e } W r it e th e r o ta t io n m a tr ix fo r 3 a x e s o f c a r te s ia n co o r d in a te sy s te m
(f) D ifk r e n t ia t e b e t w e e n fo r w a r d k in e m a tic s a n d in v e r s e k in e m a t ic s
(g ) W r ite a n o te o n m a c h in e in te r fe r e n c e
(h ) D e lin e d y n a m ic s o f r o b o t s
(i) D e fın e (i) p r e c is io n (ii) a c c u r a c y
(i) E x p la in b r ie fly r ig id b o d y m o t io n
ïn U T I
q p la in th e c o n c e p t a
E x n d im p o r ta n c e o f a u t o m a tio n in in d u s tr ie s
B r ie fly e x Į »la in th e r o le o f r o b o t ic s y s te m s in a u to m a te d in d u s tr ie s (4 S )
(b ) W ith n e a t d ia g r a m a s p la in
ex th e c o n s tr u c tio n a n d w o r k in g of
c a r te s ia n co o r d in a te r o b o t a n d p o la r c o o r d in a t e ro b o t 吕
( )
(a ) W h a t a re th e d iffe r e n t e le m e n ts /c o m p o n e n ts o f a m a c h in e v is io n
y s te m ? E x p la in
s (4 5 )
( ) x p la in w ith n e
b E a t d ia g r a n ıs (i) to u c h a n d t a c tile se n so r ( ) o rce
ii f
a n d to r q u e se n s o rs u se d in ro b o t ic s y s te n ı (吕)
tH TU T n
(a ) D e r iv e th e ex p r e s s io n fo r tr a n s la to r y tr a n s fo r m atio n a n d m a t r ix
ro ta t io n m a t r ix fo r a p u re ro t a tio n a bo u t o n e o f th e f th e a x is o
r e fe r e n c e fr a 工tıe (6 )
(b ) E x p la in p ro c e du re o f fix in g th e c o o r d in a t e fr a n ıe a n d d e r iv a tio n o f
h o m o ge n e o u s tr a n s fo r m a t io n m a tr ix a s p e r D e n a v it H a r te n b e r g
c o n v e n t io n (6 5 )
(a ) D lin e J a c o b ia n D e r iv e th e e x p r e s s io n fo r d iffe r e n tia l o p e r a to r

e (6 )
(b ) D e r iv e th e fo r w a r d k in e n ıa t ic e q u a tio n fo r p o s it io n o f a s p h e r ic a l
c o o r d in a te r o b o t in v o lv in g a r m a n d b o d y m o t io n (6 5 )
Q6 (a ) W r ite s h o r t n o te o n (i) N e w to n E u le r r e c u r s iv e a lg o ń th m (ii) D e NO C (8 )

(b jD e ūn e La n g r a n g ia n E x p la in th e d y n a m ic a n a ly s is o f a ro bo t u s in g
L E fo rm u la t io n (4 5 )
Q7 (a ) E x p la in t h e r o le o f en d e ffe c to r s a s (i) g r ip p e r (ii) t o o ls b y ta k in g t w o
ex a m p le s (Ħń t h d i\ am s ) in e a c h c a s e (吕)
(b ) E x p la in t h e fa c to rs to b e c o n s id e r e d w h ile m a k in ß g r ip p e r d e s ig rı
a n d s e le c t io n (4 S }
P T O
E T m r ûh
[2 ]
U H ıT I V
(吕)
Q8 (a )E x p la in :
(i) R o bot c e ll la y o u ts
ll f a ro b o t
h ile d e ig n w o r k ce o
to b e c o id e r e d s
(b ) s t a te t h e fa c t o rs n s w
«4 S } .
B r ie lly ex p la in
(4 S )
Q9 (a ) w r it e a n o te o n m e c h a n ic l d e s ig n o f r o b o t lin k s
a b ly
in (i) a s s e n ı
t h e a p p lic a t io n o f ro b o ts
(b ) E xp la in w it h d ia g r a m s
(吕)
o p r a t io
e n s ( ) n a c h in e
ii r lo a d in g a n d u n lo a d in g
(a } W h a t a re th e b a s ic co m po ıt s
n eı o f a ro b o tic ?
s y s te m s ta te th e m a n i
M
i W h a t a re th e a dv an ta g e s o f h y d r a u lic d r iv e sys te m s o v er e le c tr ic l d r iv e
・y s t e m ? a
() c
X,0X o f ro
X X e x = Ér w e ￡
(4 5 1
(a ) W n a t is a se n s o r? S ta t e a t le aat fiv e im p o r ta n t c h a r a c te ń s t ic s o f e e n e in
d e v ic e a n y g
(b } H ow do yo u s p e c ify b o t?
14 }
a ro D is t in g u is h b e tw ee n th
ta b iliw f
e a c c u ra c y a n d
re pe a o a ro bo t
(c ) A r o ta r y jo in t m o v e s fr o m 1 5 o t o (4 )
+4 5 o in 3 se co n ds D e te r m in e th e
p o ly ııo m ia l fo r a s m o o th t r a e c t
j o ry ,
if t h e in it ia l a n d fm a l v e lo c iw an d
a c c e le r a tio n s a r e z e r o
14 S}
p ım -n
(a ) D e te r m in e a T m a t r ix th a t re p re s e n ts a ro ta tio n Th r o u g h a n a n ļ
g ę g Q u t
th e O X ax įe Fo llo w e d bR siation f b it
o u n o f d is t a n c e a lo n
g th e O z
g g s , fo llo w e d b y a r o ta tio n o f O a b o u t th e O Y a x is
(4 S )
(b ) C a r r y th e IO r w a r d K Ë Ħ Ħ o r a E s h e d 4 t a rm sh o w n in
P I (4 « 2 8 ) =
(i) D H ı a b i e
m PF o & tio n o f Ħ »in t P w r t frx e d p o in t 0 in le r m s o f su i ta b lt k p a ra m e te r s
joint \
d ııı
P
で
产
T X
'" ~ ' '
-
Q5 D e te r m in
th e d y n e m lc
e
m o de l o f I
L ı0 0 8 1 ax ı a p la n e r m a n ip u la to r w
ith o n e
ro tE u y Jo in t A
s s u m e th e li
n k to b e
,
a c tin B a t th c c c n tr o ld
\ th in ç y lln d e r w ith le n B th L a n d m a = B m
o r th e ı in k O b ta i th e e o lu tio n u ßin E u le r
fo r m u la tio n n B LÆ g r a n g e
. (1 2 6 )
ŲN IĮ M
Q6 (a ) W ith th e a id k e tc h e s
s d e s c r ib e b r le n ll m o tio n s o f a ro bot
y p itc h d
,
w r is t ya w a n ro
,
(4 )
(b ) nA e n d e fle c to r a tt
a c h e d to a fo r a
th c r o b o t s p e c ia liz e d
'
・
ı?o b o t m a k e s
p a r tic u la r ta s k E x p la in th (4 )
e s ta te m e n t
(c ) A v acu u m cu
p g r ip p e r i8 u s e d to u # fa lt la te s o f s ta in le s s s te ll w e ig h ir ı8 1 k g
p
T h e B r ip p e r w ill
u tiliz e tw o s u ti
c on cu s o f d ia m e te r 1 o m m
o If tp ; e fr ic d o rı i
co e ffic ie n t is 0 1 re
a n d fa c to f tiv e p r e s s u
r o s a fe q r is 2 o , d e te rm in e th e n e ga
re q u ir e d to lift th e w e ig h t (4 6 )
Q 7 (a ) W h a t are th d iffe
e re n t ty p e f th e
s o a c tu a to r s u se d fo r ro b o tic s ? w h a t a re
(b ) W h ic h t e
yp f g r ip p e r ite
pe ? W
o rs a re u se d to g r a s p th e o b je c t o f a rb itr a r y s h a
(c ) D e s c r ib e th e m e r it s & d e m e r its o f fo llo w in B R o b o t p ro gr a m m in g L a n gu a ge s : (4 5 1
III M CL
IV A C L
Q9
团
团
冈
屬旨個爾 R o 戟鳥 / 吕燕国目质 o 玆垧
伊细目 ı・ ı
ıırł
钿￥o ıłr 。 . .
E N D T E R M E x A M IN A T I O ıï
n lo » T H e n ıım ? ıł
R æ T Bc H ] ıA A Y J U 】
ıE 2 0 1 6
m C o d ・ 8 4 0 4 S ıłĄr = c t R o
n n t￠ 3 J fo u n l ￠a x tm u m h a r Ju 7G
N b te A tt ￠w t a n ￥ ßm qu ・* t to l u tn c ı
u d tn ￠ Q n o ı ıu h (c h U c o n Į p u lı￠}r ￥
. . ・
Is e il e t o n e g u e s u o n æ m e a c h u n it A m m ・ m u d n p m ・ d a ta q a n y
tta b ı j
A n sw e r th
fo llo w in g q u e s tio n s b r ie fly
e (2 辱￥ 1 0 a 2 8 ) .
(a )D ed ofın
f e
o f r o b o t
(b ) S ta t e d iffe r e n t m o d e s o f r o b o t p r o g r a m
(c ) D if【 e r e n tia te b e tw e e n in te r v a l r i
g p p e r a n d external g r ip p e r
()
d D e fin e ta c t ile s e n s in
g G iv e e x a ın p le
(e ) D iffe r e n tia te b e tw e e n E le c tr ic & H y d r a u lic d r iv e s y s te m u s e d in
r o b o ts
(1) W r ite th e r o ta tio n m a tr ix fo r r o ta tio n o f T w ith r e s p e c t to y - a x is

(g ) L is t d iffe r e n t ty p e s o f e n d e q u tio n u s e d o n to o l
(h ) D e fin e in v e r s e k in e m a tic s
(i) W h a t d o y o u m e a n b y R P Y m o t io n ?
ü) H o w d o y o u c la s s ily A u to m a tio n ? B r ie fly e x p la in
U n it I
(a ) B r iw e x p la in th e fo llo w in g te c h n ic a l fe a t u r e o fa r o tx »t (8 )
(II W b r k v o lu m e
(ii) IÄ »a d c a r r y in g c a p a c ity
(iii)D r iv e s y s t e m
(iv )P r e c is io n o f m o v e n ıe n t
(v ) S p e e d o f m o to r
( ) x p la in th e 6 d o f o f r o b o t m a n ip u la to r w ith
b E n e a t s k e tc h (4 6 )
(a ) E x i»la in th e co n ce pt o fFo rw a r d K in e m a tic s a n d In v e r s e K in e n ıa tic s o f

b o ts
ro (4 )
D iffe r e n tia t e b e t w e e n PTP ro bo t a n d C P ro bot (4 1
(c ) W ith n e a t s k e t c h e x p la in to u c h a n d t a c tile s e n so rs u se d in ro b o ts ( S)
4
u n it n
Q 4 N XPlain ith n e a t s k e tc h th e s te p b y s t e p p r o c e d u r e t o b e fo llo w e d fo r

w
ıa n t in g D e n a v it H a r te n b e r y C o n v e n tio n A ls o d e r iv e th e n ıa tr ix
r e p R e s e n t a t io n fo r c o m b in e d tr a n s fo r m a tio n in c o r p o r a tin g th e lin k
p * n » n e te r s (9 )
(b )W r ite a n o t e o n (i) p u r e tr a n s la t io n a n d (ii) p u r e r o t a t io n m a t r ic e s (3 )
S
e r iv e th e m a tr ix e x p r e s s io n fo osition
'
fen d ffe c t e r fa sp h e r ic a ı
Q5 (a ) D r o e o
b o t in v o lv in g o n e lin e a r m o tio n a n d t w o ro ta r y m o tio n

c o o r d in a te ro
D ra w n e
i
a t s k e t c h t o r e p r e s e n t th e s e tr a n s fo r m a t o n (8 5 }
(b ) D e r iv e m i
a tr ix e x p r e s s o n fo r d iffu s a l v e lo c ity o f a ro bo t a n d e ū ec t e r (4 }
P T O .
丁他已内叫
ıe=
91
4 in ) W h « t is H R o h o t? D e s c r ib e th e c o m p o n en ıo f R o b o t e In d e ta Įl
tı (ı0 )
n in th e fo \rr b a s ic c o r a t i o n e o f R o b o t 八r m w ith th e h e p o f
ı
IN E x p ı
n ea t s k e tt h e s (8 1
h
(ł\) ŲR r a t d o y o u u n d e r s ta n d b y r o b o t w o r k s p tıc e ? D r e w t e w o rka p a c c fb r
ç y lin d r ic a l m d e p h e r ic a l r o b o t t\R M s ler}
e le m e n tı a n d
(◆ F o r th e fo llo w in g fr m e fin d th e v a lu e tt o f th e m is a ln g
,
tx tm p le te th e m a tr ix r e p r e s e n ta tio n o f th e fr a m e (1 0 1
? 0 ? 5l
0 7 ? ?
F -
? ? 0 2
0 0 0
Define fo t w r d a n d in v e r s e k in e m a tic s o f r o b o ts (3 1
u d ie s u b je ç te d to th e
n t p {7 , 3 , 2 ) is a tta c h e d to a m o v in g fr a m e a n
Uoi
Ħ«
b e d b e lo w F i n t h e c o o r d in a te s o f th e p o in t relalle
礴\ i Ħê i = F T f a m e a t th e c o n c lu s io n o f tr a n s f o a t i o n s
Ęo ta t io n o f900 about V
(ii) F o llo w e d b y a r o t a tio n o Į Į Q h g ııa x i s

(i i ĐF Ñl o d m ā o n ,
bou t Z a x i8 o f th e
l D e r i t iiė m a i r ix th a t r e p r e s e n tś a p u r e
r o t a r ıo n a
c )
r e fe r e n c e fr a m e is )
h i fi 1, 11 2 )
(a ) F o r th e S C A R A ty p e r o b o t s o w n n g u
re
Q +
ta t io
f b d o n D H r e p re s e n n
(i) A s s ig n th e c o o r d in a te n t m e s a s e
t bl
(ii) F ill o u t th e p a r a m e te r s a e
i
(iii)W r it e a ll th e A m a tr c e s
h T t i in te m ıs o f t h e m a t r ic e s
(iv )W r ite t e H m a r x
b ia b o t a t a p a r tic u la r tim
fa e iņ g iv e rı b e lo w C a lc u la te
(b ) T h e J a c o n o ro
o f th e R o b o te h a n d fr a m
e
th e tiııe a r a n d w ıa r d iffe r e n tia l m o tio n s
13 )
fo r th e g h le n jo iï 1 t d iE e r e n tia l ï rıo t io n
P T O
. ,
召 [a 1 n
o l 0l r 0 l Ą
d R PY co m b in e tt io n a f
in g th t ro b o t is ın a de o f a c a r te s ia n a n
Q5 (a ĺ) A a a
:
s su m
c h ie v e th e fo lı
o
jo in ts F in d th e n e c e s s a ry RpY a n g le s to a
po s it io n
0 52 7 0 5 74 0 62 8
0 369 0 8 19 0 4 39 6
T ・
0 766 0 0 64 3 9
0 0 0
d e fın itio d o p e ra t io n o f
p la in t h
E n a n
ib R b t E d E fï e c t o r s x e
(wb )ı D e scr e o o n
(5 )
司 ■团团团团团团团■
石
M e c h a n ic a l G r ip p e rs
ld b y g r ip p u s in B ffic t io n a g a in s t
ig h in g 4 k g is t o b e h e a e r
\ (a ) A p a r t w e
w is o 3 T he o r ie n t a t io f th e g r ip p e r w ill b e s u c h t h a t
n o
Tł
ıe p a r t s u r fa c e
.
ill b e a p p lie d in a d ir e c t io n p a r a lle l to t h e
M w e ig h t o f th e pa rt w
C o m p u t e th e r e q u ir e d
e
g fa c t o r is 3 0
'
s th e
'
ta c tin g fın g e r s u r fa c e
(8 )
g t ip p e r fo rc e '
d it s dv an ta g e s
T 1e x ib le M a n u fa c t tır in g S y s te m a n a
(b )D e sc r ib e th e t e rm
(4 )
o v e r t r a d it io n a
l m a n u fa c t u r in g s y s te m
if R o b o t w o r k c e ll ı a yo u t
(3 }
(c ) E x p la in a n d c la s s y
f ı1o w in g 11 5 )
Q7 w ite s h o r t n o t e s o n th e o
r
a t o r s u s e d in R o b
d e s ig n
(a ) S e n s o r s a n d A c tu
V c u u Jn G r ip p e r s
(b ) M a g n e t ic a n d a
ti s o f R o b o ts
(c i In d u s tr ia l A p p lic a o n
会会合每台会会* * * * 食
矿冶鹰メ主そ
S LS -
3 '
& p trv &

VŁ e M
q . .
￡płai&fd ?
吵石紅 h A 阳ガ. 轳荫は改认 jf - ・・c A 。鳥 t
列縣
L d * S l c t e ÅĄ
芋民
中目〉叫o口队
产 " ￠p 》 \ " 甘甘レロトu ぬイ套头
& @ ・
uj đ ť?
ı
G iw ar L
hı h .
\ 叶《ガle 냐 c 9 d ı 自 , 醐
鸣降。
R » Ļ # ļ íų
Ș L S
U N IT I
F U N D A M E N T A LS O F R O B O T S
1 D e fin e a u t o m a t io n ?
t is a t e c h n o lo g y t h a t is
ı c o n c e rn e d w th th e
ı fm h a n ic a l,
u se o ec e le c t r o n ı d
c an co m p u te r b a s e d s y s t e m ı
n th e
o pe r a t io n a n d c o n t ro ıo f p ro d u c t io n
2 U st o u t t h e ty ı
t* s o f a u t o m a t ı
o n ?
1 F ix e d a u to m a tio n 2 P ro g r a m m a bı
e a u to m a t io n 3 F le x ib le a u to m a t ı
o n
3 M e n t io n t h e b e n e fı
ts o fı
n d u s tr ı
a l a u to m a tio n s y s t e m s ?
Im p r o v e d q u a lı
ty s a fe t y , m a n u fa c t u r in fı
,
g e x ib ility , o p e r a t io n s re lia b iı
ity , d e c is io n m a kı
ng
4 D e fin e R o b o t?
A m ac h in e in t h e fo rm o f a hu m a n b e in g t h a t p e r fo rm s th e m e c h a n ic a l fu n c t io n s o fa hu m an b e in g b u t la c k s
s e n s it iv ity
,
ro ßra m m a b le t ifu n c t io n a
m u ı ım a n ip u la t o r d e s ig n e d t o m o ve m a t e r ia ls , p a rts , t o o ı aı
s, o r s pe c ı iz e d de v ı
, ce s,
v a r ia b le p r o g r a m m e d m o t io n s fo r t h e p e r fo r m a n ce o f ta s k s
m eant b y R o b o t ic s ?
Ħ= * # s tu dy an d te c h n o ı
o gy f r o b o t s It bı
o e n a es u s to d e s iB n a u to m a te d h a n is m
m ec s ca pa bı
e of re p la c in g p e o p le
in c e r ta in jđ * *
6 W h a t a r e th e r u ı
ık R o b o tı
cs ?
W e A gt h a rm h ıte n ļ n b e in g 2 0 b e y h u m an b e in g 3 p r o te c t its e lf fro m h a rm
7 W hy a re ro b o ts u se d?
A )T o re du ce p r o d u c t io n ra te s F a s t, A c c u ra te D if fic u lt ie s in h u m a n n a t u re
,
B jT o a vo id 3 d jo b s D ir ty D a n ge ro u s , D iffic u lt
8 W h a t is m e a n t b y R o b o t a n a to m y ?
Stu d y o f s t r u c tu re o f r o b o t is ca lle d ro bo t a n a to m y
M an ip u la to r is c o n s t r u c te d o fa s e r ie s o f Jo ı
n ts an d lin k s A Jo in t p ro v id e s r e la t iv e m o t io n b e t T h e in p u t lin ks an d th e
in k E a c h jo in t p r o
put ı v id e s th e ro bo t w it h o n e d e B re e o f fr e e d o m
9 e ty p e s o f Jo in t m o n ?
tı
1 Lin e a J l* & jo in t ) 2
r o iı R o t a t « ) n a ljo in t (R jo in t )3 T w is t in g jo in t (T jo in t )4 R e v o hrı
n B Jo in t (v jo in t )5 0 r th o go n a ı
lo in t (O jo in t ) k
10 M e n t io n B ii$iM iı* = E i tio n o f r o b o ts ?
(i)P h \ ic a ıc o n fig u r a t io n 1 C a r te s ia n c o o rd in a te c o n fg u r a t io n 2 C y lin d r ic a l c o o r d in a t e co n fig u r a t io n 3 Po ı

ar o r
s p h e r ic a \ c o o r d in a te c o n fıg u ra t io n 4 J o in te d a rm co n fig u ra t io n e c tiv e C o m p lia n c e A s s e m b ly R o b o t A

5 Se ı rm (S C A R A )
(iİ )C o n t ro łs y s te m 1 p o in t t o p o in t ro b o ts 2 S t ra ig h t lin e ro b o ts 3 C o n t in u o u s ro bo t
遍
* ıı・d r o
r ı bo t
l 3 W aı
1 F ix e d 2 M o b i ￠
kınl o
iï )M
(ı o ve m e n t
v e 3 Eı
c d rł c d rł
・c tr ı vı
1 pne u m c d r lv *
a tı 2 H y d r ıu ı
ı
v )T y p e s o f
d r iv e
(ı
n ı3 T e ıt ł
H a n d lı ng
c a tı 1 M a n u fa c t u r in g 2
(v )A p p ı
ı o n
n g le d e g r e e o f fr e e d o m
1 Sı 2 T w o 3 T h r e e 4 S lx d ıır* * * o f fr・・d o m
o f fr e e d o m
(v l)D e g r e e s
n * ıc c u n c y
D * fı ?
12
th ı
ntw ı ts re ıc h l$ c a ı
n ı ıc d « c u r łc y
fa t io
b o t to p o s ı n s t e n d a t d e s tr e d ta rg e t p o ı
its w r ı
The a b Hı
ty o ro
o n )?
o n (p r e d s ı
13 w n a t is m e a n t b y r * l o ı
u tı
e d b y th e
lı ro b o tk c o n tr o ııy ıte m
T he sm a lı
e s t in c r e m e nt o fm o t io n o r d is ta n c e t h a t c a n b e d e te c te d o r c o n tro
14 llty
W h a t is r * p e a t a b ı o f r o b o t?
bo ť b ility to re t u r n to t h e d p o in t he n it ls c o m m a n d e d to d o so
It r e fe r s t o ro s a p ro g r a m m e w
W u '" u tth '" pe ' " p ・t h ' "r o l ?
N p t' " o p 2 P o in t t ° p . In t l C o n t - lle d p a t

h 4 C o n tm u o .
融蔗二二二 . . . . . . .. 。， . . . ，。 A c t. . . . . . 。。
17 w n it b » +« * iııı» * ? G ı
v e exa m e s?
pı
to p e r fo r m flc t a s k
s pe c ı
t is a d e v ic e t h a t is a tta c h e d t o t h e e n d
ı o f th e w r is t a r m
ı
d in g q u ip m ts En d o fa rm to o lin g
e ßT o o ls , W e e e n ,
W hat ı t by w o rk s p a c e a n d w o rk v o ı
um e T
18 s m e an
bo t is c a p a b le f o pe r a t in g (o r )t h e re a c h a bı
ıity o f ro b o t a r m is k n ow n
T h e s p a c e in w h ic h t h e e n d p o in t o f t h e ro a rm o
a s w o rks p a c e
bo t is c a ı
le d w o r k v o lu m e
T he vo ı
um e o f th e s pa ce sw e p t b y th e ro a rm
ı
s m eant b y p a y lo a d ca pa cı
ty o f r o b o t?
h ic h be c a r r ie d b y th e m a n o w o r n o rm a ı
ip u la to r a t ı s pe e d
T he o ad
ı w ca n
i w h a t a re t h e ty p ď Æw rı
st m o o n s?
tı
Ī W r t rolııła*ııh 3 W r is t ya w s
21 etı
s m e a n t b y p a lı
w ha t ı zın g a n d d e p a lle t ı
zın s?
n g to fix e d r u le s
1 A rr a n g in B m a t e r ia ı
s o n a p a lle t a c c o r d ı
2 Re m o v in g in se qu e n ce ,
m a te r ia ı
s w c h ha v e be e n
hı a r ra n se d o n a p a lı
et
22 w n * t ım d ・f « ıw h ı
th * fıc to r s t o b * c o n $ ı ı* $ ıı
*ł n ıth ı r o b o t?
ctı
1 Lo d c a r r y in g c* Ħ c ı rıd 2 S p e * d o f m o v * m e n t 3 N u m b * r o f d ıır ııs o f fre ıd o m 3 R e ıc h 4 v ıl lt

ty r e q u ı
a o c y S w ıı
ıh t
o f th e ro bo t
23 W n ıt ır e th e d s ıd v a n tıııs o f r o b o ts ?
1 H iB h in t ia ıc o s t 2 M o re u n e m pı
o ym e nt p ro b ı
e m s 3 N e e d o f s kı
lle d lıb o u r
リN ı
了 II
ßQ B Q ï D R ı
1 W h ı
s a c t u a t o rs ?
*
D e v ic e d fo
u se r c o n v e rt in g h y d ra u lic , P n e u m a t ic o r e ı
e c t r ic a ıe n e rg y In to m e c h a n ic a l e n e rg y T h e m e c h a n ic a l
e n e rg y is u se d to B e t t h e w o rk do ne
2 W h a t a r e t h e fa c to rs w h ı
c h m u s t be c o d e re
n sı d w ı
hıe c ho o s ı
n g th e d r ı
v e s y s te m fo r ro b o ts ?
b )R e p e a t a b iı
ity )D e g re e o f fr e e d o m d )M b ility
c o e )c o o r d ı
n a te s y s te m s f)G ra v o naı
lta t ı and
fr ic t io d th e rm ıe « e c ts h )w
n a n a e g h t i)p o
ı w e r to w e ig h t r a t io j)o pe ra t ı
n ßp r e s s u re k )s t ı
Ħn e s s v s
3 Lis t th h ıd v a n ta g e s a n d d ls a d v a n ta ße s o f h y d ra u ı
ic d r iv e ?
isd=insion m o t io n c o n t ro ıo v e r a w id e ra n ge o fspe e ds a n o a d s 2 R o b u st 3 G
d ı re a t e r s t r e n g th
D a dv 1 Ex pe n s iv e 2 H ig h m a in t e n a n c e 3 Note n e rg y e ffic ie n t 4 N o is y 5 N o t s u ite d fo r cı

e a n a ir
e n v iro n m e n t
Lis t t h e a d v a n ta g e s a n d d is a d v a n t e g e s ￡f p n e u m a t ic a c t u a to rs ?
M v 1 Co m pa ct 2 Co n t r o ıis s im p ı t is c h e a p e s t fo r m
e 3 ı o faı
ıa c t u a to rs 4 In d iv id u a ıc o m p o n e n ts c a n be
e a s ily in te rc o n n e c te d
D a dv 1 M o r e n o is e a n d v ib r a t io n 2 N o t s u ı
t a b le fo r h e a v y lo a d s 3 If m e c h a n ic a ıs to p s a re u s e d re s e tt in g
th e s y s te m can be s lo w
5 U s t th e a dv a n ta te s a n s a d v a n ta g e s
d dı o f Eı
e c t r ic a la c t u a to r ?
A dv : 1 H ig h p o w e r c o n v e r s io n e ffic ie n cy 2 N o po ı
lu t io n o fw o r k in g e n v ir o n m e n t 3 T he y a r e e a s ily
m a in ta in e d a n d re p a ir e d 4 Lig h t w e ig h t 5 T h e d r iv e s y s t e m is w e lıs u ite d fo r e ı

e c t ro n ic c o n t r o l
司 Dawoor dy n a m ic r e s p o n s e 2 Co nven t io n a lg e a r d r ı
v e n c r e a te b a c k la s h 3 A ı
a rg e r an d h e a v ie r m o to r
m u st b=ied w h ic h m u st be c o stı
y
6 En u m * rıte fh r * n c ņ b ıt O p ın ı
dł oop ın d cł * d lo o p
* ı c o n t ￠o ım t* n ıl
亟斗오받 친汹墜 c 医曜조ニコb 墜厦置式置二目
一
口 o n tr o ł塑业쁘
团团国圈圈 ı M o r ・ łe x
lm ? C W
岸
l ź f y
F3 ' " 0 " ' '
■ ľ ,= x ,
' "e n
te ' " c" e tı ın no R t l* llv * ly łc c u
r* q u in d w iw s
r ıle in mılchingmu*ıto tı
qı
ĺ
. 4
7 W n a t a r ・ th e * ı
* m ın ts o f th ı c ı
oM ı l ıy s tım ?
oop c o n tr o
1 Co m p a r is o n e ı
em e n t 2 C o n tro ıe le m e n t 3 C o r re c tio n e le m e n t 4 P ro c e u e le m n t S M * * l\
e le m e n t
8 W ha t ı
s ı s te p p e r m o to r ?
It is a d e v ic e w h ic h t r a n s fo s e ı
rm e c t r ic a ıp u ı
se s In t o e q u a lı
n cre m e n ts o f ro t a ry s h ı￠
tm o tio n c ıd ru p
W ha t a re th e d ı
ff Ty p e s o f s t e p p e r m o to r ?
1 P e rm a n e n t m a g n e t s te p p e r m o to r 2 V a r ı
a bı
e re lu c t a n c e s te p p e r m o to r 3 H b r id s te r n x )to r
y p pe
W ha t a re th e a dv A n d dı
s ıd v ın ta ı* 1 o f S te p p e r m o to r ?
A d v j r o t a tio n a n g le o f t h e m o t o r ł s p r o p o r t io n a l to t h e in p u t p u ıs e 2 T h e m o t o r h a s fu ı l to n łu * ・t
s ta n ı
d s tııa P re c is e p o s it io n in g a n d r e p e a t a b illty o f m o v e m e n t s in c e o o d s t e e r m o t h
.
g pp o r s a v e a n ıc c u r * c y
\ ￥ ig 9ĺ Ħ a s t
e p a n d t h is e r r o r is n o n c u m u la t iv e fro m o n e t
s e p to t h e n e x t 4 E x c e ı le n t r e s p o n s e to
s t a r t in B
D a dv : 1 Re so n a n ce ca n o ccu r if n o t p r o p e r ly c o n t ro lı
e d 2 N o t e a s y to o p e r a te a t
extremıy h ig h s p e e d s 3
V e ry lo w to r q u e g h t r a t io 4 T o rq u e d e c r e a s e s
to w e ı it h ı
w n t h e s te p p ł
n c re a s e ı n g fr e q u e n c y 5 F o r
su ffic ie n t ly h lg h s te p p in g s p e e d s t h e s te r m o to r m a s kı
p pe y p s te p s d u e to o v e rs h o o t
11 W h a t a r e t h e c h a r a c te r ı
c s tı
c s o f se rv o m o tn r?
1 L in e a r r e la t io n s h ip b e t T h e spe e d an d e le c t r ic c o n t ro l s ig n a l 2 S te a d y s ta te s ta bı
lı
ty 3 W id e ra n ge o f
s p e e ūd c o n t ro l
3 U - . Ity o f m e c h a n k a l. H a . c t . ' "tks th ro u g h o u t t h . ' " l ' "eed ' "e 4 L o . M e c h a n k a la n d

q ķ .
'" r lc . łIn . Rt l. 5 F a ' " e s p o ' "
* 12 C o m pm th e A C . n d D C . m o m o to rs T
$No lıÆ e R yo M O T O R S A c S ER V O M 0 70 R S
m ıa po w tp u t læ la tı
ve ı
y le s s e r ı
e r o u
Ðn fo r s a m e $ iı￠
2 lÆ a ra c t e r is t ic s a re lin e a r No n lin e a r
3
l i " ' '' ' '
陘翻 " d t hı
g he r v ' '' ' ' ' '
4 SUitableforEū p o w er lım lo w n E H iđ ic a tio n s
fm o \ł
m ￠o n w n tïo n ?
13 W H « ıb o u t V ・r W l o
e ・r t r ı+n s ı)H ırm

iı o n lc d rı v }C h ıin #
v ts ł
1 )R o t * ty I)B t h s a n d pu ı
}e y w ı
ı}G
o n c o n v e r s io n
e a r rn o t ł )R ıc k a n d
ı p ln io )
n II L 曾# d * c r ￠w
2 )R o t a r y 1 o L in
in k a l e )c r a n k a n d ro c k e r \ı
ĺı ı)S ı
ıde r c rın k
3 }L in k a g e s )F o u r b a r ı
ı
14 w r it* a b o u t t h e b ılı
s m w ?
W he re v e r th e ra c k an d p in io n an d h y d ra u lic r ım a re n o te a c c u ra te , th e lin e a r s c r e w ın d b ıll l c r e w s

t qu ı
h ic h n a u to m a te d m
a re n e c e s s a r i ı ic r o s c o p e s
p r o v id e a c c u r a te m o v e m e n t s ,
w
15 W n y s e r v o m o to r s a r e p r e fe r re d w lt h s te p p e r m o to r ı
n ro b o t ıp p ı o n s?
lc ıtı
Se rv o m o to rs a r e e a s y to c o n t ro l c o m p a re d to t h e s te p p e r m o to rs
16 W n a t a r e t h e p a r ts u s e d ı
n h a rı
n on ı
c d r iv e ?
ip t ic a ıw a v e g e
1 E lı n e ra h »r 2 Fı
ex s p lı
ne w th
ı e x te rn a lte e t h 3 R ı
gı rc u la r s p ı
d cı ıne w n te r n a ı
it h ı te e t h s
1 7 D e fin e E n d e ffe c to r an d G r ip p e r ?
c t o r is a d e v ic e t h a t is a tt a c h e d to t h e e n d o f th e w r is t a rm to p e r fo r m s pe c c ta s k
lfı
is t h e e n d e « e c to r w h ic h ca n h o ld o r w a s p th e o b je c t
æ W ha t a re th * \ e s o f ır ı
p p e rs ?
1 M e c h a n ic a l 2 H o o k in g 3 V a c c u m 4 F r a B ĺ le o b je c t 5 M a ßn e )p e r m a n e n t (lı)T e m p o ra ry G r ı
tic (ı p p e rs
19 W n a n g dev ı
t is a s M p p ı ce ?
A d e v ic e u s e d to r e m o v e w o r k p ie c e fro m t h e m a g n e t k g r ip p e r
2 0 W h ıt a re th e e ı
em e n ts o f e n d a n ııto o ł
ın s?
1 M o u n t in g pı
a te 2 p o w e r fo r a c tu a in 区m o t io n 3 M e c h a n ic a ıı
t io n o f t o o ı in k a g e 4 S e n s o rs
2 1 U s t th e a d v a n ta g e s a n d d is a d v a n ta ge s o fm a g n e tic w ip p e rs ?
1 p ic k fa s t 2 V a r ia t io ns in p a r t s iz e ca n e ra te d T h e B r ip p e r s d o
b e to ı not h a v e to b e
u p tim e s a r e v e ry
w o rk p a r t 3 T h e y h a v e th e b ility t o h a n d ı e ta ıp a r ts ith h o le s 3 T h e y
d e s ig n e d fo r o ne p a r tic u la r a e m w
￥ıq u ir e o n ı
y o n e s u rh c e fo r g r lp p in ß
22 U st o ut th * * lp p e r d e s ım d e r a t io n s ?
co n sı
3 P e r fo r m a n c e s p e c ific a t io n fı
4 S o u rc e s p e c ı c a tio n 5
a ==nnlpecifıcation 2 p a r t s p e c ific a tio n
6 E n v ir t»n m e n t spe c ific a t io

p e c if«
p o s it io n s a t io n n
Scanned by CamScanner 」
i
ム月區国园
ll
T ı
UNı
$ E E ıs Q * u U n t U I Q U
n s o r ın d trın i d u c * r ?
w hat ı
s ı se
s u s e d to m a k e a m e a s u e p
r m e m w = ııy » n = :
r is a t r a n s d u c e r th a t ı
Se n s o th o u t c h a n g in g th e
n to a n o th e r fo rm w ı
ı
f in fo r m a t io n
T ra n s d u c e r is a
d e v ic e t h a t c o n v e r ts ne fo r m
th° o
in fo r m a t io n c o n t e n t
fı
a ssı
c cı
th e b a s ı o n o f s e n so rs ?
c a tı
W hat a re
b e tw e e n th e m s e ı
v e s a n o so m e u \ r ıe ı ıu ı
ı' " "
1 T a c t ile s e n s o rs e v i c e t h a t in d ic a te s t h e c o n ta đ
t h o u t h a v ln s p h y s k a lc o n a c
ı t t
h ic h se n se s th e p re s e n c e o r a b s e n c e o f t h e o b je c t w
2 p r o x im ity s e n s o rs w
b e tw e e n th e o b je c ts
h ic h se n se s th e ra n s e o f th e o bje c t
3 R a n ge s e n s o rs w
ı
ly to ro m
d to c o m m u n ic a te c o m m a n
ds o r in fo r m a tio n o r a
4 v o ic e s e n s o rs a dv a n c e d s e n s o r s y s te m u se
t io
gn ı n an d o th e r
d in th
c o n ju n c tio n w ı p a tte r n re c o
5 v is io n smsor a dv a n c e d s e n s o r s y s te m u se
bo t w o rk s p a c e
t e c h n iq u e t o v ie w a n d in te r p r e t e v e n t o c c u r r in g in t h e ro
3 U s t th e d k e r e n t ty p e s o f ta c t ı
le s e n so r?
1 D ig it a ı(T o u c h )s e n s o r 2 A n a lo gu e (F o r c e )s e n s o r
W hat fı
t h e c la s s ı c a tı ty s e n s o r s ?
m ı
o n s o f a p ro x ı
4 a re
{Ţ 1 In d u đ iv e 2 c a p a c it iv e 3 u lt r a s o n ic 3 M agn e t ic s e n s o rs
t h e p e r fo r m a f t h e t r a n s d u c e rs ?
* t * r e t h e t e r m s t h a t d e fın
n ce o
p 5 W e
lin e a r lty lity B )S t a b ilit y h )D e a d

f) R e p e a ta b ı
)A c c u ra c y d )s e n s it iv ity e )N o n
e r ro r
a )R a n ge aM s p a n b )E r r o r c
bandAi w e so ı
u t io n j)o u t p u t im pe da nce
s LV D T d ho w do e t w o rk?
s ￠
6 W rıa t ı a n
; : in s u la t e d tu b e
n s fo r m e r c o n s is ts o T j c
o lis s y m m c LıĻ a ııF " " o
e a r v a r ia b le d iffe re n t ia l t r a
T h e lin h ic h a re c o n n e c te d in
d a r y c o ils
t h e r tw o a re id e n t ic a l s e c o n
w
im a ry c o iıa n d th e o
,
t h e c e n t r a l c o il is t h e p r
o u t p u ts o p po s e e a c h o th e r
s e r ie s ı
n su c h a w a y t h a t t h e ir
il a lte r n a t in g e m fs a re in d u c e d in t h e
t e r n a t in g lt a g e ı n p u t to t h e p r im a ry c o
W he n t h e re is a n a ı vo
d a ry
s in e a c h o f th e
a ßn e t ic m a te r ia ı
se c o n
l h am o u nt o fm
ı
ıs w it h t h e m a gn e t ic c o r e , c e n t r a t e
se co n d a ry co
c o iıis t h e s a m e
A ls o a s se c o n d a ry t r a n s d u c e r in t h e
a ry t r a n s d u c e r s
fo r m o n ito r in B d is p la c e m e n ts
It is w id e ly u s e d as p r im
L
to f fo rc e ,w e ig h t a n d p re s s u re
re m e n
中e a s u
?[
f p o s lt ı
on e n co de rs ?
de r d n a m e t h e ty p s o
7 w h a ť lilw e n co a n
g u la r d is p la c e m e n t
lt o f a lin ea r o r an
￠e t h a t p r o id e s a d ig it a ıo u t p u t a s a re s u
It is a d e v ı v
2 A b s o lu te e n co d e rs
ıl e n c o d e r s
a￠e s p tpıp ￠
tı ıb o u ı* fl* c t s e n ıo r ı?
t h ıı
8 W rı
e $ a n d th e b e a m
d fo rc e s a c t o n t h e p a rtic ı
h a m a g n e t ic fle ı
f c h a rs e d p a r t ıc le s p a s s e s th r o u B
w he n a be am o
nB ı n a c o n d u c to r ı$ lık ı a b e ım o m o v in g c h a rg e s
f
in e p a t h , a c u r re n t flo w ı
t h e s t r a ig h t ı
is d e fle đ e d fro m
b e d e fin e d b y m agn e c fı
tı eıd
a n d th u s ca n
Ħe r e n c e \s g iv e n by V /T
K hBı Kh ıc o e fflc ı
Haı * nt
e rs e p o te n t ia l d ı ・
T h e t r a n sv
c flu
tı ı C u r re n t T a te t h ı
Pı c kn e ss
B M agn e x ,
bo ut eı
e c tr ı d pı
c se n so r a n c s e n s o rs ?
e z o e \e c t r ı
9 W r ite a p y ro
t h t h in m e ta lfiı eı
e c tr o des o n
a r iz e d p y ro e le c t r ic c ry s t a lw ı
m
A p y ro e ı e c t r ic s e n s o r c o n s is t s o f a p o ı
d in g a ır and eı e c t ro n s fr o m a n y m e a s u r e m e n t c irc u it
o p p o s it e fa c e s io n s a r e d ra w n fr o m t h e s u r ro u n
c o n n e c te d to t h e s e n s o r to ba ı
a n c e th e s u r fa c e c h a r B e
e c t r ic c h a r g e s w it h o n e a
f c e o f th e
e c t r ic m a t e r ia ls
p ie z o e ı t c h e d o r c o m p r e s s e d B e n e r a te e ı
w he n s t re
l
v e ly c h a rg e d a s a r e s u t a v o
ıta g e is
i f e n e g a tı
m a te r ia l b e c o m in B p o s it iv e ly c h a r g e d a n d t h e o p p o s t e a c
p ro d u ce d
10 W ha t a re t h e ty p e s o f ı
ıs h t s e n s o rs ?
1 p h o to d io d e s 2 P h o t o t ra n s is t o rs 3 P h o to r e s is to rs
II ? W h a t a re o de s?
p h o to d ı
d io d e s h ic h a r e c o n n e c te d in to a c ir c u it in r e v e r s e b ia s so g iv in g
p h o to d b de s a r e s e m ic o n d u c to r Ju n c tio n w
th e d io d e r e s is t a n c e d ro p s an d th e c u r r e n t in
a v e ry h ig *r r e s is t a n c e so th a t w he n lig h t fa iı
s o n th e ju n c t io n
c ir c u it l$ ￠s
￠ a p p r e c ia b ly ,
12 W ha t a r e th e u s e s o ff s e n
fSn ı s o rs T
d d a sı ıw h e n th e y d e te c t
It is s im iı
a r to sm o ke d e t e c to rs , t h e s e a re s e n s lt ı
v e to p a rt ic u ı
a r Ba se s an se n gna
th o s e g a se s
C o m pı
ı c e s (R C C )?
a n ce de v ı
ty p e s a n d u s e s o f R e m o t e c e n e r
t
13 w hat a re th e
a tta c h e d b e t Th e w r is t e n d an d th e g rı
p pe r
1 L a te r a l 2 R o t a t io n a ı3 A x ia ıa n d is
ia n c e fo r m is a ı
to p r o v id e c o m p ı iB n m e nt d u r in B
ly u se d in a u to m a t e d a ss e m b ly a ppı
ic a t io ns
t ı
ı s co m m o n
a sse m b ly
i Ę￠fın e v ıs ıo n an d sı
v ı o n s y s te m ?
n d p ro ce rd n 8 t h a t im a g e
t o b ta in
t ic a c q u is itio n a n d a n a ly s is o f im a s e s o
b e d e fin e d a s a s y s te m fo r a u to m a
J* * * * m ca n
o r c o n t ro ı
lin g a n a c tiv ity
d e s ir e d d a t a fo r in t e r p re t in g
i 9
fy t h e
C la s s ı s lo n r y r t* m ıT
v ı
15
evaı )B ı m a g e [b ı
ı ack o r w h ite ) b )G ra y ı
m a ge c }C o k»r ı
m a l e (R G B
n B to t h e o f g ra y ı s a n a ry
A c c o rd ı no
im a g e )
ı c * u s ıd
n ıd e v ı fo r ro lı
bo t v ı o n r y s t ım ?
16 w ha t a re th ı c o m m o n ı
m a￠
4 C ha In je c tio n
1 B la c k a n d v id ic o n c a m e ra 2 C h a rB e co u p le d d e v ic e s (C C D ) 3 So lı
d s ta te c a m e ra Ge
D)
d e v ic e s {C ı
17 D e fı
n e s lo n a n
ne v ı
m a chı ts fu n c tio n s ?
d ı
d an aı
y s \s c a itie s o f
p a b iı
M a c h in e v is io n c a n b e d e fin e d as a m e qn s o f s im u ı
a t in g t h e im a ge re c o g n it io n an
t h e h u m a n s y s te m w it h e ı
e c t r o n ic a n d e le c t r o n ic a n d e c t ro m e c h a n
e ı k a ıte c h n iq u e s
1 Se n s in ßa n d d ı
g it iz in B im a g e d a ta 2 ı
m a ge p r o c e s s in g an d ana y s is 3 A p p ı
ı ic a t io n
18 W r it e th e m a c h ı o n s ta g e s ?
n e v is ı
1 A n aı
o g t o d iB it a ıc o n v e r s io n 2 Re m o v e n o is e /p a tte r n s ,
im p r o v e c o n tra s t 3 F in d re g io ns (o b je c ts )in t h e
d e s c r ip tio it h s im ila r
a t io n s h ip s 5 M a t c h t h e a b o
n w
im a ße 4 T a k e m e a s u re m e n ts o f o b je c t s / r e ı ve
de s c r ip t io n o f kn o w n o b je c t s (m o s)
de ı
s a n hı
￥ yh a t ı s t o 8 ra m o m a se s?
fı
f p ix e ls f a n im at e a ch e v e ıH is t o g r a m
B ra y ı
A h ï i【
llw a m is a re p re s e n ta t io n o f t h e t o t a ın o o o a ge
n s fo r m e d in t o b in a r y vaı
ue s
in fo r m a t ı
a n ca n h e lp in d e t e rm in in g a cu t o ff p o in t w he n an im a g e is t o b e t r a
in d o ı d ı r e s to ra t ı
o n ?
Æ W h ıt ı eantby
* m ı w w ns an m a ge
in t h e đ s ir e d a re a o f intest a n d ig n o re s n o n in t e r e s te d p a r t o f im aw
(i)p r o c e s s in B
i b re m o v e th e d e g ra d e
(ii) a ) p r e p a ra t io n o f im a g e d u r in g p re p r o c e s s n g y
d p re s e n c e o f n o is e a re t h e d e g ra d in B
b )B lu r r ïn o fı
in e s p o o r c o n t ra s t b e t Im a Be s,a n
B ,
ffe r e n t ı
dı a q u e s?
n g te c h n ı
g e p ro c e s s ı
W ha t a re t h e m
3 F e a tu r e e x t ra c t io n 4 0 b je đ r e B o g n it io n
d u c t io 2 Se g m e n t a t io n
g e d a ta re n
1 ı
m a
W hat ı
s s e ￠m e n ta t io n ?
r a c te r is tic s o r fe a tu r e s
in to d is t in c t e n t it ie s
a re a s o f a n im aBe h a v in B s im ila r c h a
ËiĽ JT is t h e m e th o d t o g ro u p
im
repreting p a rt o f th e a ge
w h a t is thrıding ?
s re s ı
tı on ￠r n g ?
24 W n a
e m e n ts
eı
p e d in re g io n s c a lle d g r id
h iq u e s in w h ic h p ix e ls a re 区ro u
e c tio
lı n o f se sm e n ta t io n te c n
t is
ı a co
a t tr ib u t e s im a r it ie s
iı
b a se d o n
10
sı
c * u s * d fo r r o b o t v ı o n \ t ım T
n ￠ d ・v ı
m a lı
w hat a re th e c o m m o n ı
24
e d d e v ic e s (C C D
2 C h a rg e c o u p ı id
)3 So ı s t a te c a m e r a 4 C h a rg e
d h it e v id e o c o n c a m e ra
1 B la c k a n w
In je c t io n de v ic e s (C ıD )
o n ?
n t ın d e d g e d e t e c tı
o n sp ı
s re g ı
w ha t ı ıtt ı
25
e r e g io n w h k h d o e s
t e d a s a s in g ı n o t u su a ı
ų
it t in g b e g in
ı s w it h w it h t h e w ho ı
e im a se re p re s e n
1 R e g io n sp
sa t is fy t h e c o n d it io n o f h o m o g e n e it y
s a t th e b o d a ry o r e dge s o f th e p a r t
n c o n s id e rs in t e n s ity c h a n B e th a t o c c u rs in t h e p ix e ı u n
2 E d g e d e t e c t io
t b y fe a t u re e x t r a c tio n a n d p a tt e r n r e c o s n ı
tıon ?
26 W hat ı
s m e a n
f fe a t u
p lis h e d b y m e an s o re s
d is t in g u is h in B b je c t fr o a n o th e r is a cc o m
p p lic a t io o n e o m
ı
n v is io n a n s
Bı m e te r th a t
t h e o b je c t A fe a t u r e (a r e a d ia m e t e r , p e r im e t e r ) is a s in e p a ra
th a t u n y c ha
iq u e ı r a c t e r iz e ,
rm it s e a s e o f c o m p a r is o n a n d id e n t ific a t io n
pe
fa be r o f kn o w n cı
a s se s
p a tt e r n re c o g n it io n m a s s ify in
e a n s cı g a n im a ge (r e g io n ) in t o o n e o n u m
W hat ı
s m e a n t by a n o b je c t re c o o n ?
B n lt ı
t ifıc a t io is
p r e s e n t s T h is id e n
n
b t t h e im
g is t o id e n t ify t h e o je c
a ge re
g e d a t a p ro c e s s in
T he n e x t s te p in im a
t be
t io n d e s c r ib e d T h e re c o B n it io n a \g o r it h m m u s
is h e d u s in g t h e e x t r a c t e d fe a t u r e in fo r m a
a cc o m p ı
y id e n t ify t h e
ı o b je c t
p iūi* ￠r fu ıe n o u B h to u n iq u e
t a tı d o sv ?
m o rp h o ı
s m e qn t by q u
w hat ı a n tı o n a n
28
)d ' :
ı f t h e im a B e tu n ctı
o n (b r ıg in l n c m ııu ıa . 1
W a n s M m b e tw e e n c o n t in u o s v a u e s o
ca ı
ıed Q u a n t it a t ı
o n
d e s c r ib e sha s o f o b je c ts
d th o s e m e th o ds u se d t o t r a n s fo rm o r pe
is t h e s tu dy o f sha pe s a n
M o rp h o ı
o gy
h in e v is io n s y s t e m
?
dv a n ta ge s o fm ac
29 W r it e t h e a
3 In t e g r a t e d
re c o s t im in a t io
2 Eı n o f n e e d fo r p r e c is e p a r t lo c a t io n
f to ı
in g a n d fix u
1 R e d u c t io n o o
i n
o n 4 D e fe đ d e t e c t o
io n a ı c a tı
v e r ifı
a u t o m a t io n o f d im e n s
UNı
T IV
RO BO T Kı C Ņ A N D R0 00 T pR0 0 RAM M ı
N 曇M A T ı HO
01 Dł ıt・ b * t F o
frır ・n t ı rw a r d k ln ・m ıtı
c * ın d r ıv * r ıı k ı c ı?
n ım ıtł
F o rw a r d k ı
n e rr ı v e n t h a Jo in t ın l ı
a t ic s : 1 G ı e s , d e te r m in e th ・ p o ıı
tł n d o r ie n t a t io f th *
o n ıı n o * n d e pffe m r
2 T he o u tc o m e o f th e fo rw a r d kł
n ￠m a t ic s p ro b ı
em $ łlw a y i
ı u n iq u * T h ・r e a r* n o
m u lt lp ı
e so ı
u tı
o n
In v e f s e k ı
n e m a t lc r : 1 G Iv e n t h e p o i ı
tıo n a n d th e o r ı
e n ta t io n o f t h e e n d e ffe c t o r , d e te r m in e th + n u m * rk a ı
v a lu e s fo r t h e Jo in t v a r ia b le
2 T h ls p r o b ı
e m ı
$ n o t q u ite s tr a ig h t fo rw a rd ke t h e fo
Iı rw a r d kı
nem a tic p r o b le m
3 It is no t p o s s ib le to o b ta ı
n cı
o s e d fo rm s o lu t io n s d u e to t h e no n liıear s ı
m u ı
ta neo u s
E x p la ı
n re du n da n cy?
M o s t In d u s t r la ır o b o t s h a v e 6 o r ı
e ss Jo in ts , t h u s re d u n d a n c y is n o t In h e r e n t t o t h e ir d e s is n
L ,
ĺ
şo m e ro b o ts , t h o u g h,d o no t ha v e a c e r t a in Jo ı
n t a r ra n g e m e n t in t h e ir fin a l o r ie n ta t io n jo in ts t h a t c a n ı
e ad
t@ m du n d a n c y fo r c e r ta in o r ie n t a t io n s
Fo r e x a irip e , s o m e ro
ı b o ts h a v e t h e fı
n a l t h r e e Jo in t a x e s ü o s r o b o t )a
in ts 4 , 5 a n d 6 in a s ix a x ı rra n g e d in a
ro l p it c h /a lıs e q u e n c e
ı ,
3 W h a t a r e t h e m e t h o d ıo f r o b o t p r o g r a m m n s?
ı
1 L e a d th r o u 吕h m e th o d s 2 T e x u a ır o b o t la n ßu a g e s 3 M e c h a n ic a l p ro B r a m m in g
4 s t* a c h p e
W ha t ı n d a n t?
h p e n d a n t is ı
ı ll h a n d h e ı
d co n tro lb o x w it h co m b in a t io n s o f to g g ı
e s w it c h e s , d ia ls an d
T h e te ac u su a y a sm a
b u t to n s to r e g u la t e t h e ro bo ť s p h y s ic a ım o ve m e n ts a n d p ro g r a m ca p a b iı
itie s
5 D e fı
n e s e rv o c o n tr o ıro b o ts ?
e a d t h ro u s h
d by ı d t e x tu a ıla n g u a g e m e th o d s , te n d to
Se rv o c o n t ro l r o b o ts , w h ic h a r e p r o g ra m m e an
a c t iv a t e a ll a c c e s s s im u lt a n e o u s ly
de n 吕ro b ttts ?
f te a c h ı
E X P ıd h t m o o
r a t e e a c h Jo in t e ith e r o
f it
f to gg le sw it c h e s (o r s im iı
ar c o n t ro ı
ıe d d e v ic e s )o p e
T h e te a c h p e n da n t ha s a se t o
p o s it io d to t h e d e s ir e d p o in t
reaiemuntilthe e n d e ffe c to r h a s b e e n
ne
dł n w
e a d th r o u s h p r o ￠r a m
lı m ngT
ı
7 W n at ł
s m an ua
r a rc w e d in g T h e
ı
in g m o v e s m an ip u la te d w r is t t o te a c h s p r a y p a in t in g o
In m a nu e a d t h r o u g h p ro g r a m
a lı m
b in a t io fsm o o t h m o t io n s e sm e n ts
m o v e m e n ts c o n s is t s o f co m n o
W hat lr r e l u ı o n ı?
ır i m o o t h m o t ı
8 a re
t s in m a n u a ıı d th r o u 吕h p ro g r a m m ı
n g a re so tı
m e s a p p ro x \m a t e ı
The se gm e n ea m e
￠h t s o m e t im e s
y s tr a ı
c u rv e d a n d so m e t im e s b a c k a n d fo r t h m o t io n s , T h e s e m o tł
o ns an ı
ca ıe d ı
r re 吕u ı
a r s m o o t h m o tio n s
UNı
了 V
ļ M E L E M E E U U ĮQ & ıM D R o E O T E c O IQQ M IQ L
1 W h a t ls A G W
A u to m a te d g u id e d v e h ic ı
e (A G V )ı
s an n de pe
ı n d e n t ly o pe r a te d se lf p ro p e lı
ed ve e 吕u ld e d
h lc ı aı
o n g d e fin e d
p a th w a y s in t h e fı
o o r ı
t is n o rm a ı
ıy po w e re d w it h b a t te r ie s It is n ı
m aı y u se d fo r ha n dı
ıng o fm aı
a te r ı s fr o m
o n e pı
a c e to a n o th e r pı
ace
2 W ha t a re th e Be n e ra ıc h a r a c te r ı c s th a t
s tı m a a ır o b o t a p p ı
k e p o te n t ı ıc a tı ı
c ıı
o n te c h n ı c ııın d
y p r a c tı
e co n o m c a lı
ı y fe a s ı
bıe ?
1 H a z a rd o u s o r u n c o m fo r ta b ı
e w o r k in g co n d itio n s 2 R e p e t it iv e o pe r a t io n s t h a n d lin g jo b s
3 D iĦic u ı
4 M u ı
t ic a s t o p e r a t io n
3 \ M T T R ,M T B F?
r
M 1T R rlh e m e a n t im e b e tw ee n u re s In d ic a te s h o w ı
fa iı o n g, o n a v e ra g e , th e m ac h in e ry w ı
ılo p e r a te
b e tw e e n b re a k d o w n s
n d ic a te s h o w Io n s th e a c h in e ry w iı
lo p e r a te b e tw een
M TBF T h ie M e a n t im e b e t F a iı
u re s ı ,
o n a v e ra g e ,
m
b re a kd o w n s
b y p a lı
etı
zı a n d de pa ı
ı z \n ß?
e tı
4 W hat ı
s m ea n t n s
a c c o r d in B t o fix e d ru ı
e s ca ı
ıe d pa ı
ıe t iz in B
A r r a n g in g m a t e r ia ı
s o n a p a lı
et
e n c e , m a t e r ia ls w h ic h h a v e b e e n a rr a n Be d o n a p a lı
et
Re m o v in g in se qu
5 W h a t a re G a n tr y R o b o t?
d , th e y ı
ıed G a n t ry r o b o t
b o ts a re m o u n te d o v e rh e a a re c a
If t h e ro
至飞虹
w R ch?
FŢ a n e a de a dm a n s
* fı
m in B \t is a t r igg e r o r t o gg ı
e
e a d t h r o u B h p ro g r a m
d u r in g ı
it c h is a u s e fu lc o n t ro lfe a t u re
A dw n a n sw ïe d t h e m t h (
ı
ir e s a c t iv e p re s s u r e t o b e a p p
o c a te d
ly ı
ı o n t h e te a c h p e n d a n t w h ic h re q u
sw it c h ￠lw ic e ße n e ra
d r iv e t h e ip u ı
a to r
d e v ic e s iM
m a n
e r to
7 D e ñn e payackperı
od?
e n t in th e p ro je c t
fı t h e in t ia l In v e s t m
qu a ı
n e t accu m u ı
a te d c a sh o w to e
f th e
e n g t h o f t im e o
r
t is t h e ı
ı
13
口回嫵军丽陟曲図涠叫目四声一 ― ―
t (R O \)m ho d
lo n In v e s tm e n
e th o d 3 R e tu rı
c o s t (E u A )
aı
c m
ifo r m a n n u
k m e th o d 2 E q u iv a ı
e nt u n
1 pa yba c
ts a n d c a sh flo w s
in v e stm e n
lıo f t h e p re se n t a n d fu t u r e
ıc o s t m e th o d c o n v e rt s a
u iv a le n t u n ifo r m a n n u a
ife o f t h e p r o je
ct
Eq ic ip a t e d ı
c a sh fı
o w s o v e r th e a n t
a ı t u n ifo rm
in t o t h e ir e q u iv e n
cM o s se n so r
ccD o r
c a m e ra s e n s
o r (ty p lc a ıı
y a
f n im it e d b y t h e
ı
u t io
ı f a d ig it a l c a m e r a is o te io ıp h o t o g ra p h y
m in t r a d it
T he re s o n o n a
t h e jo b o f fiı
a ls /e p la c in g
h ip ) t h a t t u rn s ig h t in t o d is c r e t e s ig n
ı
c
d fo r t h a t p ix e ı
u e t h a t is re
a
f a v a ı
in t t h e ı
a rg e r o
t h e im a g e a t t h a
t po
T h is m e a n s t h a t t h e b r ig h t e r
D n e T
fı ra c n g?
kı
11 e f im a Be s
e n a se qu e nce o
b je c ts o r th e c a m e
ra g iv
i n o f th e sc e n e ,o
k in g is d e fin e d a s th e m o t o
T ra c do
'
n t hav e so
g e , s o th a
t w e
n e x t im a
r e g o in B to p ro je c t in t h e
p re d ic t w h e r e t h in g s a
Kn o w in g t h is m o t io n ,
o o k in B fo
ı r th e m
m u c h w o rk
t io n T
n ı
n o b je c t r e c o g
d ı
hat q u e s u se
t h e te c h n ı
, \ a re
2 S t ru c tu ra ıt e c h n iq u e
m a tc h in g t e c h n iq u e
1M pı
a te
>i
,
：
.
A r tic u M a n i r (R R R )
* N u m be ŕ ó f jo in ts d e te rm irie s th e n u m be r o f
聞
m Ħñ
* 6 jo in ts = 6 D O F s
J1:w a is t
J2 : s h o u ld e r
13 : e lb o w
- J4 w r is t ro ta tio n
- J5 w r is t be n d
. 16 F b R ge ration
四
M o d e lin g
be ı
c iıı ie d ı
can lry * lc m iııı y a ppı o @ v e ı o p th c m a n ı u
p la to rE D M A s s u m in d id
b o tł
y m o tio n N o b a c k la s h N o fr ic liu n a n d g 吕
n c g lm ï n g e ffe c ts o f c o m
o lc o m p o n e n t
dyn a n ıic ĥ Th c ltin g E O M a r e a s e t f r æ
re s u
Ľ o n d r c o u p le d n o n lin c a r
d ıffc rm t ia leq t io n s
c o n s is t in
u a
g o f in e r tia lo a d in g a n d c o u p ł in g n e a c tio n fo r c e s
6
b e t w e e n jo jn ls A n o th e r m e t h t T h e c n e r a ı iz e d d A ı
g e m b e r łp r in c i le
a n e q u t v a le n t d y n a m ic m o d e ı
p p r o v id e s
T h c N e w to n E u ı c r a n d L a g ra n e E u ı e r fo r m u la tio n s o f th e d
g y n a m ic m o d e l
p r o v id e a c ı o s e d fo r m s o lu tio n w h ic h a r e c o m
p u ta t io n a ı ł y in ıe n s iv e m a k in g n e a l
tim e c o n tr o l b a s e d o n s u c h a d n a m ic m o d e ı In ff i
y e łc e n L if n o t
isiblc To
D y n a m ic M o d e lin g
im p r o v e tł ıe c o m p u ta tio n a l s e e d
b a s e d o n s im p lify in g a s s u m
p
i
R e c u r s iv e tııe t h o d s a iıd a
p p r o x im a te m o d e ls
p o n s ha v e be e n
t v e lo p e d T he s e approxime
m o d e ls h o w e v e r r e s u lt in s u b o
p tim a l d y n a m ic p e r fo r m a n c e a n d re s u ic t a n ıı
m o v e m e n t to ı o w spe e ds T h e L E a n d N E m o d e ls
p r e s e n te d in th is c h a p te r
p r o v id e a s y m b o lic s o ı u tio n to m a n i u la to r d n a m i
p y c s a n d g iv e in s i h t in t o th e
g
c o n tr o l p r o b le m
6 1 L A G R A N G ıA N M EC H A M C S 、
u n n g th c w o Ĥ y c le
c a m an ip u ı
a to r m u s t a c c e ı cm te m o v e a l c o n s ta n t
U A sc a la r f u n c tio n lle d L
r d d e ce ł
eru e T h is tim e v a r y in g p o s it io n d o r ie n ta tio n
c a a g ra n g e jh n c t io n o r L a g r m g ia n L is fu r e d a s
an o f th e d iffe b e tw
n ı« n ip tta a o r
re n c e e en th e to ta l k in e tic e n e r d th e to ta l p o te n tia l e n e r
is te rm e d a s its d y n a n u c be h a v io u r T im v a r y in g y J[ a n
gy T fa
e g to r q u e s a r e a p p lie d m ec ha n ic a l s y s te
o
a 【 d ı c í b y th c j o u ıt a c tu a t o n i ) to b a la n c e o u t th e internal a n d external fo r c e s
m
T 1a c u t l fo rc e s a re d b y m o tio
c a u se n (v e lo c ity d a c c e le r a tio n ) o f lin k s
囀
飞
an
I M m ia l C o n o lis A n d fr ic t io n a ı fo r c e s f t h e in te T h e L a g r a n g e E u le r d n a m ic f
a re so m e o m a ıfo rc e s Th y o r m u la tio n is b a s e d o n a
e s e t o f ge n e ra ł iz e d
e l le m ◆ fo
r c e s a r e th e fo r c e s e x e r te d b c o o r d in a te s to d e s c r ib e th e s
y t h e e n v ir o n m e n t T h e s e in c lu d e th e y s te m v a ń a b le s In th e g e n e r a liz e d c o o r d in a te s
ı
o ıd d g r a v ita t io n a l fo r c e s A s a r e s u lt Iin k s a n d o in ts h a v e t
a n l
g e r a iz e d d is p ı
j o w ith s ta n d
e n a c e m e n t q is u s e d a s a o in t v
j a ń a b le w h ic h d e s c ń b e s a li
n e ar
s łr e s s e s c a u s e d b y f o r c e / to
rq u e b a la n c e a c r o s s th e s e d is p la c e m e n t d fo r a r is m a tic
p jo in t a n d a n g u la r d is p ıa c c m e n t e fo r a r o ta r o in
In t h is c h a p ıe r Th c m a th e m a tic a l m o d e l fo r th e d n a m ic b e h v a n d q d e s c ń b e s lin e a r v e l
y j t
o c ity á ( y ) a n d a n u la r v e l ó
飞
y a io u r o f th e i
g o c ty ( a ) fo r Ħ is m a t ic
P U l a t o r is d e v e lo p e d T h e m a th e m a tic a l e q u a tio n s o fte n r e k r r e d a s a n d r o ta r y jo in ts r e s p e c tiv e ly A s d is c u s s e d in e a r li
e r c tıa p te r s S im iıa r ly
m a ru p ı dı a ıo r n « ım łc ī A r e a s e t o f e q u a ıio n s o í m o ıio n (E O M ) th a t d e s c r ib th g e n e r a liz e d to r q u e r r e q u ir e d a t th e
e e jo in t to p r o d u c e d e s ir e d d y n a m ic s
d yn a m ic re sp o n s e o f th e m a n ip u la to r to in p u t a c tu a to r to r q u e s r e p r e s e n ts th e fo r c e
f fo r a p r is m a tic jo in t a n d to r u e r fo r a r e v o l
q u te jo in t A s
T hc d y n a m m o đ ]o f a m a n ip u ıa to r is u s e fu l fo r c o m p u ta tio n o f to r u d
q e an
S r c tłu irc d fo r e x m tio n o f a ty p ic a l w o r k c y c le w h ic h is v ita l in fo r m ūo (i 1
an d +,
n ) s o is th e L a r a n
a n
g g ia n L
fo r t h c d e s ig n o f lin k s Jo in ts đ iv e s a n d a c tu a to rs T h e d y n a m ic b e h a v io u r o f th e T h e d y n a m ic m o d e l b a s e d
o n L a g ra n g e E le r fo r m u la tio n
u is o b ta in e d fi o m th e
ı
n u ıip u la to ・ Ħ o v id e s n e ła tio n s h ip b e t w e e n jo in t a c tu a [o r to qq u e s a n d m o tio n o f L a g r a n g ia n a s a s e t o f e u a ti
q o n s
ı r F fa r
in ı s im u ı
a t io n a n d đ s ig n o fco n tr ol a lg o r ith m s T h e m a n ip u la to r c o n tr o l
m a ım a in s th e dyn a m ic r e s p o n s e o f th e m a n ip u la to r to o b ta in th e d e s ir e d
T fo r i ı 2 n (6 2 )
谨
p e r fo r n h ic h d ir e c tly d e p e n d s o n th e a c c u r a c y o f th e d y n a m ic m o d e l a n d
e f fic im
ıa n c e
c y o f th e
w
c o n tr o l a lg o r ith m s T h e c o n tr o ıp r o b le m r e q u ir e s s p e c ify in g th e T h e le ft h a n d id e
一
o f d y n a m ia o u ıtio n s c
s
q a n b e in te r p r e te d a s s u m o f th e
c o n tr o l s tr a te g ie s [o a c h iev e th e d e s ir e d r e s p o n s e a n d
p e d o ıii a n c e S im u la tio n s to rq u c 5 /fo r c e s du e
k in tic w p o te n ı
o iıl e n e g y p r e e t n h e y s te m T h e ń h t 在
f ip u la to ib s X io n p la n n in g a n d ı g
o m a n r n x ) tio n p e r m its te s tin g o f c o n tr D ıs tra » ı ıa n d s id e f is th
e jo in t to r
i q iË fo r j i m th a t is p r o v id e d y th e c u M r i If T
p e r fo r m a n c e s tu d ie s w ith o u t a p h y s ic a l p r o to ty p e g ￠th e m a n iı io la to r O it m e a n s th a t o in t i
j d o e ıo t m o v e a n d if + 0 Th e m a n i u la to r m o v e m e n t is
T ħe s e ń a l lin k m a n ip u la to r r e p r e s e n ts a p
pı e x d y n a m ic r y s te m
co m w h ic h c a n m o d ifie d b th e
y actuatirtjoint
i
發
b e m o d e le d b y s y s te m a tic a ll u s in
y g kn p h y s ic a l lw s o f L a g r a n g ia n
o
ha n ı N e w to n ia n m e c h a n ic s A p p r o * eı
m ec c s o r e s s u c h a s L tı*ira n g e E u le r (L E ) 鹰
a n d N e w to n E ł ￠(N E ) b a s e d i n fo r c e b a la n c e
w h ic h is ba se d 召
窘
e n e rg y
À ? 王
'
勇
" 4 、：
弓
一、
密受斗月万
彦ぐ恕箫レぬー
团团げ
-
s h s
e g s d d
c e k
g n a m n
e e a e
n
a o a
m m h
e
e r d h s
r
d 6 r u u T à 5
g p f f s s n q x
o o s 6
a p e s s a r ı a
g a
L m a
a
s a a l
į
s
v
F c
s s e à a d
e c n a r
h n r
m k a u
n
- m e
m e
d
r
n s p
A
s
v
a o d k s s
e
n
n m o n n n s u a a
g
a y w o c a
h a a m
r
d o e
c
a d
m m w e
n
s h g r d
u
h
e s o Ł f
e n
a m
e
h h
e c
o
n
A
e
c a o r h
s
e
d k a f e
n a u n s s s
o r
s n o a v i
n
p a R ı
d a h s
m
L d s r
E u c n g
n
a L m h
R e
g
d
e
y
s
s
a
e
n y
v n c s
o n
i
e a
D o
o
s
m h
s
h
a
e
d
e
r
c
s
e c m
v
a
d j
O e v
y
u
h
e
g
T f
o
a n
e
r
p o f e r
g
k n u o h -
M x
r n
r a
d e c e
e r e n s a e v r o
o s
o u s e h
o n /
C w m F g
a r
n
e r
e
M r k a b a n e
e a n m e
e w a
u
O M
s f r u
h n a
n
c n d
b b e f o a g r
o o o o n p e s
Ħ r o h a c n s
n
D A
o r
p
b s
a e n
r
e p d a k
n
n
8 o
a h n k e f d
E N e u d n F a h a
o ı a
n
E u h
č m n n e O c y m r
R
Y p w r
a w c D s d h
e
n
e
o
F D n f
y r
m
o o e
2
- e a
m
o e į c
a o f e h h n b r m e
F - m r
a a c a s
s
e
A k d
y
y
d o o - c
a
O R r e
r
a s o g y M f
o e c u m e
b A d 1
e b c ń g
p o
r
E O p o p a
n
e a
y
e
6
r
u d o e
r
s
n
o E T m d
n
a
n
y
g r
a
t
a q g e h
e
n
ğ
Y
¸
e c s v - u
C R A s n
a m d
h
e
v v o i
e
r r
r
f
e
8
l F o c r
d G L a
n F
s
g n c s
n
a
a a
e a
c n
g
n E U f
o o
O n o
e s
a g
f
o n e
a n
c a
a
P d p n y
s D I
s a D n s j s m n
a
y
e
r
e i
k a
c c a s e 8 n c
O N u u r r h t e
2 n e o
o m m d c g
a
e f h n h
W A
s 2 n s e
a e o o e
b r r r n L e v s
p
R
o
T M n
y f
o a
n
c
d
d
e
d
n d a
b
e c z
e
n
e
s
u
r
a
o
p
g n
d a a n o
r
e s
r
o a e T e
r
m h s
p b e
T u e
c n f n h o g
2 h u o e 0 o i d
i
e
c
6 T E A c b { k w m n
n h e
a
a w H
m \
T
h
» F F 6
e M
d ï m
i t ￠
Ħ
i 四
h s
g w 3 a
b
r
门 .
Cm
e p » m T
»q d
W
p e 6 c 1 曲
r o 曲 c b v q
o 2 t e
3
» ￠»
m ı
o 支 k
￠
ĺ
sm
d *
u n T p \
w *
«
p
b
o n b 《 b n r
M «
X
I o
« e
n c a T
ı
c \
a
w wM t
n
*
Q
.
»
»
w
o g h )
h t
f
m o p
e ı h F
3
m T p
m
a
T l
岱 l
p o
đ
\m
ı c ı w y
e
c
o
M 曳 nie u
m
o
k
a a «
H*
T
+ C
n 由 n h
d
ï
u
Z a p c h
m ı
n
h 碱p T
* V
- E L
P n e 《 e
b
e e o p t
O «
o
d
u
s O c
w h \ m
f
p n t u t
w u e ı
6
o o s c
F
m
e e e
M « t
m
m e n k o h g
*
o
w
s \
2 r h u n c
Ð o
k
f
e A d ı u
g
f u
* n
c
n \ =
n
g a u
e o C r u c
m m x y c u
e g P d r «
V p
s
n
c
n
v
F
r o
h
a y
O E e
r
ı s
k g u
n
n ņ
n
a
t
ł
a *
e q
h c
x e a f p o I e
a c
u
u L n
u
c
m t »
u c m a e
f
N r a E n p
y
e « *
n a 6 g
n n n k n
m s
o e r
T y s
s M c
J
r
c r n 5 2
s
o
e
d
f
w n
t t m
b 0 o u Ł
o r
-
a k O ĥ r * Ą
a
s o n
r
o c n
n m w m q
r
t p
e r d
k
c o
f
N a s n
a
u í u h n
e r e g o C p o c c u
c d a c u a a
o i
s
c
a
n n
x
n T e
u b h o
n
n
«
ţ
・ Z
o n æ H a a o
c
t a
u h
m
b
c
D n
n
-
h a p
n
n w s \ m c w
d d E c
r
n
m n
n
o
e
O e
D e
d
e c d
u A
h
c
»
n s d r a s a
a a
h
-
F d O
F
M y
n
a
d
3 n
c
a
d
s
c » b
c r
c
ł »
L e u e o A a
n T c r c o
* o m m d h F e r ı n n n . d
* s n p A
n a c a N m e u s
e s
c d o c
r
h
c '
o o s > o u n
n I e Į d = h p
d
m P
c
x
e T a
n c L
ł
n p p e o u
f
u p u U m L u w
o
u
n a
c
d n c
h
e
a
a u o e h o c
P L h
J }
d
m a
e
a d h u
e n o o c
c
m
o
n
e o o A c e s c
h
n
y r n n o
a
e
n
r r e
h T L
d
n
h
j
n
a n i
e a k a o
h a
s v
也 O g r e
e
o
v u n
e a
e 出 R r o v
e
e n r q ￠
c n »
r s a c o o a
u
s
b u
e h v n a c ı
n o o o b c e o c
c o c e g c o p
k h w m a u o
s
p w
a
b
6 o
o a p w a n T
q
w s
n y c n u
y n u c
c e
2 e n o o h e c
e o d n h
3
h n f y s e s d g r f e s
a a
p
o o
b
a
b
E E
q
w
h
j o
f
c
o
p
a
w
h
O
p
r
w
h
n q
d
4 e
a v
o
H C e o C h m r
T e s e
× r
p h n
p a
n e e *
i
6 o 6 e i o
n
e
h u
a
e
e s a
e
r 4 n m m
e o
e
d
s
c
a c 2 2 a n s
o a d
r
h o
c
~
m m n e e
k
h t 6 p
a
5
t d m e
r
a e b
j T
u a s u p a r e
o o n f a
i ń o
r u s s p n c
h
c
s
w d r
g n v s
f
a
c n
s a a g g a e
a n s
n a n o h h o e
p x
g
n r
n n n h a e n T r d g
n d b A e h v
m h
y Q g a o g g r j e T
Q a
m w w i e o e s r
o
u
e
a a + h
v
e
n a d h o
f s a a f
w o e n
d g p n s o
g e
o
c
r h e e b E - e
n
s
o i m v b
- d
鬩
r r n
ħ o a s
a q L c o h
E c
m x
u v n o o a
=
y
Ē n g s n w m
T
w
e
d
a
p
u
e
p
e
o t
a
c
t
a
v
d
o
n
o
f
w
1
n
e
d 6
Ţ ' q
o
h
r
m
a
t
s
f
o
r g
n
p
r
e
s a
r
O
s
q
5
o
c
y
E
q
r e w w 2 a
中
į s r
a u
a o
r
i
f
r
5 v o m s c x u 4 o 3
o o s
e n a e o s 6
M f e
t
3
羁 į a
o
n y
e
w m a
n h m o
p
s
o
T d
a
p
o
s d o E n q w
Ý
h r e a s n s
w d
h e f o
a
q
ń m m
j
v M
m w í . n ( u o h
a
t h
e w d , 6 s x a p e
r
P
a
r 6 u r v q
c
e
2 Ĵ q e w
s n h 2 a - f
u
h 6 x y s -
( c t 5
f a r ) T r c h
ł
o
r
s
a
t
e
s b g
m f
h e
d
o r
e
e
r
y
m n p y v
e
a
o m e
s
f
￥
e
h o
g
c e
s
i n
r c
o n p p
e
o
r
e e
a s
r
e h - n n m E x c a
e e o a : g k p q r
u c
s t u r o
e o e O
p j o
j e n r a
t
T a
6 g b
B
r
o p v m c t j
a h g
2
o a y
s e s a e e v o n
n c
a
n
n
e
n
T
h
e
n
b
e
r
n
I
Ť p
a
r
e
n
b
n
o
f
4
n
o
m
e
t
e
c
o
o
o
m
b t
o 1 y p
v ń o M
e s a a
n a b s l
E n o c ū r
o
c n q d
m
a
r
r
p
e e
a
n
o
b
Č q a v
e t a
e -
e
h
e
r r s
e f
r e s 3 d s n
o e d e v e c d g
d s r
r
u a 4 r o F
u v a f
o
u
m s e
t v
a
m i a u
d
( v f p d m r
n c n 6 e o
u a g r e e a
6 g t
2 v
s n h o e x s
6 a
2 n h b h a f
)
7 g e e e
一：。。, 。っ：
ガー
嘈豸鑿
イイ卉
g
n
- d
n
a
m
l
d
0
2
p T
e 6 a
d
e t
n
s
c
z
ı
e
b «
e
H
o
q J ni
ł M 2 n M
o c r
į
c e
m
- i f
h
o
d
z
e
n
e
g
e
m
c
s
m
e
m a h
e o
s g
a
o =
a d
e
e
t r = e
Ð
r
o k
n n b c *
o ı
e g
q m g n m o
ū u e
ç
e n ß d
m
-
o
L b
e n s
.
c o
o
e
g r G s
b c F
w G e e e
o O
n n e
.
+ n h n r D
N
e u o
y u b o p
H
z q h d =
-
y
o n H e
O
v n s
a s
+ M c c
+ + į o e ı B
a h
e
u
O n
a T
ř o
I
s
e n o
E r ä r
2
ğ a ë
2
e c
n o r
T
, 6 ı e o
e
s b s
M ğ c b
a a
1 m s
d M 6 c u a
ğ
O
e
e
o u n + g Ł a h s p a
ı
n
a j
e n
a *
Z
S S ĥ
z
e
s c
a
m O
F
n
a
8 F
s
p
2
0 h o 6 e
2 ,
ı
, z s
n
o
p D
m
n n
ı
2 ı l F
+
6 h n 6 4
a M m n n d
a g
n C
o p
a 2
-
O
c
s R o F
d b
o o
s = - 3
n e ą
d n D
e E i O
j - Į n L
2 n
e
q u n p
u
r n a
n
p u D
a s a E 2 . = -
c a h s U l
6 u u r r
2 - d
c o
c a
n
E n
6 a c n a e a s
u
q c a o
M H H G
e
r
e
v
t g
u
u
o
r
o
e
c E
-
E 6 e
a
\
m r a
B e a
a ń r m f r
G k f
m
h u s c
e e
o
h M a
N u o
o
n r
o e
q n f ï n
O m E
r
o n
e e
e
e c
e
c w E n A e
e
a c c d
n a s u - = ・ e r
f o R g
o
u e o n
a
u
q p r
p
q
r
f
e ņ d
o
n
t
a G a m
o H m
g E m e
T
e o
c M a
o A g c
A a c s u t
r
o L a
m 2 h e
s h p a L m
w v s a
e T n n
h a r
y
T s
d
e
8 d
" 2
6
4 5 a
6 7 9
e
. 6 6 u
. 6 6
n
o 1
Ī e 6
h z
. e
v 5
t
g 2 e
.
.
1
o a
2
Ī 6 m 2
G
ğ ļ 2 n c
q
2 d 2 E o g
n j
6 a o . r z
b
e
n ğ m
q û ļ 2
E r 5 z
e w 6 f -
a 6 r 6
d +
k c
d L
n a 2 q ğ
o n
4
a M E ğ
r n
o e 3 - n .
ğ 2
a
n
a k 6
.
g
f ğ
o e n
d m . a
w
s r
a d g s
s
t q
u
闸
E
L
a ı
m w
f
L
o
r
r
o
6
+
T
4
o
s į 2
f
o
s -
u e
n
r ・
o
e q 6 s v ţ
e
C u E s
a u a
E n q c v
d - h d ţ
e E e ń
n n [ e
a g g g n
a , d
n n n a L
a r
s
b
e
t g n a u " D
a t o
o a r s y
b L g m
s
o
R e
L
a m
e
b
u
M
h
T e d Ħ S n
h n o
m
T a D j S
d
n
a
T 蜀 터 U
h 區
筐
げ S
e l
屠
コめ
=
.
メ S 급 g
k 切 E
-
W 口
< q
. 罗
。
C
建 h 钓 6
n くっ
爿
y
.
丁 6 巴
己
9
官
0 a 气
g が
曙
呐
e h
. ヌ h
コ S
(
E 门
q
a
、
S
弓
っ孑 2
- m 琴
h P
6 Ħ
ポ
4
吧 P
e -
一
뇨
一
ー f
召 a
f
っ e
s
招爿自
S
a - エ a
留门
n -
h
U
コ d
e 乡コ
门
爿
S 劣 r 门
V -
S 歹
伯
a
爿孑 )
m 伯 V
叫月
P .
些 e
门
f
只 6 ひ
f 여
e
d h 니
っ 2 \
Đ \
鸣 @ 一
U 自
爿
S
ヨ 36 0 0
= フ U qb 0
g
e 苕口
。
コ
=
e
月 -
C -
ロ
U
ゆ s
ゆ
基 f
a
n -
8Ea43as 뇨。 S
f 月
コ .
m
コ a 6 小
胃 3 3
6
k
n リ巴 I
h
6
3 b 4 ロ 쩝
. S 。卡 e r ユ h
U
。 k 3 d e
如 e
身
C b 阳 y 4 쩝
。
. 。コ = コ门ヨ
n 。己 e
I
S コ a
h y フ
。 e U S
. 。ヨ C h e ( 门 S
.
訥
一 g
. っ e e マ 9
y ' く = 》 f
g = 芝
・ G 一
。
。丁 e
.
K k
e
ヨ了 =
、 í . f
阗 g 內 e
一 - 。 n C 门
一 h y っ
. . 茭 e 了
T
一 .
d
6
3
一
・
@
f h
ヨ
a
叫
门
=
k
。 f
，
。
丁 h
C e
. 츠 C
背 E E 门 e
e 村、 0
e 3 X
门
门 =
.
q d n 9 0
e 。
，只 e
ヨ W
初
国
r
萨
f
n ユ曳 r b
e g e h 国
e っ一バ 녘 .
e y コ
C n 了
U
e
- さ = C h 角
3 夕ーく叫
S
召
f
。 a
i 制 a
C
っ a
n 一
卜 h
聋
S n n 门 e
。 S e
a r
E 幼曳 폅 3 f a
n
표
q
，のくヨ a
S a
C 伯
コ
の a
ー躍ニ
蹇
舞
S e
& 己四 d r 门ロ .
オ
e
巴 C
g
吋子
了 n n
S
Z
e 了
邕 e
S
叫
e 9 5 阴
。っ门 r d
. a 討げ
8 =
h そ U
-
n
d 吕 X S
d
e
と多
r
is6ba3das
マコ
门 =
k e
d ロ 8
=
。 h
e 令子
f
n
S ミ
ヘ
Ħ
传
阴
떻 r
ミ징
、 f
. 飞
e
目
、
E 丁 6 d b
ミ 으
r U
8 시 两
。 u 》 a W
訥回 s
。 9 弓
国
国
= と 6
m f
ミ吕
叫
n 传 6 っ
， 2 f h
一
E ヰ e
、
q ゆ m 自
一ヨ a フ n
・ 6 自
n
S
会コ铲
k
。岣
牙
3 6 a
っ f 1 h
6 6 c a e
a 6 口
3 3 伽 f
m
e
7 6 e
d
3
4
b
d
歹
铛
了
n
B
s
匿
. ：
启「
乃锦马一
ーど . 시 バー一咱一。각ヱ、
一、
ーら力び 니一ほ戮。
d y s
4 e b Į e f f c c y a
M
r
4 z 5 6 0 o o h h
6
n e
u
a
4 4
8 9
5 s
l d
g a e s 4 4
k n O c
n r v q n 6 6 6 6 6
Ļ e
s
r
o o E
b
e
g o o
a
in n T
n ţ c c
d
e
e s d a s n
s n v s
a
m nc
o g v e ì e
y e r d
v b
M b
e
r
o
z r
.
o a s
h g
c n a s e
a s
e r d h
n f 9
m v
u
e
n
d
e n o o n 4
a n p s a n
g e 2 a o
n o ó
g t * m h
y
D
s
a
n
a e
a
e e
j ż
w
u o s
d
e o
u m h d d .
t j
a
« e J
d
4
3
m e e o
j u m o p u
5
6 r
o
h
n
o
h
T
m r
o
i r
p
n
a
q
N
\ c
n
4
f
c f r o n ó
f
a a e
r
d o o f e o t
n c
d
e
m m r
h n o s
a e a n
a n n f a q
m k
n
e
r a
n
y
" c u a
s E
a e d r p
4 n b d a a n
f r
f q y n
m
y e o o e
m
6 r s s
d v d s M q
Ś > a n n
m
n o
s r
d
r
h
e
r O k
c
r
e j d c e
q o E h j
r
o r a h h s
E o r
m u
n m
u
E u
o
a
u
a
n
生 k
- o o
c
o
r q
e
r o
h
T
s
u
o
t
o o
r
e
g n
g
n
p
n
f
e
生 =
p -
m
k
n e
f
o
e e ń
a
f ř s
o n a o n c
a o y a h ・ P T '
n
e
o
u v
y
M P r j r m T p y
d h b
c
f
g - n T ń o
- a a a
F D M d d o o t k
1
c g
f
o 9 L r
d O q g
Q e c r m n
o
r
o n
o x t j h e o
= e
n D p
s t f c w n
s a a d m - - a o a
n L
h u
L n M x
a =
s
d
u s
o
s
e e
o e n e h
n o
c
a g
f
o - = P O
5
p n
a m
t
a n p p - 4
p
n
o g
a e u
g h k
A . - 6 o a
a
d n a
u g u
c m u ń c
n n n n ( u
q f Į
o u s
E
a
d o G q n r
F
q
d y
r
g r
s
b o u o a e w h
a o f 2 u o
X e O c
g
p
n d n s
L c
e s d a D e
w
5 c
u
6
y e
d
e e
u m a
o g h
3 e A q B r q n
o
n a n T o
ħ E
m
r p r e y a
6 q r
h n e o
T o p a a h
E a c w n h d P c
8 / f e s
9 o o e e
3 r o 2 s s h 3
3
o n 4 e a 4 r
6 a
6 s
o c u b r f
6 o
n 6 e o
d o o a
e p
q
c
n
s n m u
e o
a
u c m u p
q
r
f s
r a e e
h n
* e a r p s
F
s s a
e s
+ n s y q
r w e
e
r s
r
o m s
j f o
.
d c e
o n c h a a n
ğ a '
a k a
h e
f n u f
e
u
p Q r
a
n e w n p o m
- h e
m n - a f
r o n y c
o c o d o e a a
a g
Q m T s n n m
m O a s
s
a
c
e o
r
e p
e f s s v d e n s
- a
h o y h e
i
m d
Þ
k s
T r
g y
y o e f
O s
g d 4 f v k o j
a n
r a 0 o v r
e e a o y T o
m 9
3
n
e
" u
p f
9 r
e
c
e
r
g w 8
r
O n
e
j
f
d p g
r 6 c Q n y m n s
a
e
n o o
a e e
- p n
r
e -
s
n m v c r × h e
m o
n q n a = e e
o 4
e r E . e r
g h
s
e
a
. h c
h s k ° h e
n a a i h a n - n
J f e
s a e
O n c e s u
)
T Ĵ
Ĺ
o å p
o y n
g
e m s o = q f
m o K ￠ g s
e
a d
n p a f
a
k d e r r ą s
n
-
T
r
o
r
o
ġ m y
g q
e
k
n
m r
p o
T
n
a
h o a
f f [ u r n - e o
g o
- n a
f Q e a ,
s e
y E f
r
k
s
o
o o
r
u T d n
o = c s
e
・ u
e n
r - f
h p n e
c
l i e
e h p c m
n
y
g T n
Ĝ a c
o
a P
d
p
s
B
v T n r
o r ° a
e t e e u o
ţ e e
n y n
C e m m
c
a n v g a
r a y
h f f
r
n r 5 e h g g
d e ġ e 3 F
- r
k d
n
t
o
e
r
n
i
e
n
v
f
o
a a
n c e w s a
a
6 O " h h
e
a P e
o
x e
a
r Y c
s
t
e ţ a
r
g
D n
e a
s
r
d g h g 8
r i
s
c n [ q g o n T a
o e o
, e E n n a
h a - s
n y
o k ķ T n y
r
g
h
s T n c n
e e b
b d o
n e
e e 0 g 0 a
a b o v s
"
f
o Ĵ
ļ
e a p o { { g a u d
R o h n o p e y a a e
s h 4 e
- - T e u c N r e
n c b
e v h x
n
3 h
e e m v m k e e i
r
h a
h C (
g T E o
6 T
a a n B c
T 9 J j w r r
g
r o s
f p e
d
- -- : :
: :
層〉 &
苣
司昏吕口
苞 6 マ宇
柏 \
舞四
等ĺ 曾
君區
e
ひ零每
3
P
U
っ巧军卫曜 . 召
曾鸣口尋
T
丁
邑搀撃塑
ー
国乒哨多
召中曰 P
腎ひ n い
牙 \
专
甘 익口目弘
切
S
e
C
っ
鸣
ー卜 2
肾
冒と匿们 Q
0
就
い
o 巨巨 R
ヨ
卜
憂
昏艮
惘 n 口
巨ユ
ロ
っ
目淺 6
3
げ
叫
朴
卜
如
げ
呂
い霄金腎
ー可ー
斗
ーロっ
0
区
鲁
》鸣
ダヨ之
学
6 n ヨ
m 丁セっ属
讷
き a 门可ツ铝召
〉
ヨヨココ了
ı 吕牙昏オ腎义三n
帕
.
口
喜窬
8
医
氏ぼ昏专
目iむ，
子교 鼋
C m ら區
二にに多
ヨ
8 ー
コ 9
言 0
g 廿ロ巴舀够
气
毫
0 6
之ロヨ
げセ腎 P
r
ヨコヨロ予
昏斟
. 涿
9
a 己了
廖
m コ
门
. っ 4
; ヨ
宮
づい
& 習ー
C 切
h
习
コ
づ专
じ
& 置巧
冒見ヨ
》
T コヨ
国
n
靈曾言
口 h 国けフ
Ë f っ
e 0
f
瞬
阴
コ
了穹己目
》幼口匆ヨお口
ザ门匆 S 巳ン
a 呐
弓段
5
门っ '
n n 切㈹斥
子
响多
區
. 三专
呐
C 丙
& 巴爿 ă
P
U コヴヨ 2
门
営
菖
胃
君
可呂島
c 0
。 &
飞
ン
呂日日
苣 r
了幼臣及
コ切
內 닥 口多司 ?
国
巴 s 鼠
书
门 s
多习刀 =
ゆ
昆
昏 h 阳作
势刃 e 呂
っヨ 6
v ヨ佛节旨骨
ー& n
v
n 孚》くげ
三昏
冯
げ
コ n o
n
叫 0 日昏
吕
蹇 뗘
っ
了
叫
叫 )
計
朴
)
旧
多
作
曳
二孑
卫
°
日 ■
5
n 氐日
の每。
日日 0 メ
名兽
ー
自
0
「
っ
医オ田
-
ー
齢
如田爿
0
氐
0 っ
氐
2
0 っ
ー
「リ
氐孑
川
e 门ー
廖
。
ソ
- ら
0 一
予
守
镩
骂
n
门
ロ
ヨ
찧
a 鲁
区
e c g r
h h n o c E
d e n n
T n
f A L o w ￠
w
f w A d
圈
)
g
æu ı h 门
t
g o o n f n
g
o w c e
a 1
u
n o ı o n 勇 =
m
w
n a »
a o o a
a y o s n e ū d 岛咄 » 6
æm
e g b =
c r
M u
ď a
= 4
d u u
p
w m inp 咄 .
m
o t e r a n
o p e i
p s o e
s q
M n m h t t a ı n
b t n
n n g
陣 E
m
C
a a a
. c n a o ū Z
w
a
c
m
d s a e s t e n u
í
o t f d 白 1
e s
p c c e p a
3
= ţ
»
m a e
m e a r
m . r
e m
a
u n n p = L
a c p h f n a
n
鳥
n k
h o o a q q i T
m
n s i e o «
e o ı h *
W
ı o r
y
h e a t c g o E c 6 ı
D d e c
m o
m
r
v a
o g
o i n a v ı n F h
c
c U f b i ł
s m s r
m o c w ı wa
n
O 恥
h b o j
y y l e s
f n n «
A s
ı
n
a t e
m
D
o
a c i 9
h s a ı
a
o
ı m
o t r d d a 4 h
d t r o e h
n n
-
e d a v 6
*
n i c
b l o o
e e a s e ı
l i ı
a
n s
a
l
y s y m o z y c n o
s
r r
J c *
a e n D n e
* T 7 ħ
ı
a a s a ( b g
h c
r a q r
e u n n n v a a u s d e 2 c a E i
n
i
p r
c
c s o n
g
d s f
t
e m f u x p - n
ı d 惨 ł
ı
m ı
e
e s e n p n o r h
m o y e
Ħ rx o
H m
w
n r i
G
r n d a s u e n o d s
a
.c
u m D T H s
W
e q t
e g t e l o e o g o d
t d a v d c
n d v s
o e a
m
O d E ń H n
h s n
o e u a p o A ń e ı
n
8
w p
m n b i
o r m y m
c
e b t p n ı
叼o r u
e
c i
q
g e
i n e
d a
ı
ı
o
s n T « ł
r
s
e s d s n l d o o c p
n a a o a e ı u d = e c a
t e c a e
e f d s o u o d h
m b y e n x d c n ı r s
u
M o
r
e
s u
m
i
r
o n
A
s
b
a
a
n
o m
a
e
n
o n
r
o
m c r
o
n g m e
c m 出
h
o
e
n
2
e c
c c c n m
n m M o t e c e a
山 v o ņ
r
o o
r
s r x
o
r
a m a
y
n e a o e
r
a
o r
c e m ・
c i 0
e c n h P i 5
đ f f t f r n
e
u
p
d c a u
p u
h s d
e
s
n m f 乜
u e ]
t
a c
o &
o m i p
m m
o m e n u E c c y
n a d r a
c
r m h m m n L
o s
e
e 0 o i
n d
e
C e ı
d
r g e n
f t
m d
l h o o d a r a s
k
c
u
c e r
o
n e
a
v
x v
u u u c n
b
o
d c e
n o m e s s r
o n d e r
o
o
k e e ı n
f
E e
e
a r w e e b f ï u e
m h d , h
t ı
n r t s c
r p
c s g r y r a a o m s e
7
n r ı p h u a
1
g
s u e
n
e
g
a - o n l o d
o c
s
D e f
o c r
a
a
h
e +
Q h p e u p 4 e
A
e 6 e
h e
n
m t
i o o
a e
d e
E
u
n
a v E
n 严 r
e c p u u ı 6
p 6
c c
a s t a t s t
r
o m d E n a
h
e m n u e h a A p p ı
n
h r c s u a a n u e h L e
X h
e
a
p
i
n e
e m ı ı
d
r g y q o o p b m o
s e d u r
T s m m ū
h
e r
o o o q o
w n m u e g o ı r o b e o e
C
a
t
r s
o a ń o a
C C C E
a
L
s r c n y e n o
n
o h n m
t o
g a s A 0 c D w F
a r e e o e a a h a r n
a
y s e h h C c h m m T o g T c o a
u
o 3 4 s 6 7 ı
u c g p 1 2
h
I a
e T T T a
m g p p
\
o p c a s P p p
h a u l n u P e e
* n L a a * e
b
a
r
o
n
a
T r
a A m 6
e
n A T
h
m o
￠
S
t
S S
t
S
h r 3 y S S
s C m c o
6
h
T d
c e c o
y c
o + v
s
a a
e e
s
o a
j
s
n
h
c n r f a
h h m a r
h n n t a e
r e l c n
e e e e n q s o s r s s
e s u u o e
u u f t v u o a
k i f
m
a q q o c e d
u
q o n d
+
g
n
e
l
m e a
e r
d
n
r r . a r n d v i o u e
o o n R o f o a f c e h a a
r o t
e
r j o g
w n
a n
k
o m d n n
e c o l o y
y
a a j s a n s d c
n a e . e n j o e e d s
s y . e f e u e n k r a
s r n k o k o
e e e r t n u c n u d i
s n v r
n s a a s i a o o n o a u
s e o c q a c
e u u e
c m u
i o .
. o r
e o c
g
m d
r
e
p
n
c r
g c
c
s a a ￡ o c l r n e l f e
n
e
r
c c c
a
m q
r I
a
a ,
e
v
r q e
n e t
o
u e
e
a n o o s
d
a
j u . n o a a
g e e a g
p r n r n
o s
M
d o o f
￠ c n t c r o
b n
e n e e e a e y r a
r n n n g t o a
s o a t i u s
e
u ! d c e n r o n
o d g e
e g i c
o n h
s
n
o e i
o
i
a
q
r - d
. e a
e u h
y
c
r
a
n
n o
e v
a g e
m o
a o
o
r
r o a f h o
f a
a o r
i
e t
. m c
o
o
b c t a r
g
n p r
o e a d a
e a r
r
d
f t
a m e d f
o
f c e
s
o
a
n
n r
u n
e
c
s
a y
r s n o e s
m i e u e a o e o v n
p
u o c a e e e f
v t
o t h
o s c r c a o c c o o n u e
q c i c
c e r c r n a
e a a
a
n a u t t o d g c
t
o e h o e r o o n y n
a r e t y
+ w k d
h o a f e s e e
e
s
r
e
e M h
e
e
r
i b o e d n f
e
n
e C s t
r
c
o
e e
s v
c
h
a r 5
4
f
o a n n
h
e
e
e
c n h d
M h v n
a y
s
u
k
n
g o d e
r
a u c
6
a
c c e
f
o e
e
e
j
a î m d t
n
i u r p
r
g
f o f {
e
y
c a i n c h r i f
s e t e a o e
n g
e s p ġ e n n f d h
a
n i
c
n
t
e
e d
u u
n
e
e
r i
o o
f r i i
r
h
e s a n e m q
s n e q s c
a n e n
Ī
l o g d a a E s
f i n a f q o o
m h
e h e d
a
t
r
o n d n
m d o f
a d
o e
c ü o
x t y s m e
j
r r a
r w o e e n e r e f
o r n n f
p
e w a
c t s
e
c
o a o " a
e
c h
e f e v
G
e
p
o h o
s
n
o
h e y e u a n r
a e a i n t ) r
p h m f
j
a
e j r T b s
c
r r y a e n o n
h T e e g n o o
q r t n T a n e n
r e r
t
r
r o w = n h n g
n
c
r n l j n e
d
g e v c e j a
o
c
c e
n
n s e
n e
e o
r x y f o o
d o a n
e
v
s
n
a n c
a r m n f
o
m a u
h d i a y e d o j g u ı
r o e o r q r
g i f c n j
k v f g e n o
r
o d e a a u o g a
f c n e e
o
f
o
e n o
n e g a n s m a
l a i
c d
i
r o e e d a f o e a
r
v
w e i u n o r y e
k
a
s e n v o h e o d
r
e
s p s l q o ) n t
s h e c
i s
e
t
j a o n c T z p
y a
o
s d
u
n r t e r ą n y i s p
o n
c
e
u e e c p
M
e r w a c r
o o
n
e i j , e
r
e d d e o
C e f
o
c
h p e
f
u
s
a
r r c f o f o
c ￠
k
c
n
h
s s h n a
r
d c s
n
a
g
n m n
c
f
e o e f
o
e e e f e k r
e
r
a C o o o n
O m T o e
n
o e
m a
a
d d r
E c u e e
f
e
h n
a
v s d k
e
j -
i
r n
e
c
c r
n
o h c m
f s n n u n e o e e o
n
a
f
e
a a
d
n
q p
p
c
c
c o
c o
u
c
o o c ı a v h 4 v a , j u s g j
v a e c
m n
h h h
s o n a . i o a a i
S e n d e
r r
h
1
c n k
n
= - - - e s q a
c c w n M M h n
r
a u o a
7
o
￠ q i
ĥ o s n n
t e o n n o p d C p j F T p a y a
o h n o
T j
a
d c
o o
b k 3 4 6 f
o T j 5 7 8 n
R
2
m
a
Z
e
( U
S
n
g
h
e
.
a
=
d
/
r
6
m ţ
E
q
S 勺
剀
6 日
5
5
區
一
f
。
氧
化
5 钿
。
曳
一
h
e
e
f
e
C
V
e
n
e
n
a
c
6
e
f
6 c
e
8 n
s
J
罗 n
イ宕
ヨ 3 Sn 团
召
ヨ n
0 e
回
口
ヨ门
确 P
コ阳
S
良
餉 7 っ
小
ざ
丘
叫
.
す冶聋
キ b
e
切
コ
C 0 人
朴 : 到と
っ f
. ぴ二目己 .
か
ひ
.
6
f
昏
及
廖と半
6 一
门 N
6 。 )
。。
爿
、
5 。知
S
一
兄 - 门
5
ゆ
.
㈹ d ヨと
：降辜门十
*
C
爿
=
n e 吼 .
门十
同 = 口
铮
门
小门
ー
幼 f
n
叫
コ f
. っ加
ヌ
。
コマっ 8
U
げ氐
户
ーB
鸣 ˜ ー丁 &
怔
0
\ \ 吕
置导
去多阜우
。 \
歹 6
里
2
)
心男
宕
。区
に C
.
C
e
良路
一
曳
i 未
二우
n w 钿巴 9 ろバ
の
t
tų
ー
ト
0
彐
。
良 m
コ e
f 车
く
n W
- .
Ş
§ 多
ニ
ロ
一
彐 C
e
十
，
げ良
卜ロ 0
n - ł 0 0 0 0
和ー 6 S 乒口
十
4 Q 0
ヨ 7 f
一
置
ハ
伤子
V
e
臼
色
コ》 6 臼
朝》宇
》璘写
刁 X
6
m
寸
Ħ 6
9 6
8 子 6
Ci(y»upliag 0
7
山
书習习
巍 겋
邮
君三岧越歹
色
l
惡
老ー
黒
俺月售目 ı
ー
刁リ
ー
労。爵習驾
严
越
印P 着ー勇ヌ
# .
習
周
ヱ
더
暑
g
箇
由
下
崔
阅
刷
甘リ #
.
历星荟冒り#
曾哺ー冒
曾葛启
◆
阗
罚
妇
個
月泌
卜一
若 나
望
考
) 冒
お
丽
い
侧
好区니 封
個勇
老
ー者左
眉心
川
一響靈
习さ
。
習左
ー
巴卜邮 니
。
肙
尤帜尤
し
畜，コメ
暴
ー
とっ
勇1 石王
니
g 二罚
習牙归
善
曳
冒
锄
・露婚夢司ミ
：囂吕と
一
芽石心
菱令
니 三
ー
せ
一の苜 =
畠
节 쉽
十。瓦
& 罚口
習孚吧勇占
呐ゾ
卢
虬
ぐ子
九
门
。业事
p
」 니 湯影 썹 憂 ë 主
主卫
コ夕
む
ー四左崔卫岿眉￠闪し
勾
. 訾印
一壁旨售く
吕雙
っ
壁七
吕芦ツ
- 刁
gー
っ」
- -
り
ヒ引八
뇩 皂冒氏
巴
布
省卫 #
严
占丽哄
E 一く d 包卫
曳一
，胃リ
。心 n 荟 으主
如
目习每哟
二喜
、口 / 声
どっ口
子占豆
ー阗
。
じじ山
っ卫 니 でニ
リ吕ビ写リ
￠
っ A
ーー
っの西ゾ己明阗八专
)
百 E り . 口り呂 졉 芒目っ
角口
岩 ◆
壁吾
- 一
」
写
りド
メ
츠ミ三 모 邕
リム。ゆ中
ーー六
u 口ヒ
6 曾ミイ
口臼
졉 Z ロフ
甚
\
8 リ
丽
)
コ口
ーー
：
西レ
ろミ g 目
コ
毛岩马
り
虱ヨ
口的巴 c 了 귈 呂
占兰
吕
と
占
ロり
쩝 )
訾胃叫巴目 3
デ
ノ
毛区
勇
岿会召
口が
匕口
伪省
ド
吕左図
っ
训
ー刁名
む四ち
艺日 썹
#
り
一
句
う
ー后
石っ只っ
：と
二
八
油鹰
ニ仓。
ぜ岩っ
隅
っ
：
凸老
彐
く砀
卫
侧
じ
卫
. 刍丽田
邑喃
之
、岩図眉っ
ミ奄，哟
口
目丁
の召
リ
く仍
自く
口
只
目锄
ー、砀
械
书心呂凶
ロ
む
佛
口仍目
ミ
乌っ
ン
じ圆幸ン勺飽
む
ロ邕曾
っ
.
荟っ
一
二リ個ロ
@
ロ
年 ) 0 十
u
.
喁リ
) オミ石オ豸 니
g
口
시
勺
し
圧句
、ーむ予
们
驾
罾邗
ミ
夏
く砀孟の目一人
リ
、島一
日
姊
差
U
〉
ー丽
阗
砀
、ミ一
・
っ \
七
ば習
侧
ニミ气ミ
三一一り
9 ，明
因
刊
図
リ
フ伯口っ们よ
っ石、钊吕一・ 9 哟
ロ
碧
肾
三四口じリ )
. 卫
の钊 멉
眉
名 업自モ 7
。リ
り
钊、
目
。
侧
ロ M
E
) リ
轼
ヨ
钊
w 。己
巳岩日
Ę
-
っ
く
四
と口。目
零钿
人
彬ボ只
。て的
凸 \
口 9
目
む纠 H
毛てセ、
り
8 田
ー
百口っ
し岩ざ
てし
、
」
三
廿り日
月
区主ーお 걜
呐
っ
乒
杯
ミ
日
乒日
翱
。
卫匕
匕侧
每
三主
三一。
˜
― ―
戀쁘竺竺竺全竺镏戦蹦娴 급
f
s f { f w o r
r a { S r r o r
- a
u
m w e n 0 l a a c
a S v
h đ s p
m m L a h g 1
m
1
v h d a
e -
h e
x
s m o
a
t
h R e p
e a w ī
e
r e w e e
ı e r n
w
e
{ R
e
e
S o
c
S
u w
c
s
e n
e
c
} e c n e i
o
s
c ı 0 h
s
s D O o
b
a e g p
h
r r h ì
o b d e a
m V
y
t
s
r y a x - v u e n n p
ţ r
e
e
c c T p a
o
t
n b " r r l p e a
a o
y
o e
a n r D y
a d
e l
e
a w
s
p B l e h
e o s c
b r - f
t
h f D c
n e r
r e e i n t
s
f g s e O o o n h
e e d v a h c p g a
y p
- o t s d e n
a r n e r
-m n
g F
v
-
v
n
k g
n - a h r
n a
n
h
e
e
d
e
n o
m d
n
d s
r t
o
-
a
n
h g
B
b d
n e e
r - s ź
o c n D e a a
C
--
p o . g
u
j
o
m - f
g
u
b
e n
o n
e
r
o a o
p
s
h
a
n d b
n s s
r
m + + w h a
a h
e
y d
n m e e d
f
r
a D h
e o
n
\ s e a n a b s a g c a o c
a Í - d x a s e
(
m E t s r r a t
u b m m a
u U
a q - h
r
e { v s
c
e
s v
v s
e h ø n o
a
e
d
a
s -
g
u
e
n
d
o
n
m «
- - s
x d e e w e o e C n r o e h r r
c s
r n z r f o h a l a a o g d
n - o e i o r v v f e
+ k f o f
m
\
o e
-
c o a e a e r r
r r r
n
- + c v h f v r e o n
a
ź r
4 a (
u o m t p a s v e g a
r
9 D U
r
y
u
ź w t
e
p
r e
o
c +
h
e e
e o
c
q m m p e
r
n
A e
e t r o u e e e g n
v a s - s
a c o 0
a o n
ź
e h s t
0 -
f
5 c
c n ß d t
o
n
X r d - s
a a a
a
r m y r
a e n (
0 B a f
r
a
u d e
h s e a o Ď m e
s
- 1
v r
r
a
-
f
a à m f E s o
e e
w
r
e e
e
5
e
r n
e
e h n
c
o c f +
e q f e
1
L y
s
s m e
D e g
a e e
m a r
{
s o
f f
s
e o
h
p m e
f
s 5 n u n a a n a r e r A f e r
n u
r 0 c
d k s u r p d m )
5
a x e
" n f r c a a
e e a f f n u
r e - n m p
f
e d r e e }
m
f w
f
o
f
o f
r o o z h o
e e w k e r r a a
p
s
v d a e
o d h r r r
a v
r r
e
r
h
a
a
v n d v x 4 e
s
r
e û m e
e
b
r e e
r p o h b e c {
p o e d y
r p
*
e #
r
e
ń
m e
v
ń
s
a o c v u
)
-
a - )
s
e e b
e
y o
-
o f r n p
e i n a
v s
e
o
s
n
f e w e d
o A n
v s g o
m
c
m n o
r
o o e D s
d ) o
h
e h
- o
n
o
s
a l s u e
o m s
u » a
a
a n
a
n a c n o
h p
5
r n b r e h d
a
l a a
ı e e r
g k r
e
c
w o a e a
}
e +
e s c o 5 r h s o
u r c j
u y n e n b h
t c j o j v
e
n s h g
e e a
g
w e n
j
o
v o j o g s s t t a
d
m
e ￠ i o n n a
- p o b f
u s v a
o r p d r n r v p n
i ı R n e a h e e
n E c L
r c b T e a e a o
m i m r
e
s t h s
D s
m a r r c s
c a
i q o
- s c
m e p e
n
e o
t
o
c
h
t
y
y
h
a m u
s o e
e
c
l
r
e
g
v
e p
s o r e
a
a a A r o s
6 o a s
n a u e d d t
h n
x v e o f s
n 0 o n a
o r c
8 a
a
s e c d ń a
e
a o a
e
1
a
r
c n v D o
c
h
d
3
b
s t
o n
g m r
b v y
a e e
T u o c a
p
e s
o
u ú h n
C
n e v
e
a
s n W N e
o
e
o
n n d
- e k o e c \ o o f h s d k
e h n h o e y r o
n -
a k a f 0 e c f o
e Ď s
d h n r p f
6
c f
r o r
a b : D w
l
e ( r a y e
- g a n a n
6
n 6 6 - u - v e a
8
a
r
y
m o
m s m k
g
8
n
e 8
0
ı
Û
e
r
5
m 3 e v e
o
f
a
ı f e e h
8 5 - a e
7 o 6 a r s
n r
f g E T 6 v v
F f
o u
g o o q h e e
o v 4
v r n
r
N o e e
s o o R
e F s 6 5 4 3 2 n 3 c c e
s o p e y o w 6
r r
d m h
8 n h
e y y
m
e
h
h
s
b
a A A ü A A Z ￠ n
g
e
r 6
e
a L
e
e
m o c n a o m
歹
e o h c n n n - - e r i s
g n f
a g g g w n b
r h
a e X e a g a
n
e e c
e . u u u u
d r O c k u h s e
e
a v
c
p
s
a
r a a
- a a m n h c e s
o
r
r
o
j
o r
m q
a
-
r r r r s
y r
e
A a
r o c h
v e r
a
l
e
p o v v D a c
q
e c v a
i
u
n
￠
c
e
u
a n D e e c
c
e
o u p
s r
a
c
e
e g a
e
o o n e
e d f n o e a e o n
t a )
c c c r c o
d h
- c e c o
e e n
w e
n
e
r t
-
g a
y y r y b a r
a
t f w
a ￠ t
e h a u o y
o
D
- - o s
c d o e v f
t
i o
h
h n
n n a o e
o h a e o f e
n f o
+
k r n
-
o a
m n
a a
e ķ H
c
n - r e n h
r
b
r
o s n k a
f
r
￡ ź
e
r
e
c n h
r
a
e
m o v
e g n e
e e T d
r
￠ n ţ -
c e
r
a n r
e
r
n
h w e
y
e
v a g o
g i t d e e
r c e
a
e
e h
c n n o c
u
ı c
ó n
ı e
d n
r
a e
e m
r
e e l } H
u a 8 + b h
c n a e q
e e y
e g r n +
t
g 8 y g a
r
n u A n
e o g r
) U a c
s w w w
c a n n s
e s - n f
r
t
w c
c
s r
e m k d e
n c e n a a
s
a h e r d e
k o a h v s
n x r m a
h h g h
e
e c e s
a
d m a e n a o E o
s
p
p d c { g n
w n
r
a
t
d m h
a
n h
c
c " e v e a
a - e
0 u e p g
r f a h a o a
u
e d e
b
a
r
D r r n n
c
e s
n
e
d
o d r d v x a
f a u v v o e o r e
e
e e s f d d b v
a w
E o + s o o o e t r ur
q o u o a r a e
y
D a
n
p c c
c n c n
k
F
o v n o
v
e
h
n
c
6 o e a r a e c a a
y e y o
8 x
f r
s
y u a
t
d c p
m
a s f o y
6 c a i p o
r
e
- n b c
- r y o y
- a
a
- n p c s
f n M
n D k a n d D à m d
d
h
o
f o
d p u e a d
0 e a f e
r s f n
s
e a
r
c c c a e » n d e
s o o o n
m m s
h n n n j
c
e
r
a k
a
p a o e
v
e r
t
r r
o
s
a
n
t
m n
ş
6 c
m o b b b n r
e a
e
s g
u
y n c u u u
t {
8 a n h
e a
g
n 8
y
e
d
a
r y
e
p
e
s
e
s
h
e
o
t
n
g
e r
l
t
彆
w
摩 n
翩
o
o N u s
a
n
o
e
o
o
s n s r h a
2 8 e a
s
m k a
n
彆
e p ħ w u
c a b n n e ņ m
g
m
o o a n a
í
h
S 4
m
n o m n e
h e
s
s o
s
n
o
緲
f e 6 3
=
c
e o e h o c
n e
e
c
e m m E
d h g e g n
o
o e
n
e n h e
n n a o N
o d F
o
M e h e .
ÇA
n e n e y
霈 c
c
n
e
c
h y c
a
e
p a
u
g
a c
e c
n
S
c
e
/
。
o
驛 e n h e n
m a c c
n d q
w
一
a a
a l
h e f
m n
n n
驷
e e e c
n n n o
d v
n h a n
e h d
L
e a e n d
e n
雙
k e s e
D h g n a m y u ť
o o e b h
n o b u k
f u
q h o r
E
聾 o
æ
e
h
g
n
m d
e
n
o
n
a
r
e
e
h
c
e
A
c
s t
w
s
a a
c
o d o T s
e
、
t
í u e d m
n n a n r
i o m d
w
g c
b X ï
才
a n s h
e h n n c o J
e n a a n
c u
T e e ť a
e u
n k h e
u
N c c d h e d k
n
o n k e o
a n n s h e
o n o q a n h
n e s a
k e ľ m o h a e y
n o g s
n h e c a
u e n E n
T h
a
e
c q
v
a
b
n a r c
n
h
r e
c
u
n a a
f e o g e
e n = o c p n o p q r s
G
h o o a y u d
a o a o e s e e
T n b d v n e
a l e
o s s
a n a e o
f h a
o u
a
o s
a
o
r
y
o
8 e
u
k
s a a
n
a h a m
q p s -
n e m n g c 6 n e o a s
o e e u o w e o
s
h e
e e
p
p
n
a
t
a
m d m
e
r
o h L o
a
e n
o c
o e
a s
e
d
n
n m f o
n
a
a
r
o
M c
a r a
o
c e o
r p n a
f
a
n e a d - z
o
n
n m h
n
h
s n
n m ţ e
Û
a ť a e
f c n a
a
g k a
e c
n N b
!
n a
f e w 8 d o t
c
n
m n n R c
e o e a
c u h d n k a d し
n b e a e n
h q h
a c
h
e
n
e
n
o
p
p
n
m h
n
o
s n
e
o h
a
s u e f a o
n m c a
a h o r c c C
b g c o e n n ť , s a
Z
a b o s n y c k r a
r d o a i h
e n d 2
c E
a m e e e K u
p
n
d a
a
n -
-
5
b k ĺ
e h a v Ľ v e 6
f
h
c
r
n e c c
h
e
r
o
u o m u h o b o o
g
T c
n q r
2 o p c m r w o
n g
e T a E c a c u o
一
s d e u s m T
e h k e h F
k w
a n
h n c a 4 o o r
e
b a w e n
6 1 c o
h
d o
§
丁
n s e d
h
h
e
o
c
e a h n m
e a n a
A k
w y
s
e
w E f
o g f n
d b c m n
o e s
y
r r f
e e o o
e b
m m
f
d o h a
e
o
c e
z u
d
e a m m e
s
n
o s
n e g x r
o o s
n
r
e
h n m c f
o e h a
o T p
e
n
d g
w
a
k m
c a T n e n
c n a
n
a e e f
\ r k c e o 0 o
n
s n h
k u k u c f
h e e c e
n n E n c o
c
c - e e r
e c e z d m s
a n
d ) h d c h h e n s
n
a
a a e
g c
o
h u
Ľ e T e m r
m c
n e
f
o
k
n n c m c a
c e
g e
p n L N a
0
a * s
f h
w
n a k o
n f a
n m r
m a a n b k
o n e h e
o n
n
a
r s T e r e
o e
n a
c
t a c e e n n a m - e h
s
s n k
a h c k s a f n
c
s c k
d r w E c
h
o a e
u a e a n r f o
f
m
c
q v k c o n
e
e e H f o s
e n
E
n r
e
a r o a
a
b
e
n m s
0 n
s
a
f
o
h o
a
d e o a a e s o
s m a
n
n n s u w r r r m r g
A
n p e d f f
a f e k a n
ť r f c n h n
e n
e n o h
d a n c m m n
o n g
c
ų n m n h o s
o o w f e
r e n
a
k n k a k f
u u d n n
c
n m r
r r o r
e c
n o c
n e k n f
n
E n e a x o
w
o k c o a
u a h s n ( C n e
e
e n e
e c c f o e
n b e r l f h n
o m
w h
h
u
a
f
o m e u o e
ĺ o c
r o
o n r
a c n o y a
o
t
a s
m
g
n m y
a
r
f
e a
r
o
r
o
c s
a y a
r
e f m
s k r
r c r c
a d s
n r
c c o h e e o e l ]
o f v e e a
r u r v n o d
h
p e i s
m w c a
n
a
q m s m ĥ v v a
e
c
e c r
n
r
n
o E a
a e m x
q n d T w c n n
e a
s e c
v a e e
c
m r
t a g g h o u a
d v a r
a
r
a
t
x
t
x
u n
s
p e e f m r r 4 e r
a
r e e
d
n
n n
h c d c
0
T c + 6 d # s
r
e
a
c
c
e
a
e \ u
g a a
a o a
T e e h h n o o n o n n n n
r g a p p o o
t o a a
s m h 4 r
w x
s f
c u o 6
e d F s
h c n f q d n c c = = = = = = = =
e a n =
o ◆ e n * s
N x o o a i I
m
r i u
b n P V ï
o b F
J n
o
s F s
w m -
d
e c C
R o n e
1
r O a
u
q
n
h
u k
n
n
u o
D
@
e k
4 c r f j s
h o o a
6 T
医
艮
リh ıト巫
¨ Y «\
H W 吖 li błi 7l W '
\
4 Ġ V i þw
b dy S ů r(
W }・ tp ľ m o
tn (
þla w
ーラ么山 A A Ł 叫め
旁
Lf iy a m
t H
e e c c n n e
m v e a o
e r u u
e g
r c o h
t h a a s F n
s d r h
y p r
d d c s a
s c e e
h du
y y
r h e n
e u a h h h
a o w o
h r e d r s m a
d r n n t
n r
y e a c o n e e c
o
s
h
a
h
T
o
r
e
e
s
p
e
r
o
x
e
m
i
e
d i
s
s s
e
n
c s
o a A o e w o
d
e
p h
y n m n r
s
u u g e s
a y e
g n n
s
A r
e n
s p o c
o w h
d p g s
e r
w w c
r
r
a o d s
o r
e e
e
p
s
c G c
)
o c
m h
r
,
e
c g
s
p ( e
o d e n
e n p s
n d u n s
y h a n g o d s o
c n
z
w a s
y n m h
o
e s r o
e e c s u s a
t v c
a u
e
r o e 4
m
Ħ
n . r
a o h c
e
o v o n c
r g P e 2
o d
r
r
o
s r
P d
e
o
ū
n
s × m
e
p e e
d o m
r n s b s ・
h e
n o h u n
e
n
c t y h o r n P m /
r o m n
s a
h
u
s 一 m g
芞
d c
n
e e
a 4 m a r s s n k
D
s n o n e o F
a s r h
h d r y o e 4 F f o s
r
e
e
o s d p r
e e d e h
r
e
r
p e
u
r e g c a r s
e
r a s s n c p m s
a u h o u r
u c a
h o p e e
s p y s
h a n
c e n o y p
o e
r
a n
e
r
a
C g
r
e g d
u
-
n n o n y
e s v n p c e o
o s o
h a
r e
o w p c p
e s o
h
e
v o a m p a r s p
u p
r
s u e u
n s a c r h g P
e s
u a p s c
O
r
s d
a e n e G h
e
h
e n
o
c
a o n g
r
e h o a
h ) m - =
o e a
c T n p h s P b e 2 *
h o s
n
p n
p
s d D P
g m r
r
e g
r
y
o
d
r e s o g e e 4 p
u d v
s p c
h p e w
o n e 4
h
s
y
n o
o e h
p v u
r
e ó 陀
s k m c D T
u
s d
e
o G
S u
q
c N e
e o h
Ħ r w
,
r
l
O
! _ -
į n
a h
e s
c e e e r f
h t
n d h e a e s
a e o b o e
e e h r
c
a e d m s s
r
p p s e n e a
n
r
v n d
o o
h m
o ė a n
o o g o d r
c o
r
r
p n g u
e m p s
h a p e c a n e m r s
t u p
E
x f
o h
s
a
e
m c a
u
띠
a
h
e
d
e b e
) c g a e
h w s y
a
c
s o o y
b s
h
n e f e v
f s a
( r ų
o r v s o e
r e w a u
r
o n e c
s
s d
e p
r u ř s q
o e s h e h
p p d p p o a
e p f e
p r g
n
o n r e
c o x
m s m w
g n e u
a s k r r
g o n e s
d o d s
l
e
s
m n o e s m n c
o h o e e p e
o c d k w d d
n
r p a n m u e e s e b
e r e a e p e g s y h o
W
t u e y n n u s
n h u
I p n g r
c e g
n h a o o c f
)
o c
a s b n t
o
o u p e r a
e p a f e e
e
(
s
m n s
a
r
a
y p s
o b m r
u
o r a o u
e e g e r r e a
e e e
p s
e S r r n
p e r n e
o e o p
p r
n R a m
\
p m e e s
o y E g
g m e
P e d
e
n
o h
e h
o n P s n v h T
l
a e s
a c r
m h o a
n h a R r
r y v
G e
s
r
e
s
a r
g
o m
e e
e e s r
w h
t
x
a r d R y m o
K o
n e
e o
O
s
e o r m a g g e
d
s
u m w r
m n
p
m
a s
ń
W
F e s e
n
n
a
s
o
r
a
M p y
s
a s e a æh
r
e
m E
p
e
r
e
y
s
h
d
v c c
a
l
a
r g d r
o
T r
g ų p
s
g c s a d
n
e n n S p s r o
p a ń Y m
r
e
p
f
e S o c e r a h
r
e
a
y
f
n ]
s
r
p
E
b
a c
s a
ş m e
m c h e
e
I g e o c ı e s u h h
a g
o V r m u
r
￠ ġ
s
y
s
e w
o
n f
t v
s n t u c n
3
r
y R
D
a
k
c
e
e
n
r
d
e n n y
s n
o
p s
A o
s
c
e
4 c 日 e
o c d
m
e e p P y s
b o o
a r o s
e e
V e y a
G p H
h n
m
3 * * c u o d
ı a
m i
ł e e b f e
￠ c 4 n c
e a m o s
r s u
,
G c
b
J
r a y b
j F Ħ 4 5
n p e y o &
p a
p
n e A u b c
o
S
G s
c
4
h
e
m
a
c o n s
e e l w m e 4
s
h
c
o
R
o h o
w M
r í
s o f
d
k e n p S o m b
s a h w m E
w n g b o
e n a a
e g r d n k
s n C c
h a e d
e
k M o
H s
p r m o n
r
v e n d
p h p d a n a A T
h r
r
e m e
a u s d c F e N
e
c
c a s o h s h
o
e
e a n
s
w
p
o v
e
o
d
c
t
u y
e a
r n o
f
o
n
g d C h
n
e o
o o a n e m a
a
s
g c
4 A b
g o e L
r n n e o n i o r
o o 5 r g
d d
m
s
n
n
g
n n
c
r
s e
f
p
g
e
n G y
o a g s n p R o
u a o t h e
t
r
e w m o s s
s
o i e r p p P d
n
o m o r e
d b
o f
n i u
f p a P
f v u r F
o c y e
e s n e E
n v e b a s R e
n e T d c
g n e m o y b w S x
e g m e
s g
1 h }Ą
e o
M b
r e n n h t p e i o e
s
a
r
s
e
n g e h
e o s n
e k
ß n
s
h
d
e A
g y á s n u
r
o e a ķ
e a
r
f
r
m e
c g
: a
t
e o
e p e d e n
e
h p c a
e c A
W
s
s e h o e
b
h o
s e n n e g
u r a d m a r
c l n o n o
g ç e
o n f
g p n
c n c h e a
m e
g a e ĥ
a
r
i
s z
e p
e
e h a
m n r
s s g k e
s a
e
d b
r
o r
n e n n w
n c u e
p
m G
b d
o y a p
s
h
r h
s
e o e a e n n
s
h o r c c g g n
o n
f s g h k g ų e
c r a e
d e Ą r
a
a s a n H r
s r
s p c
o a p s p o h
h o c
e n c n m c ĥ y a
s a n
h o g g
w e h
r
s m ħ
g
o e
d m : d e
e
a
n o n 4 e c
r
o g v b
k g d v h
u r
u c a e
p o a
p o e s e n
e
c
w p y
n c s n
c r
e n e
r
h e e
h m g
g s e o d w s e
e r
s
1 o t
F 3 p c a d T P 4
7 b 2 u y c e h 1
E
e s
0 r s
a r
o h n n u s
° e e a g
n x s e d t
a e n
s e
e
p d h o e
s n
r
d e e r
c n b e s d g
S o b d
c
c y
s
h M
c o s e o
h m y e
d e
ų
u p h h o r
e
d c
m
r
e m m e y
n n
e e
e a S h
m o
n
o
v
n e u
r d
ė m s
o w a
d w r p
c
y n c
m c
r
v r n n
o h a o p
c g e o
a c e g c
u n ę d d o
s n c c k u p n a
ď .. ." e h h k c c s
p u g
o d e e e w r m o e h
G
a
g
p ċ < s e u
a
G
r
r s
r
a 1
e s
s
w a n
p
e
r
r
p
r
n o
n 8 w u w r e s m p p
o n
k 0
h
r
e w s a
r o
e
c
p e
f e °
ś
a
h e r
r s
o o e
T h
o
m j
i m a a
g m h e a o n n M w
h
e
e e
e m r v
e o c e
斗
p n s u a h
e ō o
m b c
p e s c r
Ĺ e h T
r
g e g
e 2
r
o u
h
u
n
s
n
c r o w
u a m p
r
o
s A n
a
n @a e p s F
F
g
n n d o
n
h
e Ħ ťr
r
r
e p
s e
r m n
a 3 s a e s g
s n n e a c o
Į
u e
g m n
目
d T d e s
a r r
e
z k e s
e h a c m
. d y n
e
e k
e o e n m d
c r c n e c
u
ł r e k c y
a w s
m n e h
e w
s
h e
k
n r ?
a h a o
k g s
s n e d a
g e n B b
n n r
m g
n r
a w h s Q c
o
e
g s e
h
m ę a o E
c a p s u b
h c e n
o m o
w
h c
n r d
a
n
m o
g h a
n
p a s
E
n a e s
r
k c k
m
1 e
c s
6 c f o p c
0 a 2 n p c
n
o r ş
e
c a o
° n
b
u a l
Q
e s
o a n
e m d s n
J b
e 5
Scanned by CamScanner 7
p
9 r » t e
e
s
d
g a e
h
n w
) e s z
y v s
o
c e k u
a
c
e n m c
a c
o b e
n b
s o w
d a
p
目
s r
n
E d e
p p
t
h
e
团
o e p
b
e
h h r
团
o
T g 团 s
o ı
o e
中
m
n ￠ h
o s 口
d e f k
o n h o n n
o ı
m p n
e
z
t
s
e s
- i a
e b
c
e
r e
d - r
r
r
o w e æ e e
r ı
d c e d
b s i a
n
h
e
o s
e
d s l
y o
p
o
m e
r
e
s s h p g g
e
s
m n p
n
u r a n
r
s
e h ġ u
r g
g c š r
e e e e e
n
p p
p m d
r
h p
p
n p
e c
g r
h g l s ń
g
n e g
e T ł
d
X
p
y
a
n
c m i a a
n
1 e n
O o c o
B w
a
1
4
n
n
f
d e o a
R e o s
i l
A s c s s s
E c n g n n
G S a y a
r F n o r
s
0 n e
a a
u
T T
u t
1 s
e n 1 2
4 e c
p o
w h m a .
4
G m h
o
O e
.
Ħ s s w S h G
\ F
+
d n e
e o h
d
T
a
e
r
s s
h h b
o
h
e w o
ł
w l
d
a
w t
m d
n
i I
e o
h s
r
f e
n o p
o p
ū
i r
g
o m n
r
r
m d
e
o
ı h ĵ e
s
o i u
f
h
o y
c n e
e
o r
a u e d
w
m o
y p D p
a p e
t
o
H o r
a
g
e s
o d h m
e n
T
s
s
h o
ñ o g r n
w n a ı a
t
h s p h
r c u o c
ı o a
h e
p n f n
c m
h m o
c
o
n
G
a
G C u o n
d o
e c d
a 9 r e a
r
4 4 d s
k d n
e c
G I e o e a
H p h
F F s b T
o B
_m
R
F w a o
n b
G a
o
* d h w a `
w f e
l
4
O
P
e
r
Q 4
\
r
w a
w
n
w a
o
n
s
d
g o
e b e
e
e
u
m
e
s
p e A
o d u
n o
o
c m
h o
u
c a b
k 昏 n n
m a
e 一
c h
h 如 n
a a
n
i g
s r
m
p
p
e
r
m
e
c
h
a
n
s
m
s
a
s
+
4
p b s A T M
-
o w w M e
a
c
r
e W c
o e e h
m n h a 5
4 Ħ g
o h a d h n T e o e Ą g
h
m aM
h r e s e e n
R e x u e t
e 6 o
v
p b
e p
s P e
. w
a
s
c
e
n o
r
a e h
r
e O
e M
p e e e o g o
w ė e n
d e a
m R
d n n ď e ş
n c A
\
e e
r r
e
g o A ı
N o c h e
e m f d
G
C d s
e
k
s
= = =
. . s a p
o
e b
u
n b
y
h
e a
e u
y
g
q n n n a N
U O s
a
w - - .
q
e
h c w p
m
c
t
o r
n
M
g s s
o
s
t m g e e a g h p
y
?
U n
m
e
d
h
c
a a
p
R
e
A
r
N u
a p
e
e a r e
c
a a
c
i
a
m e
p
c M
e
e h m
s v e
m a h
q g p
m k k l
a s
s
e C
u s
a s p
e
u a o r
e
e s u n
e
p g u įb
a n
o
r
s
u u
m m a a a c b n v r e a r T d
n r
G
"
r
c g n o e e
o e r e a p
m h e
h
e g n d o a
a
n r g T
r
e
s
çg e h s c a e a R
a h e n c c c v h s b b a s e a s e y r r
e
g P s e F a c o
o e e e U sh n t d
m p
"
n e e d
ń P r s n c
s
S e s n n a u o
s
o
e o e i m v s o s h
u
p
p E d d c e a a r c a a e E
p a o r e w m r z s
p R p o
o u o . o r
a
a
c
m b
y
e
e
u
r n j g n e e h e e R
e S n o n m a o S
r n
s
e n F s m p P a
m s a
c
e
n e
a q
n . c
d
g s o a o P a o
c
a w s m g a u a o
ş e h c a
n u ° g e a
n h e r
d . n e
g n g v o c n w
c
ų
d
e
p
a
e
n
r
e o ż n a m 2
e n c
h
d g F e
a s n
e
d
e
b
x
h r e n s e n
p n e
u v r
a a
q
u a 5 o n h
d e g
o
g m e g n
r o o o o c h o
c n c A r s
g e s a e
a s
r
ı
e
n d n r
e s
+
p
b
c
.
c
e
m p
c 4 s c
e
n
r
a
o d v
g a g a e o c
g b p g e v e
s
n n a o R o o 1
o
g c
N P n
w r h
r
p
r a
y
r s
h
g s
u
n e m h .
n
p
5 n o e p a
a n
p x e c
c
e y
s
w + 2
o h h r
e
p c
y b p r e a o
» y x x o
r
e d
p w c H t h
h R
e e è a
h n
e w n s g n
e
n
p e F r a e
a r n m o g
w
e
w
r a e e r o . n u n s a d s
S r
s
r n n
a
u m e
e
c
n d u s
o k
f
e
a n
n
v l g
h
a
e
r
k a
F s
e m o
p h n r
r
r r g r
g o
e F r o p c o r n p e h o
c
a n p e e p o
o a n
r c u
u
g
m s
o e r e m v e e c e o b s
S e m w r
o c a e ā
þ
4 h n k e o
e 4 a
m h
d
u
o
e
n
e
r n
e g
n
r
s p 1 e
r a
e ņ m s
c m R
1 h d a e e 5 r ġ o
o a g e n h a
5 e
p s n s o _ e a b
Q n n u
r a e d m n
e
s p b e a e p
a
n
e o
p o
m r
w g u
T
h
e
r
c s
b d
r
\
r
a m n h a
n h
a
r n e
a E
k g a e s a o s n
k h n
e n g s Ħ e r g y n
d
s e
n
e
n c
r
e o p c
e m e o g
E
\
n e a a n
m o
t s a
g n h o e s d n
p
Ħ m e h e d
p o
c
r
n a
g
n
h
e
p
e
e
c
p
u o
u
m p
e c o
s e y r
s
e
e e h g
e
b s a
a
y d o e a o
a r s n
m q g r c
ų
e o
v
u
e w d -
o e
e m b e
n a
n y m e
r
e a r
o
o
p
ó
n r
s
r a a
a
e t s
M
圈一国管・_ - ˜
燴
吕
占
零 O
君
罚
石
욘 璽
w
で
c
落
石
及心ビ
鸢
间
吕胃
丽茗츌
厘君
奴
ゼ
莉勇
Ŝ ー石
器
曾勇
区
ン習苤
ヨ勇
勇售
宕
冱ë ら
営百
困口
印窘
ĥ 上隹
多
茵
图毛
e 口 W
三習
管
亚寻
心
į 乏巴
/
ム
辰望圧
菇相
侧コ
"
細
e 弓
垦 9
钿
ー罾
ぽ l
- 置休
ミ己渔
ー
く
U 曇龟
쩝
§ 났 n 丽
巨く。
卫星
n
岧。
し屋 호
Z
冒曾
っ
嚼
角 /
セ巴忑
ー
휩 N
ヲ
日
目 / 四
鬲
君
受当望
出
砻沁
っ
の
4
名
三巴毛
.
i ぎ
基
レ
ロ召 8 望
出
區驯。區區
0
區张因
イ
・
匡蓟
/
泫仪雙
Ţ° 创
N
前
飞 Ė§ ,
(
e
吋
建
CŲ
后
飞
羽習
e
s
t
0
a c s
m a
Ø h b 4
u h h u H c
c e g o g c g o b
P J
a e
h
e p o n o
o o u l
e
dw
h r r T a
e o e
0
r c h e a n r L o o s
c e o e h g s d k d
e n e o a e r
p
c n
o d a a
k H y
o
r
J ī
g n d p p
e w e d d
o M
r s
u
e
r e r
u G p
n M g r
e n
u p c O b
h p h r
R g a u
a p m a ų c p e r
a
s
o s b o
s
s a
n O o
ū
l
e r
a a o p
r
p a K e
e c
a
i n
s
o n e a m e y y r
n h s
S u p
đ g s s p s e d g e x p m b
o
e r e n e E d a h T T
*
n e h p
p T
s
Ñ y x
e
m o
R
h
s
s e e
p
a
s e s
v
e
a S ß r
m o e
u o O n u C Ł
m o o u p F o o n o c
r
C
s
d D e r a s g
O
o
d n o
d
Į e d f
e
n h
O w e c
e
b s d
e
o
b e o D n
e
d
o
h
s
e
h e 1 s
o e R n a e c d g o p m g O a
c
m
s g
o s e s d M v d C n a s
c r
o e a P
c
y
c o
q e g E s o p T s
S n
n a w r
n a p s c s o o k c
h
h
g
n p
p h
a
r
g
r
o
h
p
p
A
N
Ħ
g
s
t
p
p
h a
e
g
a
e
r
s
s
o
h
e
a
n
o
r m
e
n
d
A
N
n
e a
s
ı
n
e
s e
r e
t
s
p
p o
e
A
s
M l
c
c
r
m b o o
v ų D u Đ
s h r
4 a D e h
w
s d
e e d L e i n n e
m e
O
o h
»
p a r m Y 1 s e t c
u
h r e u ķ e
e
p s
g
a
Ë Ħ d
n
g e S 7 u d r Ķ h u m a s
a
n e
h c T s
a A
e H
W
g h o c a d e e r \ u
g
a s
h Mg w
e
s
h
h
S a
a
ł
h
s
t n
e s o d d a
d
o E
R
b
i
\
d
h o
e o e g
a A a
c
ı h d n e s b a e m
s e n e e n c
g o
s
o w v n N n f e o
o o o M n
t s
o
s i
h n
h
ė
r a p
a m D d o o û
i
c a c Ķ h e
n
v S o
v
e m
e b h
h n e
c
o
n
d
r
G b f a u a
n
n e a C n n n
h e y T b h y s
e g
r F p n e
s
R e c p h e a d
a
b o
n E o u
p p g
a s
e
r
e p o c
w e o e
e
r
s
d L
L a h b
ó
r h d e e
a p
r
e s p b
h
a
e
c h c A e a
c n u E c n o T
r e 4 s e h v e e h c N e a n
r n
o a
d
s
R c m a c
n r e h o E d d c
s e a e n e
a n D
g
c m a
e
o m
a h O n h
p t n
E A
r
h b
s
n o a U g e
d m o a S n
R
p
a z e
o
u
o e n S
m
s
i
o
s
e b e e
n
J n
n m k m e ė e
e
c t e e G e c b a s
D e s
T
N
x a { w o E c
ģ m e
s
s a a
a
d h o e o
a V h m L
o a m p g
r h b n a a s
n ļ a c a d c a o C n
w p p e h m
e d e
p
h
w o
m e e
p
p
p
p a a
s d h E
S m
r
a
c
m
a a s s a o a k
p ō e o n e n n
\
r
a r a p d a n
o h c a o c e
e
r n a a
e c a h u b q e a a s
a u d d c n s
e e n a b
r a s
e c h
b g e d b a o
o o c o a a y e b
y b n n d e n
e a p o e o a d
h n
o n e m a r d e g
e n o d
a b F
E o o
x
n e G
d
a s
e h w 4
m w e h
e
e
e 1
p d n 7
a r o
e e r
c h e E b
4 e e e x
x x
n p p
a o R
n a a a
m ĝ
r n n
p o o d d
C n
e i e in
O s h w d g
o
n g e l
a «
s b c b b
h B E
r e n e e a L X
n g B đ
a A P
e d a d D
W
h n A
s
r
d d e D N
e e E
c d D
g T R A
ü h e o
ń h W B
o e L
p s n n g T E
p s H
e m o n p
r g d A
a e e p
a y r
R
« n
n b h g N
s
d e
t
e S
u
õ r n
o c D
a đ a
c
o e E
d m d e n
t n
ū o
n u a o
u ū R
s
s g e
n
e
s
u
o
b
a
a a a o
c a
e
d
e
d
c
e
e
m c
e
E
n
d
h h
r a
b a E
o a Ħ
n g
h
u h
n o
n
B
a
e
c
o
4 w o
d s
d
2 h e
0 4
b
r h 5
3 e e u
s
p p y
T e a
c r
h
e
C
甚징
h
卫霭
。
峒
吕 라 巴
m
里：C 幼
コ
む。
。四口
四小
ヨ、段国
山の
。
ぶ
召
쩝 し
ー
야
。阅
筐
で島コ
야 丽
身
己召
。日
。 야
巨て
츠 禽罗
、 0
、
ロン
ロ
三己
コ E
。哟ロ
エ 야
。
」
日飞
、田よ
。
巴
)
E 困
、
E 岩
、哟コ
ミ習
刁
口ロ
。圧ヨ
石コ斟
、囹 n
っ )
巴야 旧
リ
っ
、ぶし
。叫
)
リ
じー时
区矚曇芦
야
司国
団
山
言吕
龟
뇨 锄
與
ビ
亡り
国卫封
り
に月
忑
の哟
图 )
の
야
占
红
一
耳含 l
国 0
/ 月
一回
ーt
目
정
西园国吋口哟
屋ゼ
曾
园国目
し
侈叫ロ巳
瞬 야
セ卫금
如
し
ー国
继岩口
卫区曾冒
一
回亀 야 山
酌
ち
国
力书勇 징 り
舌
己ロ
習三亡 S 巴匕
珲国 n 良占
为月ロ
岛彐
u
レ四
r
m 亡鬲百巨比告
ヱ
ーS ー
リヱ
ロ勇ゼ떻 节三 U 匡
、
粉。し
巴フ
ー
良
召骂名巨
」
。国、田ー
区
后 5 ニロロヒ唱昏
田トロ卫ロ、ロ
量区ロエ
四
. 卫勇ト
し、上
飞良旧国
口カ e 卫战
了
吕霹召名・
ロ
女
ど国コ国
' 锄哟
勇ヱ胃
區
闭
鸢愁
自口リ ) 口
鹵
n 야
と匕
巴 n
召 n 戻匕 Z
ー
团国
.
图口
쩝 ロ r
亡ロ m
口コ
ー吕口山
卫
困 C
己吾 1
国
暮国
二
)
) e 0
巳。目国国
置困三勇石君よ
曾壬宕 M 亀吣に召
に
磴剪吕
困亀匕
邙
仁 F 卜、
甚如
己
女
て
り
ーく
国
多
m 幼闪
曾 H
专卫
国に
コ
ミ
コ
コ
コ
瞬勇李
叫、隻
.い
니野ツ
六
a u
a 8 h o w o a
m R
g
a
0 a
w T
r
e n r w a
n
a
c h
p y o t
ı
b
G F o
R
\
e e b o
k T e .
o
n u Ħ T
s
g
o
h
e Ę
g
e a a
k
s
h - a
c
a g l
a
n m h
c
k ・ o
r
2 w
t r
o a e
h
o
p
e = m n
w .
m d 4 e " a g w
æ
\
e c
o
r
o
o
r a
n
g
n e b 2
S
P g
n f h
b
o
s v e
o
d
m n
v
e
n
g
y 2 4 i
n
v u
o o h R
e c e d u g
w d r a 3 g e
n
e
s
h
e
e
a
h
e _
s
u m
e
h
e
a
r o p
T
h a
g
e
o
g s
m e
u
o n p 2
m n m c s e A c
r
e p n o
g d
0 m s e o g s o p x p f
2
r
p
a
c
s s
a n ń m n p
h
e
a
g
a m e
o 5 n o g o m u
0 p X F p n e x
u n g f r
d p s a p m a m
e a 2 a . p g c g C
k e e C
r
d
0 h h m h n b e a n
g
w n e
v
e e e T
v
c g p e
o
u
a a p w
E
L
g n
_ m e r
m
\
h v c F e E E
h c
e o o g o .
e o e R
a o 8 r
u
r
o p G
"
r
o c - A
r
w 0 c c s H ł
o
c
e o k
e
s o o
r
a
e y
p e
d
F
o
o
r t 1
9 5 m
o
b T
H
O U
p c
n
c
o
u g
" o
r
c
r
e p .
F e r
e đ 4 e u N N
e d e g o . 2 a m F )
n s
s
y r r h a
・ ľ 2 2 M
n 7
h o
e p +
q
p
p
s
d s
h
ı ×
5
4
a g 2 n
F u e n h o ı 0
+
F
r
r r
G e a e u
o 4
T
/ d s y r d 8 9
s e
4
且
u b b
t
s s s q e 8
2 u e
e h
2 2 d a a
r i
0 t e n b
d s
e R k o s m t
r o
x v g h a a
n o u
a o \ o s
s p
y
d e
m T d u b
e
u
y
c
p y h b m p e
e p ł e o e u s
e g d o s
e
- u
r
p e w - e
r g =
r
s
h e G
o n p
a a r t
o
- o
b p m p s
e n
e p g
r u a đ -
e
m r
=
s
u
s r
o
e n
Ą o
f
2
0 o a
c đ m g
3 c r
m b e o n h 团
e d n o e e 团
■
自
嗶
'
. o E
- f h o
n x
T o
u a n M 4
A
T
h h r w e e F a
n n
r
o o
t
e e R R A c
g m
g 0 s r e e s 4 e
v o s d c
e e
b h e s s
u 2 n
e
p
r
r
s o a o b s
o o o
3
4
m r
n e
自
s
a
v
e A y
g r
e
M v e 2
T n h C h r
n n n F o o 3 4
a o e g
g h T g g
e n e a g 4
ń e e d
p n d
y
n V e m v
e
a
c
u g r
F
p E n r C o c e a n
s d g
r
F c
d A
龑
e h e u A h
a m c
e
o 2 v
r
s
e e e s
N a m e a e
y
o b
e r
p n n h
n a n a e o
w o d D Ó e
里
a t x Ō p c
b g n s o
b o a c k
a p 廿 h g a r
h o c
T
r
o A e
e b
c
e
n m - - a o
四
e
k
h
b S v
o
r
o s a p 0 m
o S C a c F u
e p w
n s e 1 t 2
e
d e y
e V G u
P 4
Ħ n e
n e - 0 u
w
« n E - g
明
e
s -
0 p o T g
d
\
o h
c r r q G o o 9 t 5
6
1
4
5
0
w b h
e o
+ a
t s
k H r
1
m 0 5 0 e
i
r h
o o e p h g 0 0 0 0 F 2 d m c c
a
r T e r
0 2 4
m e
v
m
n c p F 4 0
b h t
o E b
p 0 N × × - 2
0
a n
e o R p 4 r s
m
e g
o
c p s
r
S n
N a 2 2 - N e s
s e x s 5 1 u
o g o 1
f
r
m
e
n
n a
r
N ı
s m 0 4 2 f m 4
0
e e 4
P
a a 0
e e
s
s
o p h m . 0 g
r g
n
0
d r e e -
a e 3 x p
o a s
s
h y a N
a 5 p
m c
t
m s s g
ń
e
a 0
2
g W s
- 5 n
h y
w C a
ゾ
0 a s
園國
a s p c 0 g
k e y p 2 e
o
e
T b
e
m n h G r g N /
2
d
o y
o
R
g b o
h h e h e
a e
e e s
o n e o c o
r
n g
h e n s h o ń
u a e t e o E
a n e r p n
m
k
ų
r
h a s c o p d
a e
e e w o e E
n đ d
t
M n 2
h c a e
h y a b c
s
a
o
e b d A
a
n e o
W
s s
d e s h
c o w u o
o s
T r a s
m w
l
s b
h e d e h e n ó
o s P
e n o
y
臨
園
o 5
n g
A w
7 w 2 d p
p
e
p e p
0 h ń
g p
c
g
s n 6 p g
e
p
d
e
a a
r a
a s h
e k
n
&
p
h
o p o p
t e
p r h
e m e w n
g a
c p
o p a e
b
e
e e m h u
g a d
n h s d
s
e
n
a
M e a e c
o
s o &
e e *
s b
v »
r
e
x
e
f
o
e
r
L
q
f
4
2
4
G
F
e đ l e * n s s
e s
2
e e
Æ u d r
p e h h m
b s d
m
g n
u
a 】
a
r
o
o
o
r
e
c
e
e
p o
a s
a
r
h
c
r
o
p
n
e
ı
p
s e
p
p
e
a
h
a d
n
c
r
?
g
b
a
p
p
b
o
o
e
c h n
o
o 0
o
e
o i r
g
S
c
a
a
r
o
e
v
o
ħ
n
o
r
w
v c w c g
n 2 d m ?
e
h C o
g e
s
t a d g
h o s
e C
f
a d d e g b r
d s n n r o e ?
h e n e
r
a e u e w o
a
d a R
b w h s
w o c e
d o o e w e g s f e s e s
e
m e n e b o a u
o
n y a e - a o
b a t n s
a e a q r
a
w
mh
e p p g d
h s e e
c
h
s
m
o n d W e e
r h v s
s
r
e g e
4 e n g
w p
r
p o o p
e e a s
s
g C s n a s h e e s
n d
g r h a a n p t
r
e e H
n
g
n
p
e p n
s
o n
u a
r h r
n
e o p
p
a ?
n
e
g
o c b n k
p a
r
r r t
イ a o o
w
r c
o g t o r a a c
e o e w r o n m o
w h q u
n
c c n r g
p
h
h r
v
e
s
u s
t
c
e e p ų
- a
o r d
m
W a
a
r h s p o e h
s a a d
d r y
e o e o o ? n c
A a n g h S ų e
y
r n e S e w c e
h
e
e
a e d h g e F d c
m n E n
s e
g m
p
n e
e s r a b r e e v
k
s e
r
r r n w e
o
e
o e s
p Ħ0 h s
u
s
4 a e
e
p
n ?
d
n e o
d
h e C o
b
r h
d f
d o
d s
e e
h s R a n 0 0 s s y e
a
n ñ
n n a h E
b n e e n a
?
p
ı U 2 1 2 r n r n h c g o c
s
h
e r
e
o
c
a
p
u
s
a
s r
w
g
o
r
w
b
r
r
a
o
s
x 4 u
c
・ - - -
h
\t a o
a a W n
a
n
a
e
p h
n
w
ä
s c p p a o r h u ? r s
o p g o w n
i r e
ı
e
u u e m P S p W e n r p e e r a
・ t g u c s w g w c r d e s
s
d
l
l
h
h u
e d c r
a u F s n
d
i a o e p m n o h
m
ı
a ł c ħ m p u r o o c
u
* ı h p c e
r r *
o a p c
e
m h
f
O
n « « w t
a e c u
e e
o u
v c e
m
t
c
H
o w h
w
u
c
u
c
m n
a
v
p
p
g
n
p
p
p
c
e
s
s
r
r
g e
d c
e
a g e e d p s e r
o c
s
s
s
r
n k m m
1
a
a
v
a
v
x
s
d he
t
r
g
g
d
n
r
g
d
e e o
n
e
e
e
p h
a
n
e
p
p
n
a
n
e h
e n
g d
n
e
g
a
t
o e d r
e n e a a y c e c o s k
s p s e
e
e
p p n w e ħ
o h o
u e f
o
o
n p o
e e k h a
g p v e n
h p
r
o b b n e h e n d
v
s p
e
e
e d s d w e
r
e
c
c a o g
d
e
o p p
b
e e
e h
m o
o &
r
o m r
e b m r
b e
r r o o þ
o b c o
n
r
D
?
s h
e b e
d g e a o a
m o
» r a
a
r r h u c o m
D o a
m m
r h r
n
b a a e s e e n o
r
p c s i o e u u s s
a e o
g k
e
a U o c
n
o o s
e
t
e e a e
e
ų
u
r
a
g
u r
e r
r
a s
* o a r
* t n c g s
ı s
n a s a
a g o r e a s
m
a
r ı r g h
e
d a c m a C e p e k a
t
a b r
a b
n n t
a
e c
t ￥
« đ
h n
h
o
? r
h
s
u s
c
d h
a a
d
d a a u s a w
d « ı
U h v h g e
a p e w a w G
l u
d w n e h o k
w e
p s a
e
s
a H o ı l
I D W a D u W W n
a
h W H S
o r h o s ı & 3
e o s r b 4 5 6 7 8 9 0 1 2 3
v e g e 4 4
v
s
n y H n g 4 4 4 4 4 4
1 1 1 1
c e e n s n 4 4 4 4
a d s a S u f
t
Scanned by CamScanner ļ
L
・
g
s u
m
n c
n
n
o h
o
s
i a
t e
a e
n
c o
l
c
i v
a
l h
p
y
e
h
T
p "
m
A k
w
e
t e
p
o "
u
s
o
n
e
o a
s
R b
o
a
h
r
飞
ヲ (
口ヨ
一
넣 f
为 C e
》 \
ケ苕 R \
0 芪 R
袋
I
ど
.
d
に
ひ
.
6 P
'
m 分 a
% 4
コ召八
b
급 a
P
》ン g 6
亡
9
S
1
y
n
n
コ
闐
h
c
c
S
T
h ・目ー生ー尋 +
乱
c e \ ロ
它エ门ア
マ葛
0 ユ n e a
コワエ
召バ
. l r
で h g n
ヨ .
ロ
阗
f
N a
门ヨ d u
=
d
c
u
ロロク
コ
只ゾ
エ u = ビ
白 . ー
n
っ n r
d
心
召 U = U u ココづ两 n ココ
己
心フ口 .
s コ í s S e フ村っっ
一ロ
仁
ひ
蹇
.
d
U
쩝
n
a
.
U c
r
p
e
ロコ
仁
C
h
a
r
r n
口コ
フ
只
ズ
门虿
ニ八く . 교
.
S
T P
a r
コ
녘
コ a
e a
d 区丁ヨ了几
フ
ブ
ロ
ぢ斗ず
ヨ卦
い . P d コ
0 u a W 八。
.
、コユ
Ħ
. フ C R = r
ヨっ e s
a
P
y 四
。
. コヨ二
勺
コ . I
g 3 っ
c 一
广
门国ノ
一了 u P a 刀 . ココ
寸囀佰
.
. ヨ A w く n i P にフ。ニっ。
门
n
쩝 e フ
.
.
L e
h
e
n
ヨ s C p
门ヨヨ n 口门コフ
丁ニ
e
句气伪
0
d
지 A d
n
d
a
ズロ况钓
コ
门
巴只了
.
3 n
a
。
门
ヨ U
c
a 녘
ヨコ邝
コっ
コ
コ
仁 n コ S
匂 P s
コ可 = n
。 n 阴
初讷フ
Ħ .
P
g k
巳 d u っ
ゆ
。 m 罅归芝
物ロ a 。ぴココピ
ユ h L a e n 。
n ロコ . h 》 a ズ。
島。晌
.
. I s
s e
n
í
p
=
. ブゆ
己
) \ \ メ
丽
낫 子 C e 砭 h d e
门的巳了
訥 m .
A m
e 门
ゆ f 门っ。 \ じ
作
之相 여
P n
f
T b
门
っ
닉
a
n
n
9
ブ
》
Ħ 。單
阳 n 门
r
9 心
U
l y
k
e 、
.
d n
u
b
コ
っ。
了ヘ
V 》 V 乃了闐ブ。コ
臼 e 已 @ g っ h 门门 . ソ
釋 닉
く
d
P
门
フ
Z
n
N
p
n
s a
s
芝
凸
巴
国
e
n
=
d
U c
s い
コ
コ
2
。
乂人
쩝 n g S e
여 ヨ .
ヨ e
c
p
口 n
& a
n 书
勺 n = 了
d 己丁
ヨ n コ U 0 e
C a
g 0 ロ n a b
n
n コ e 、
国龟 C h n e d
ユミ n I コ u a の
뇟
孑ロ V 9
9
r u
m
。
コ
P c
a
コ
イ
、门巳 r P
コ
ヨ S y . w g
n
っ 으 a
e 叫
コ
孑
く
n
a リy g h
a
r
a
っ
门
フ a
C
a
g
u
。
コ
0 s
s
コ p ヨ
?
日껍 コ
ヨ 9 6
e
p
ロ . p e
n
z
e 內
r 己 = コ门コ
コ 0 巳巴 m v g 。丁 c S d
島 e
罚訥コ . r e
a
旮鷗 S T
d コ a
巴良 r
瞬
0
e
n
h e
으 e
強=
dquality6\
く n f s
瞩隹 n 芝 = w
島量 g l
腎了
望
e d
U
e
p 曲 b
a .
コ
u
n
臣。
r
d 巴
a
d
目
目
っ U
a 目
여
ヲ
◆
门 U
回
ー
習 . コ
确
V .
》
b
U ト
耳 .
》 . 蒂尸
. a
叫
ヰ P
多
.
/ っ
ロ U 臼フ P
コ . 깹
쩝
歹ヨ
U
a 。フ
.
. 之
门コ
d
心カ
目
n U
口
n ロ = 严
g 了
a コ
。
门
只 S
一
Z
P 。印
巴 e n
P 了 =
フ
田コ e
C
ヲ穆 =
6 g コ
己 W
n 门 =
s U
で C
门
肖 h
n
オ h
》 e
コ
匕
竺 .
国 b
节コ
声 요
门
n 汐 S
三
n .
口 여 e
q
習只 U 苟
。
f 召
莅隅 r 吋
d 一
うフ - 8
ココ一臼
U
门コ
P 午
ザ王国
c
。
君
の
莳
ヨコ k
召唱
片
尋 녘
ı : \ Z Ł
)
e e s h p n e f n
ı e o r
c
_
h r o
d
g
h
e
n m e
s
e a
p
o
b a a
p
u n
n
n o d n h o g c n
v h b c s
n o
d o e s
n h a e f r
a o c o u đ o s
a ビ
c a a c h d e e d
m en
o u a a s a a a a
h c r e m u c
c r H a
c
p m h k o
"
h o r u 4
c t
e H d e i b o p p o q n
e q
m
e
Ľ
h w p
y
n
e s
n
a c
o h
s
u ' í e
n
y
w e
r s g
u a
m
p
Ľ h n h n e y a
k Ľ
n
n
o a
m
t
M
m o ' m o
A x
ļ
e g n g
o
h
m f
" o n e
a c w n
w m o c u c
[ n r a a
p d a
a Ľ m Ľ a s
h n d a d
'
e r r
c c a
m p v u g m e d a m m p a
o
a
p n p p r o
h
a
c a p p d
c n
s m o ' n
A
e
r
o
c o g
u
s
i
u m o e n n
n
p m
a
c
k g d
c
u
m
n e
n
" e m h e
r
r
e r
u
s d
l
a
u
n c n o u
r
o p o
T
n p
đ e
e c h ' n
e n
o p d
e
e
d
A d a h h v M c e c o
u
n
u
u x
h Ľ o
n m c
a . c a
o o
f
a h
s e
d
w m
a
o n
g R h
m a h
p
Ľ
Ľ e
n n g
h
o e b
o
i m y
n
o
3 %
u
n
n h
R
s
e
n i
p d n k o e a 0 o a e r u d
p p d
n r n c h n n ł
e n o a r
m a b m c a r
a
a s
s
a
o
a
d
J
e w
a
p e
y
c e r " o r
e g
o
r n P
a n
d o
n
o
o
u
e a p ' p a l
d
u c e
e
o
s h o "
c e
o F o
m s
l
c n n u h u c e n
b i u s
o h t d r
a
g o k
m a g
t U u n b i p o r n
o
r o n
e
Ë c n
u c d
e
o Ľ
o
n m p o e n m e d
"
d l d o p p a
n a
n
a w n a r w e w o
d
o
h
L
n c O o e
a
o e e 行 o
d ť
c
a
o
c
a
h e a \ e h ' h n
c n n e h k
o
p e
b
g a
p
\ n c n T n
n d T 山 h
s
a s
r
o
n m
n u u u
h p c d a a r
n n h a h s d
p ı r
a
e
d d r
o c "
b
o \
r
o e m p e r
e
o
o m n e
m n p e d o f
l Ľ d . n c a o a ' o e /
s
g e e u H e
u d
l
p a e
v m c m r c
n h n k d
e
[
n
n
o a g
n e c s m c
h
c e
n e s
g z a n a h a P n a b
L r k e đ s
h h y c u
n o
c
u
e e
e
r
e
r
a ü c m J
a
i
o h
r s c
a
m a
e
c
g
n y
n
a p p i h
u
h u o
t
o a m m e
m n
a
n e a m c c
c c
T
.
.
v r r
b
o d c u
H r
u
p h í
g h n
a e e o w o o o o o
a s s
d c n
n
o
a
m n b F n c
e
m r w m u
o s
e c e o e
h n a
g
d k
c b
r h
s
o "
k e
p m A e b c
a
M n e r r h h n
'
n a
s
h D u a o c
g p u y e a o d o
h M m h R u
n d o p a ü m c w n
w w f
o
3
c
s
! c
d
a
a m İ n c e n
a 0 a y e
2 u d d e
X
c
m r
s
e h
a h n u e
y
n e
e g 1
m
r
a
2 e c
ľ o h e m
r
e c b n & n
e k n e v h k e o s
c i
m
m
n 0 a s n
=
h s ?
e h a c n
c o
T m s
B
u a a o
1
d w m y
c
o
c " e
c d
e
m w
o l
P
d
Æ
e
m
e
b r
h s o e t s y s s
a e o y y e a .
p
t a e o e
b c e a h v l b h
e g o a c e e
p n c r c n
沁 o
wñ
n s r e a v y
n y o
a n
e
p m đ
o í M F c
b b
m o
d v s n
o
a
r ť e k
a e
d
p p ų
p s d
n h w e
e
o a w o e m k y
e s p d B w
a
v
o e r
m h
P
c s h c a n p e
p n n e n a h
s r v
n n o p o n w a
a d
u p c s y c g c e n
g
n
p
a d A
.
s
s e
r
o
s
p o c
e
h p p
2
0
d
a
a a
d
e
đ I e
v e n
a
k
n e d
y m n
o
d
e
s
d d c C c
þ v c n d e n c
n a e a a e n c s
c y n e n a h g a r
u u r d a a
h h c c x
h c
s r a
k
p n a
F r p p
s
A
e
n a p r r f e p s C s
a
n
e
a
n
h o o i m n p x
w o c s d w
a
o h
e
d n r
r
r
a e
r
c h e e
r
n o
a
b t
o b n
h
e o p n
o h a ß y x a c n o h
f w c
a c r e u e h r s p e e
a s p s o f h
m /
m p q k o c s o h h a h
h
c d p
m
e o c i b h a d
e T s h
c
e e
c n
a
p s n r r
E r o T r
g c s p r r
> a
n p o ) n
r n
a o o
a y c u o L a
s
f
b b n o o c a c
d
e
e
t h
e n J o p D a e y e n
h w r p n h e b
e
r
w t
a »
u
s
c
u u c
o
o
p
u s
b
e
n
a
n
e
v
n y
=
h e q § i n s n
m
m
a c u c u p l o a
- o s
c Ľ o o
\ m s
u n m c
r į e p
p
e c w
h r
p
r
p h
w
o
s n } b
u
ı a s
n
r a d
i p
f
p h
A a
n
n İ a
k
c n
r
e
o
p
o d
e
m
d r
A
"
n c n n
q h w h d
m J a p
í
a
o
p
p
e
c
v
u y p o n
m 1
p k ￠T r
e
n
u
r p
p
m w v
a d
p a
w
e
p
r
e
m
k
u
v
o
m '
m
e o e c e
p f m e p h c
'
l r
h u o v a a d s
龜
s c e a
u a a u c r
m
s a d p
o e n r o d c
e r
a
a k s e
r
v p e g
e
M
z c n c c Ľ e p y n
w s
r
c p a
e
e
r
a
ĺ m n v
h e n o
n
i o
r n e o p o - a
r u d
o e s
t t s
c s
M w k e n d
姑 g
n c n n c c o e s
f
a
r
a
r
e n
a n
b
n ū n n e n m o
n
o
n
o þ
a l o
p
w
o e h a n r p a
a u r r
#
e a t
e e
W w
p a a d
・ p b e i u
a
s p s a n
s
c
c c t t
r r c e
・ # p c c
h
e
* i ı ä r w e
p m n
u u
n
o
p u T k h n
r
・
f
e
e
r
n d g
M d
I n w o m d
n n g c d
o c
p
h
a s
e
u t
w h a c d
ル o h e e n r
e
n u w e a a e n e
◆ m s
e o
s
T i
n o y
o
r e
o
m n
e
s
w 1 e e o n s C h
b o
塑
r f
ı
a t
a h
0 e v o 2 k a e
o
h o w n n r
T n a u
e d B n e
\ y a
e s r
o
o n o 0 m p c
»
s o e e m s
b
1 A r o w o e r u h u h A h o o o
c
s p r
1 腎画す
节
曳か
r
習 l# !
'
擂す邑
n 曾弓谷昆百
艮 ą 西
唇吵ヨツ
l
骊甲 t ゆ
置習可
語・
珂
1
ー
녘
.ー
ー
昏矷口
肾雪習
.
陪学贸
員
ヨゆ
化及區 (石》
習
떻
長：
多
置ー馨》巧中
オ
a
淫
- 区覧冒譬
佇只ー
，
鳥 *
雪鼻弓召
怕
卫
。
，
吵歹厦氲
フ
只
Į 昏芹台舞甚秀喜
子
デ
曾
歹貫心日
罚量
ĝ
手陪甘
弓鹰二匕旮
a
징
.
鼋マ
胃 4 r
# 净
国日寥寥
目 \ ヨ落づ
主
ą
艮貸役唱萨
飞胃舜歹
乙腎ゴ 경 ココ習 \ 島
ta .
昏
置芎锄甚 - 钻勇目
墓耳
-コ & 啦
医
二苓事
星莎
イ
声羹氏
弓珥。
n 可 으 了只ミヲ甚腎，鳥 i.
事臼砭昏 n r
牙ー
ロ囂找 며 ı ネ
ヒ t 曾了臼コ钮く
n
監
昏零 ?
薄弓
气
于
卢
(
七飞
医日 # へヘ
气匕良 &
苣牙百ー其乳三フ
即
コきヒ邕
g 으 í
弘
に
の
여 医
呂
ぴ
冒
网え型娴￠
ヨ廿
甚学售
g
名ろ及虞己弓
3
罚フ名
军ビ
阿習か叼コ含
ー
，
目
一
之王
區夕髯
、。
是每廷二
コ。目
之 .
i 铲
寸
ー
口巳
名置景习
斗 \ 当
只只
ヘ
.
弓歹心
自
。 n 扭コ皂ぞ文鳥
巧
ミ巴ヒ了ー日
ン口
区二，
が门
飞牙 - 邑習
，
丙日
良
.
口
日 r 弓
\
牙节ふ一
子ミ
っ
マ腎& . 标
百ヲく
1 节 n 。
牙
쩝
牙又卫爿
置ー
여
》 1 4 万
ヒ门
む
门
ロ
n
・
百っ図 P 習コ
矿
区
弓
2
女
己ヨ
ヘ
。
ヌ门
万
ヨ n
户 n
日
コ
n
ı
囀
歹 e
子
コ胃吋豆回
戛
. 巳こ . 單
周之2 毛邕
n 闷
虽牙
口
っで o で昌っ
ー
여 쩝 のに
ひ
X 짇 コ召 Į 习っ
置
ー
を円目彥
賢
g & 标
肾冒 n コ
虱三，
P 医》
芽g
コっぎ
e ヨく
肾阗口ぞ医 m
.
a ーっコ
曳く
。
目
コ
回国自因
一 T
オ
\
育
言習每
也 U l
e 门ふ
f P l
・ g a P 6
I
a コ勺目 3
후
8
に
三
仍
P
S 、己
三 a
C
a 标哥 ◆只長亀
习 n
、。 n
졈
n ー
畜
C 、国 P P 廷ヨ戰卫
阳
ご
e
d
징 。
P e コ
R 可 급 ヘコ
卫 .
マイヨ
e = 如コツ
。に己
、 f .
@
伟 ) ヨレ吡窝
一ヨ役ーq
= コ . ヘ
0 。
ヌ a A C ㈹三のソ
ヘ
如
己
。 h 日コ
手 e
C
可 E コ
制。
e コ吡
ココ
骂
门
、
卫ヘ
召三歹
。 1 中日
ミ
コ e 晌い ( n
じ二
一寸 C S 口不歹
只僵
相っコ a 。 n 门，
\ 一 g 。
。 징 ゴ a S
S っ .
口歹エ口
っフ
コ \ フ二门
ヌ
.
、 . S
I フ一島
子 급 =
。
S U 。饷ろ切门
a 节辆
只三自
。 P f っ N 급 什
产コ
芒
ロ
「 P フ f
げ
G 寓コ门コ。な
イ刁ヘ
ヌ
，
，ぎろヨエ巴
e コ
r
コ门
e
d
h
C 으 ロ
ロ
ンセ
フ
コヘコ
な
n
自门ギ
。
。 a
.
e A コ
コ，。コ轵ヘヘサワ
キン
千
。
T 子ヨ》日 N ヘ n
三汇二
. S p ヘ乙
召飞
。自。コ
h a 帜冉な
ニコ
强
。 . 曾，ココヘヘ
。 e
牙コ P P p 겁
な
柏ヘ
，
一 . P L 刁コ
コヘ
. ロ島
岁兰キレ
一习
9 门ヘヘ
专
l くンニ
& 孑 C 心ヘー
を
. e
ミ八 e
C
a C コ
门八 저
，
只
に
ニハセ
. . S
フ A 西柏门な勺ヘ n 。
髯
爿ー呈
っ S 。门
P 9 コ
T 日フフヒ崮、
匈
.
= = W っヨ四ミ
r
U コ g S l 여
ヘ
겁 晌色
ヘ刁く
끝 、
自
. 帕》
G .
芪セコ
結
V a W 。 겁 口丽コ
で自自ロ国
P
N 口ゴ
目
。 d h 门っコり四
e
ヲ
냑
、
っ P e
ヨ S 作
蓉い片 Ħ 呐
オ
卸コ灵
。 . 门口巧
复
S 门 e . フ乙
，
っ。
。角 C
ę 幻叫
芪刁乙
ミ
コ n
g
.
=
n 罗 a
= n
区
了 g フロ a 匕コ
，
也
コぞ
T ，
9
e ココな 3 铝
. a
으
.
っ歹 = e
飼。 n
ン
거
门 n
ヨ乙，う门
门
了自な
卜廣ヌ
ぞ歹
。 e コ S = ロ自自口。门
自门
手員コ
ーヨ a
f 门 d コ X ，ひ
。
门をごド
ļ
了
. V な
， e 节
習급
f
e
.
仍
フ
コ
f 甘匆乙 여
、
.
n ヨ
牙
. 巴鳥马ヘ廿 1
フ e 切
》
会戈
. h っ。 n 幻
ヨ
リh
。 C a
b 。，
筘
0 U 骂自 요 石 e
ら写
画
メ门
自 졈
ーココン
。ヘ r 抄
e ユヘ、
乙
曳
。，コちン孑
。 y
二西
녘 S 岛
쩝
门
V )
オぞ '
ヌ呂a 魂片ヘ
星琦ミ
여
。ユ \
メロ锄介。
U 丁巴コん
。 r 。っ U 囀ミヂコ
之
马 .
已
尋費召向刁
。 = (
a
フっ
.
h 初
h 呂n フ c 》国ぞ书
e
u ヨ名
邝
u
二合 ub
.
n
.
e
コ
ム
三
ベĦ
セ臼 Ħ
り
门ーー々
四
不コ
コ
曳っ
鹰
Ë
。 a コ
宕切
津균
勇
u ，。
내 m d 帕
ヨ抑オヘ。コ、
争匙门
3
毕ベ
写号
逻己
孚乇
さ巴
气自每口お
コ
丁お
纫
分
瓿 a
1 っ
マ陵
セ Scanned by CamScanner
\
柑
￠
o d
g
n c d
m
d
c
A
n M
ł
a
Ł
m e ł ￠畔
W
d
n c e 枣
c a e
w E æ v 细
\ w
u a c
c M t «
&
e
w ı ıi ￠岫
a
ł w
t p
t We
g
c
ł ū
m s
n m
Ĥ
f
n v t N 開
s
a m w
e o
や
-
a
n
g w n o h
o r k u c
阳
m
ı
i
b a o a c a ı
g n m m t
c g i e
e d f v e n 單
n c m d m a a c u ゆ
h n
<
n f m h k w
l
r i r s r 知
c
k d o g 3 d o u
し
e d
g e n
d n f n w
u
n
e e
n
a e
v
r
e
w
w m m s 路
ım h
c d w c p c
园
f x o b «
f c g o n k s o m \
T 目
w n
s t b 细
d d s
e n a T f
Ą n e
a
i
c c e o +
e ł
h e
a
r b e r e
c m o
o r
心
q
a
e
v p
s
r
y m d
e
b w ı附
n
d
o
r
a
p h
e d
n
b
d
e
r
a
e
a
p e 国三 m a » 明
w
r 国
i
w 长
o a e a
u e c E e
c e n t
m q m c m 声
h ou m
o e h o e
h
1 阳
s
m c s
\ o m e o b
r
R c
m
e e d
r d
d
n
đ
p c
p
t
e
r f
o
d
u t Ħm g e
8 钿
b a e e m o v o i
-
a
m
w
o
m
u đ
p
o
c
b
o
n
n
e
h
s
n
f
o
d
e
4
4 歆
h o o
g u s w e m r
y
r c h
s
ř n d
k r R s
g
o o c
0 h酗
a n o a a c
o o c
e a a
g h d a c M r
d
o
c r w c e s
u
u e a
s s
w e n r
m e
o
m
c f
p s
a
f i a c *
o e e o c b d r b u
e u
d n o e
g d y b o n a
e e
o
r
o c r a a a p u e n
n s y e
e r g m a n
m W
f
a
a
c
h c
e
a
u
a
m
f
d
n
k h
e
ð
n
g
c
e
n
e
b
đ ・
ı
o h
e e
e
q w d
c d
s b o a n オ
v e
g 山 e o s
r e a c m h
e a n
o e
h e e A w h
e s
n s o u
}
・
p m h
T
s
w h
e
n
c
-
o d u d s
n 聞
y yf 3 r
a
s
e a r
o m o o
c 辆
A 3 s n
0 h
e
o
e
p
c
e n
a
r
o
盛
1 T p o e c
懲
m » b
i í
s l c g d '
ı
i n a d
o e r n n » *
i g a e o
a « đ m c
e m r s
u
į i
s
U e s
ı
c o t p u n
c c s
e
r
b
e e
w u
e
h
e q
a
s h v
m e
a
g z
p
g
a q n
e
r
e e d n
n
a a
s
e a
p c
a n r n r
e e d
n e
h d
o
l d m
z
a h h
a r d r
g
s
u
o g F
u
a c
n
r e m u n
n Q e
j n u
n u
c
d
d h
e
c e
d a
c w h r
e À a g
o
n d d e o
s
s
e
e
p d
e
e
h
g r
o e
r n e o
r
n
h ss h
*
e
e r
r g e s ö
c
j
m o e n w h c
e a e n
s
u u c
o
r
e a
f
w e
z
m b U o o m m o c d
r s s c e s
a u ń u u n
p x u e r
t
a r g
n a s o b f « ı
r w e
o
a a e m h
u i
y
e c
h
e
g
n
a a
k e
e
o
h
d s u
s
n n d
x
c ￠
n c
a
d
h
v n n r
n
o
c s
l o ı in
o s
m T a a
C
q
e o
a p w
d a
r
y h p
e
w e c o W n
n s
p
o w g o w o e a
n f g o o
a a n o h n i
h
i
a e p o a o n
m o e g e a
b e
r ŕ t t w
m kw w
p s n h d s n o n ã d ı
d s n s o
浊1 r t
e e d e d a t o c t ì
o s n e d r a c e
e
c s w d n i
ıs ı
f a f c
n f a
o e a o o p
月 s o e
w
a w o j ! i
e r
r
p n
c
r
m o
m d c p y
wií
e
e r c m t a
F g r
e A
r a
r h n
g w a e n e d
o r
e
n d
a
s n e
h
m n
\
=
rT
r
d o
o
o e e s d r o a e e o g tW
p
f
e m n h o p u
u
.
o
m I
P
n c o n
i s
m s
k
A
c r
e
e
嵫
r h n d i
u s r - *
v d
o
a c e
e o e e o
m ￥
o r r e d u a n
r
h c o e e n r r a b
n u r H e o e
n s
n a o d e o
d w c ś
e m W L
h F f
o
f u
m n
p
o r s
o e e f
o
r d
c
a
s
n n e
p e h s a n
e m
d
n
s
t
v
n
a
m o
c W
e
m g a
r p e t m p
u
a
n
g
s
u
n
o n w
o
d
e
b
a
n h
p M m n
e
e u
A
r
C *
r
w n y
o a e
e u g h e
h
n g
e
e
d n
m r c m m s s a g
n
a
o
e r r n
i
h a
o a a r d M h d
i
c c n e a e o
ñ r o
l
e i u
r c s i e b s r e d
j
a t q m e e r e
r c r
o
f e
a
p
o
đ
ı
p
ą W a
c *
e W
n
e
e c
e b
u r
p
e
y
a
A
a
S
d
u e
p
e
r
u u
h
n
t
o
w
* g n o c
A
y r o
a t r
a
i g a e r a m 6 r
e a c c
b
r g g ı n p
s r o " a
n n o «
\
n f d u o
p n a n t
i
y d
s n o n o
o e a 1 c a
h R g
s a d g e u n c h
g
w FT
a r s a e
P d n e a m ċ q a a
* o
r
đ
e 1
w p s y d e m O c
n
e
a
c
2
T w 3
d p
s p
d r h
a H g J
e d f c
c o a e
3
三
k c e u n p e T h e o U
0 r
r
a 1 W A w q
e
o
c
u
s
s
u f
ı g
o s
0
1
n
h p
Ħ p
U
T
u
c
c
1
0
4
a
s
s
e
m
p
o
e
j
b
c
y
m
a
a
s m @ b
e
d
s
T
e
m
a
s
a
s p
a
m
v
e P h
c
R
O
m
v q
c
H
t
u
W m
a
n
n
b w r
' a c c p Q +
1 o R c e A t e u ı
c
b m u
b p o w u h
b m m m p
a N
e
" n e o o y e \ * x ć
o
s
o v m o
l
e
' c y e n
n n
n
s
t m b b n e
n w
p
a
K n n c a d
b
n T d g s e
g s m c g n h
o s o h d f n p o
" h a
ı m
e o h u
m
n
m
p h c Į
a a b o n
' e e e e
d e
o p e n f a m c o !
r
l c $
h
d
y r q e p o a o n n
c
Ļ
m s a o F
" A a c w m u
n
u f y n a u
a w ų h »
h h
r e b m
M
s
j s s c
a w a
s
b u «
s m o h s m
s s o r
e o h o e
c m c
c o c c
a
e n e p b m ı
. e n r r
m
s
n d
g
e o E p b c h a s e G C
m
r
w h e
n o a
m w c n c u
m m n e n a e f e p n a w
w
. e b b
' b c a c c e d a d m s
m a
r
m e m
m
o v
b
e c s e m
a
d h n
y r r
y h a
o c e
n b
g e n m
' e a n b v o a g z
W
y n o u r
o c c
a g
r
e b e m m c
y
a
e
d
a
h
" p d b c n h
p
a
e T o
o s
a p
e
h
e n s
e r
p e o o T g m a o
c
c
m s
p g w w o u m m
' è
r
a
a n e a m n ħ s n s
u n h
s p p c a p c s s p
m r o w
e
b a a a e a e c
h u e n
k e d s e b h g
" o
x
e b c d s o n s
y
m
o
f n o m a c \ a h
n a k n e c n e n e
b v
w e h o c
g m
c e g n s a a n a e c
o e d h e a r a c d a
h
e
n
v m
e
n b
o
n
s
c
o
f
g
v
b s
e
w u
e n
d
L\
c m
n
d e o a
\ a t
i
o p
r e a
o e o o q w s u ç
p y d e a h s h o f o
h v a
r
h
s s w w u
d
a s
e
r
s
e n
h
m e e
u
o c n w
e a
y n e c o m g p x p r
m g m
n
o e p e
s g d p u N
n a m s d m m ų
m s
p d b
a
n p s e
b N a
b c
c a o
a
e s
u a
r
o s
n
m o o u
b
x s
c e
e
n
e
d y u
a
a s e h e y a s g
e g s
s
e
o s
m d b
o
h e m o r e
a
s e
e a c u e s
e
b e u a H y
w m h
e e a
p a b p w h o s
m e m n s n
=
e b p s e e n o
o a y o e n b o c
r
b r
n n o R a r s
e a h
r m l
p
m
n p w v
e
e e
c o p n a
d
y a
p
g s v
e v d m e e p g
b
e r a
o
o e s m o
x
n n d v s
o p a e u q o y b
s
b a g b n
u r
o
a d s
u e m r
m f
s
e s c
e
u o
p
n
T
o e
c e h a
m c f s E r d p o n e a s
:
a e a
a o u w f d e m e h g c
n
v s
k a m r
e m c o o
p
s
n
d
o r o e o e y
s
o o M e e
e r a r
n o b e o p m a a y a d
h s n n a n m
x n o g e s u o b
g e w s r a e
r
c h a n s c e e
v o c e b
a
s d e
h o d s h s
k
S e
m m o r
u e y
o e e
s
m o m u s n
H p a d a n n c y
.
b s ĺ s o s
g _ e n
d n
n
o y a e
a F m g b
a
a m o
p
u
- o o
-
g
g h n g n p h o e o y b
f
o r e m a e
,
g a n e
m
e y s
a
n m e s p e
f
p o r d
a p s a e l m a m a p d a
a
a h e r
a x a p d u n e
k T a e n i a e r e n s
a d
. m
h e e a e o s
o o
o
h
e s m ã b h
c ç
a
r m s
r
a
e
d
a d g n n
p a n a u a
e
b s ħ e o R a
e f e n s
e e o I
d y e h n o b g c e
r n Ħ e e d n w o d
y d y
Ş r e s n
g
U Ë m
u h a
a
n T 1
L X
s
h 0
M s
T
s
k
s
e
s
e e
p o o s 4
F h m r
m
L
r
e e p e a 2
b
ı
吕 e r n o
h c a e
y g s
I
1 o o a s
s s
o m a
e h c o c P
Z ,
e o a o
8 s p m o n
R n n
s e F o b w h
e m
E x g
u n a p m
E
I m n h y
v a o
P
x . p d ë
u 1 o n e r
n
a _ . e p o f
X
n 0
g e r F d a
p
I a 7 g
e
a
s o
n g f
. e n n
r
o
f h s
=
e n e e e e
s Ţ , o h T
o
a u r
m
f
o
ı
u
s
o u
o
u
n
d
0 e
n
p
e b A
n o 7 s
a
加 y e d n p
g y s
X
s y d
a h o e e
s p a
工
s
e A s e
s
o r g f
n s m
n n e e p k
n c
b m o e b
y Ľ e
x b
f
p
g
a
a
u o A
s y
N
a r y
e h d
y b o
n m g
o u e
e e
x o p f
n n u n v
u
Ē f
e v b d e
o n
, e o h e
o o s h s
d
ĺ e
n s
e f v e q o
g c e o T
r a
u
m s a a w e
w pa
b
:
n r s o
o u a s e n s
u e o r v
s
n a
s m p
e x y
e
c p e b
p g u p J
【
e m y s s e h
e
p b n
s r s e n
a p o
p
e r e y p a
n
a o h
v R
g s
g
o
e
r
s
q o e f
u o o
d p
f
a u e e b b
n n a o
h h
m o
n e q
e n g
m
o
o
u s h u F n T A
ť o r g ĥ p
e h e n p
p e
d o g
p ' e p c
0
.
e f e
o e w a
˜
r p ? a g t
a e
r
s o
e s o
g a p
o s o e n n
a s
n
n
m F
m h
r
e b s
c o o
o r y o
į r
뇨
f s
o o g g c n c
a
i F F
n
w
o h r m u e
x
n e
c
e u w
v
y g
e n a u
* a n n e
n e n u a s c
e n g p
￡￠
a w r
h v
o
\ a m n )
n
g
a p
{ r a ì u
c
p
m
a
m
p
1
l
s
a
p
s
m
c c
n
h
g m
r
g
n
u
a h
e
p n a s u ı d
g o
A e d a e r
u n o
p w n n
a
x
c c
e u
n u n n
o
a
e g a
o p a e d e W
b u e r e h e c Ħ
a n
o c a a h o b a o d *
x p
R
x h
y
a
n
e n n
r
e
h
v &
u
e
d
e p h
u
m
a e n
c g
b
o
a h
c
m m h
o o p
m e ı
v
h c S h r e
n u *
o n p e h »
n
e
n o a r n a
e
r
r
c
a
e
c
e e a r k
・ m «
o h h n o c J » « *
\
s
e a a o n
c r n e r u ni C O
w e
g
p m s ı a
m
c e e e p i c »
c
e
b
b a p
k
e v
o a
h m m e e
M
m % a b
s
u
e a
r
r
e c *
o x p x
r
o g n
n c a p o p
a o e c a
e n s o e
e e o e o m
m e w e n
c s
h c y e d n o n p
o
x n
n l m a C
g u
h
o
a
a g
e
T
a b
m
o h
e
n
p e o e
s m
o
g
»
Ħ
S c b n
ß e w p p y
p c n
e
s n o
o
c d » q
d
h
o m b n s e e m a r v
n
o
a s o
w o m o
a c p u
g a g y o « n
n
w
ń
o u c
f c e c e n
a a
l
p n p
a P n
*
r = M
e s
o
n s
w n »
m
e s n
m m d e » o
FÆ
h a a p
n c a h p b y e h o F q b
ľ
o n o o c v
n e m o d w
e e A
7
f o n a r e e ı
e
a o
a
O h o n c f
g C v a
c n A
c
m o o ı h
n
k w
m
c r ı
y n d g s o h
s r n u 吕 e u n n
p
b m č
r
e o e e s o u s r r m o ı o
n
o
m s p e o m a n p o a p u S M
m C
r g p s
n a
o m y a r
d
p s s T ・
e b a e d o
u a n
d e m =
C g o
W
y r *
s
n
n q g g n i e o 0
d n e c
s
e p c
u n
e n n v c b h c M
a o p n e
n r o m T
a
n
c
o O r
u
s
s m y a f
o
r a
e
v
v ı
e a r e
a
u b r ( e y d k u
c
r
e P s
s F
s T p s
o
r
O b d P S P s u c
a
0 o a
a m a f
A P
a c m n r 5 o g
s
s o
h e e a b c c
o o 0 e r g s
d 4 n c
R r h e e
a A F w s
a o 0 ĥ u
c g
u
1 T d F
e
ı e e
a I r o
a a b r n
p
s
p
y i
b s
w o
r
o o
*
* q
e s t a
g h x
s g ĺ e o d l e s e ı
c s s
r g e
c g n c p o
e
e
d p v d
u e r u d l a c
r
h a n
o p n h T
f o s o n
o o h a ı
a e
e
e n g
s p c f s ı
h n s o s e A
h n a c
r
w d R
T g a c
r n e
x T n c
e e g n a
s g p m o
e e u
g
s a e r
h m n
d ￠ p
e e n e g p
s h o n n
c o n m v u e
o h o e n a
h o
r s o c ť s c
p a h o u
n o
p
s p o
a m n s
e e n a
e n g r n n e n
h n n
e e o O c
s s O C h u o
r n
m p
n d g
s
m
o e c e c n o n e
u z
s
R
s
f
o
9
m s o
p
g o
n
o
c r
d d u
a o
r
e s e a ı
n c u g r e
s
a n n e e o
a g
e ı a h c R
k c a
r n
d g c o a
ı
o
$ T e b
e
w F æd s
c
ť
e e
s
e
o e r
e n n h c e
b h p
f o «
g
a p
o
s
h m
v o s
e
n n
s
s H o
e c o
n p e c
d w o b
d h o
n o r r p r c h r
o
A h w a
m u
o e ì
n h
d N
s o c
o u s F c n e
e
r
n c c e o e
c
c
n d
w n
n ı a r
n s T a
o * a 9 a e g
o
A H ħ o h v a i
b
n
0
\
C g e h 0 e c
a o d c c
p e
æ 1
d
n u d p n
n r c ￠ a
n m c *
J e
p h
s
s n
c s
o
e a o s m u
c
Ē h
c O n
a W
s r h p F o
p
o « o
r o w a c p
C
s
c g L
*
y Ħ e w e A p
m p r
i l
c
u ą c n
e n F
d 飞 n m
» M c
e e
b p o o r ı c
S
em
r a
i o h n o
￠ f a
g e e a
e
s A N e
s w n
u
h n T p m w d
c e
c
3 \ e d c
a
u m p t e f
o
n
a
a n h c p
4 v k o 4 a a
T o c c u s r
c n e p
0 h u e e p
a 4 p r R
1 T h p x
c
F u p m
s s e m 0 h T y o
1 T e t c
h
o m d g c a
a
e e o h s
r
z
n h
n
e
b
o
a s
a m a T A
n m e T c a s c s
m m
a
n s h c
o p r
m h o o
c
C d T P u o e b a s e t
n u n a
g
n o e u h a a o d n e i
e c n
a a e
r c
r
b e m d
m n ń e s c m s
n n
e
u h m a v
a
u
e y W h p h p n s s e p n m u o p
b c e
n s u
y
o
T m e e r g e
v
s
g v m
r d
a o h h r a a c s a z e a
c
a y v C
a
e U n g n C h o e r n b e e o
n T u e p c p c
r
c o n a c y
r
T o
J h
o
r
a
u
s
a
x
p
c
' r
o e p
p
e
s
m
c
a
d C
o
e e
o h
h
e g
n h
e
r c
o
m
\ s v e p m o p e s p
s
w h e
s
g
' F
d e
e
r -
s
s e
ı
n f
U
o
f
r d
e
e s m l
g o c
d o r a e a
s
c m p i
"
n
c a
h
r o e
a
e
m A n m h p s n a n m g
r
s
p
r
a
s g
e
c
h f
c
1
h e a c o l s
g s e e
o a n
c e 0 n e
b d
i e s a
s
e c n c
e
ĺ h c e y a
m
h v
n
o
5
s
p
e U
n
p
e
g
e
s d
'
ı
2 a
x
s p
c
r
a
R
y o
f
n
c b
h
e
e
n
s
g
o
f
e
f
n
f o
n
d
e
c
e
e
に
h g g a s C p e y
s
o ı h u
m d
司
' a R e
h o
d a
b A
a p o C
s
r r m e r
c
Ų s
e e n " r o s s
e r s
b
w
n
n r h
e
d o
v C r
c
c
o
g
n R
C
a
d
o v e
n
a
n
n o
b
e
a
4
4
b b
a
o h
m h e
' n
m C o e u d s
d x o o
g
s
r
ï s
v s o r a e
e o n
e n h
p e n r v a q n c d
u
F v a
r
c
e
e
"
r a d
e
a c
e
g s
n m u m
c e u c W a s p c
s
d a e
e m v o
: J
h n v a a n n
g e ・ ï n p n o o n s n e
r c n c c T s e
e
a u a
e
s e c e
d h s m a
d
n
o p n
a
s f
e
a e p s u s o x
T
r e u v d s u
0 c
c n
d
o
x
R e y
s m a
o
r
c r
e
r
c
p
o e n a a a o o
3 m d C m n o e k o e
R s
T n
ł C r h
p e
n
s a e c
e
n m e
a h p e o
m n d c s e n
s h o s c u r
o d g
F e
a o
c u c r
e
n q
C o v f a o o u
:
e n c
w g s
c c
o
r
n c r b d e
r
e
s
e
c a d
e c o c e o n
n e f a r a
s
o a r s
R n
0 a c e n o c
e
s
u / s s c o
c C r c a e
o f g
o m n r
q e h n d c o u o
C n s y
e b o
x
2 e r n
a p q h
e d v e r n
d e
r h u a a e f d
n A o c u o o g a
r r b e e s s
p a e v e s s p r
n a
)
c d m s
e
e e g
e f
c
e
a
p
h
a w e
k
n
d
m i
r
o s
n
n
n s
' e f s r o
￡
e o a s b b h
h d e a
o
o t
p m e e
e f n w g r p y e
d r a
g
o e
p g
u h h n n o a
o w w
h n A g o
g r e r
e a m c v l g r
n
e
e
r
s
x
r s r a
e o w e e
e d
t
o n s u
. e ń y R
n a e
e
r
r m g
a c
a
m s
p e e e
s
a n
a h m h
h
e
o
f
c
e
e o e n s c e
n n
e s
o
r
o
t
i m d
e
p s
a
n o r 山 v v e e h s
s d f e s e e e o o d g e i
匡 U o n m m a
m A
歹
f n 1 e a
s a a c s o
n n
d P 0 r x c
v
e m o R h
a
m
T
s f s
p P f r o
a e n k p n p u p o n a C e
m
c 5 a e
c c s n
r
e
e
c
o e
c
r
s
m c
n p
e C h s
W
e a p g s r c c p p g o u a
e o o
a a o r a
u
d h
o s c r o n o a I r e e e
s
e
n f n 0 e
n o n N e m s c a
p
a
v r
e
n
o 0 u o p s o a n F
n s o d o n S c o r c a
a
h
f n p
s s
a
n
o m r u e n e o h
g
s s
n
f
n
s
P r a a
p d e
k
s
h a f
e
r
o m a
s h u o E
r
e
n
c o s
e d
e
a
n
p
a
r
e 1
e s u n
r d
n h n
L
p k c f
a
f C c e h
n ĺ g m
0
o d e R e o
F s ı
b p
e
d
c n
o s f
o
f c r
o
T e
d
p e n
t o r
u
3
o a
o
t b
s
r
n u
b
I u
s
e s
a m a g e
n
a
r p
r
o
n n o b a s
r
o O A h g o m
x
T
r
g
U a
r s e
o
s c h
h n
N
c e h f s m 0 A u
e r p c u
e g s c s
f s h
o s
w L
c d s e s a d o a o e a a
o c o m s
u s h u
r
c n
d
m p p n A m h o r
f
d 3 u
r
f
o
e
u c a e c e m
r
a
a
r t e
o
e
c s n
m e
r
P p
p m e
g h e
n b m R a
e q d n o f
e
s s a
u n h
a
o u
a n P e p s
e o s C c
s c R n m p c
s
H h
s
g g d e r a C o
v
a
c e o r
e
Ħ o p e t
o p
e u
a e m s h
a d e
m n n n n a g g
r
b
r
x d s t
r
a a
c C g c e T a e A n n c
s s n c
o ı ų
s b
g
g o
s s
o
A e
a
r h
o n
e
s h m c o
u i n y e h e s n e ť n
s
c
c a r w s n T c
h
e r h e
n
e s
a e
e
n e s I e e d s a o a e m o
s s s e s f R
e o
f
n v
e e
d n n s O a
h
o
m b
g
a
n a
e
d
p
e
a
n b r
o
o
n b a e b
s
o
e
r x
p
a s a N r
e n
y
e g n
g
e r
o
r h y m a g a p r
o
w w
r ť
e u g o o s h u n c u
r f c h g s h d e
r w
s s B
e e n r
f n e
e o n
n r
e
t e p a a e
o a
d
a
e
d q o a
s
c
e
r c s
a
r a m o n a s
r s w g
d u u n h w s o o h
s
e n e r a
h e r a e e v n o g s T n
v o h s e h x
e
d
m o
e
s
n p c n
m e d a w e
n
u s e
N
b s
s
a o r
o g c n m n a
n f o o b n e
a p a n
o p e s
p f c m a
a
g o
b n
r c u x n R
o
s
n m ń p
e
m a
s
p
e p r y e
r f
n
y
c o
n
s
h
e d
a
a
d a s c e a s o s r g
s
y u
a c
n
y a
t
r
o
s a a x p
e
F
w
r
m a n o
o
o
e - -
c s
u a đ p a a g
e c g f a n R
p s a g h s p
e t h
f
u v Q n u p a o
n s m y
a
c
s
c c
r
s
e
u d c w e a w h e o
n c P
b
o
o e g
$ c s g a w a a 0 s n n o e
T m c
a
u
r
n
q
o
n
s o
r g
n m
p
h h
e
n
c
e
h p
e
a
n r
m g
a A
o f
u a y u h 3 g r o x p
l n o m e h d r
e c a d a e o o s p
p d d g
a e c a a b a e
a
h Ħ ı
c 0 r n e
N
x s
n
r a m f n
y
t
0 d A M p c s
k
m c
o a o n c
a a
f
o o o e n e n e
o c e
r c p
c u m r s o g m m e
r
s
n
m o r s a o T f f e
a
n a
o
o
M
$ a s n
n n c n
h
r
g
h g
* e a u o r
h x e s
t e e
g m u r
o n
n a n
n s m e e s
o
r
o
f e r
h g s
i
n Į d
ŕ
e s
\ 、
、、国团团团团团
d d
\ y e n
n n
s d r v a
s n o a
a o e
a e
e n a o
d a o n v m
k h h c n e n y u b o n
d s
*
o h a d o t
h
n w
n
c a m
e
n p
p n a
a
v
r m y e
d \
a
v
n g a
h a c c e b
c . 饩
M
o
u u u e ￠ n u h e e n m f
n s x a
« o n * h n c B p n o t
m \ M w u »
a
k a a e n
n h
a o n e
w \
f M a ç
u
w \ y \
u
n m d s f
n
n
a c
c
n s
o p h
e n o
* ,
n H n »
u a a
n
e
n
a
e
h n p
\
h
e
r
t
a
m s
m
\ Ļ
Ħ t a u o c o n
h n d h v h o a u c
w
n
u n m n w o
a n i
n
o
b h e c q i c o
n u
a u o o
d
!
t o e
ı
e
c
Ħ ų a d ı e x c p
n h n d t o p h e
n u n c a h
L
c
n a h \ c p o p
n H m C m n k
y
d
+ a \
u c
c o
d n
a s
d A s u
H * d a q
n ￥
o u n m p s e c e k
n
m n q
n
ï
\
ı
u o
a u
*
*
y h ı
i h
e
p
a
n
a
d h
o d
l
a
s
a
e
* . ı h c o d o a u i
u ı
a a e u f b y
L * e h c
o
t
p t c
a n
m ı n m c d o a a o o c
n y a
p = p
p a r \
n
p r
u
u
c
g
r
c
e
n
a
b
o
c v n
r
a
n
e n
a
m
* p »
m n u g e s o t
ī h M h
a ť o h v n M c p e s
o m n
d l
h n r n h
c
n
n s o
w S p n k a P
n a * u u
c c F h a k \
e
c
T
a c c
u n g
e
t u « h
￠
U « u * m n
h h c
p e f o o r n a
h r
ł
A
w w ・
t d u
c e
h c
e O a m h
c
o
m
c
ı
d n n « e n o
B
o c s o
f
m e
n t s
h ￠ h r
u
h a l m \
n
a
c
L
a
s
r
ù a u n s
n
r
o
p
w \
N t
)
ł
d
r
m e
u n
\ m p
n
c
a
n
O s
u
a
c
s
c
n o r
p
a
￠ u * a ı c
t x d e
\
s R d o o
ı n a u h ħ n e
«
* ł
ł
w h c L p u h w p
k
d n n p m e t
a p
c
. c p T l n w o n c F v s a f
M u p o
・ p
w
n
n p
s
m u c f
* e
m
*
ı
\
*
\
ı
c m p
*
c
s
e
c
m
n
a
e
m
w a h c
e
O f
n
a o
r
n
o o f
c i
f
o c
e
r
n
ı f ı » u
«
n
ı
» p c s s p
c
i e p
p
\
4 ı *
i
ï n ł H m n
e c
c a
x p N e o T e m s
t
s b
s
p u a p x g b u
h
・・ "
1 e
ï
'
a
\ u k r h
a p u
a
m m m \
n x s e O d o
L r u a a
h \ q p n o s p
M
h \ n * ı e r J r
n » t p ı c L c 幻 n g c f " a o
￠ w * u L y c T e c e ı
ı
h )
r
￠
I
»
u 呷 u
s
h w h y e v a
c f
m
a r o s
r
ı
l
u
c
u a A o g d
ıh c
ħ t c c
W
ĺ a s
n w r c o h a e r o
r h n o r m n
n
b
c
c
o
* n c
n C n
k e h
e a
n
i
a b
ū t u a a
w
m
I o
»
￠ n * n e o h
n o
u c
d F T r
h s
H n n u ・ w t
￥ p
m a
m e c e a r
Ų l < h u
r
m
n k ￥ k n h b s
I a
y
s
c u c o a
￠
n u ı
n n n n n h g e u * T s
a
h n q e b
ı \ d
e u r o n * r n p ı * c
a c n c n u S b ◆ h
" T o g
w c b ￠
n ı a k d u u w r c s n
￠ e u
a v
ı r n m
ı n u c o
e n
a
e
c
v
e A
U e n
c
n
a
h a
u 1 « \
h ı
« t l
p
l t y
h
c
S
h d E d h a m w o 1 B e
r ı
4 w n « n * R ı s e
區
u n ı r o h
n d h
g
t p F h c )
w 5 7
h o n n d
7
b
p
n h ı p T 3 4
M
o
h d
Ë
h
m
1 4 *
2
0
1
h c
* a p
m 習
w
w ū
ı
ı
«
ı
m
r
q
m
《
n
ı
ı
C
M ￠
d
￠
f
y
l
t
ı
ı
m
«
ı
}
ı
n
躯
捐
*
b
ı
u
m
闐
W
姥
向
c
u
d
m
p
w $
d t r n r c
& u \ ı
m e p
ı d
n L
ı ı
ı
A
b
ı 耐 h
e
h y
i » h d
ı
o
t n u
ı ı
n
v
r = d
f
o
u d y u
e
ı
u
n
ı
ı
ı
* ￠
r
》 \
1 ı r
a
n
ı
ı
ı
聞
r
・ «
&
*
« »
・ = = *
ı
n
q
h
\ *
ı
m
o
n r
￠
b
泓
・
q ・ r ￠ « \ 隅 p
*
ı
ł ・
M r 旧
N m
ı
N » 蚀 a
ı
W
p
= * n n
妞
=
p
* * * *
J
h « i
d
c c
e
h
n
m
・ p n o
Ą
N w = ı» o 0
ı
r
n
u r
t
n
Ħ u 0 f o
N
ı
ı«
r
= e c t
ı
m 1 *
w f s
p
* t h *
ı 协
k f
l e
p a « ł ı n
l »
*
w łn W
r
b
łW
\
T
o
ı 海
m * t p
\ ı h
ı m = b * c
・
*
n ı
・ * n w 4 \
= 園 d »
b
n
h *
n
* 净培 n
+ w
« * t
) 《 ų
ı a
a f
d w ￠
w
ï
島
ı u
« n v
w n ・
w
《 r
w 也 v n b \
n
b
m t r
ı\ u
* + ￠
n n ł + r 心 e d * o
e
k
ı ł
w e
管
r ı ı b
w p m n
ų
ı
y
b
u
ı 「 c
a
o
r
o
« * 1
房 * 図
k w b
= i w w
ł R
c
I
r
r
h * m n 穹 h n
ł (
項 m n
o
R m ņ
* n
・ *
0
ı
*
» 佇・
f h »
m
t
m s
r
e 林
ı ą a w 子
f
畔
B s
ı
加
《 ı ı o
ı n H * ł
褶 w w
t r u
r
a « \ h « « n e
r
a e e
e
￠
￠ h
ť
加
ı p d ı p d h
+ h 4 n h ï
» o
ł * T
* * w » « 旧 n ぼ
m
f
=
ł
» d
* ! * 疗 o d
* i H
l r
a d n
r
p M = t
« e
ı
f » ı
* 即
* i
w
m
«
q ￠
»
}
1
i f
b
ı n h
r
d
i
ť o u
b *
d
n 吕
m 加
t
ı e n
d n + * i
h u w ￠ n
m
»
ł s
*
A * u 廖 n u 伐
h ł *
ı
a
8
1
f
￠
￠
« m w w
4
C o
ç
ı
a
l
f
￠
Ï e
t
孙
秘
下厂
弓
'
― ―
tr
ぴ门
》。廖 터 月歹一
肾3
c d d
e S
a
コ
5
니
닳법쩝 台
げ 니
弓
丁
芒コ
堪丁っ。
。 g g 口 n 门
. ニ
P 国
u R R 日図
ゆ
n コ
フ
コ e e e
口
忉 n 仁ロ万
件，フゴ
ロロコ门 n
a コ
n h ロ
\
B 门丁
u a
U
口门》
子
니 n ブ匕逐
S 门
门
プ內
口
e 几门じ
e
d
丁丁
门
コ
フ回门
プ
內三国
껍
a U よコ门
U .
门 . ブブ C ら .
じ厂
s
n 內
n
コ
넌
ゾ
门
门 # 门
っ
w
叫
づ
c
u h
.
.
门
门门ごっ帕っ內
e フ。
U 仁ゆ .
e ロ
。国 h
g n コ丁
g 。门單门っ
T 여 。っコ中
コ甲江コ丁
h d V ロ。
口
e 丁 쩝 げっ门
咽
. a m 겁 口
ブ
P g
门フ。ぴ
e n C 门
녘
v U
e
ヨ门コ
n 门
ー
e n e 。ニ口
ヨ W っ门
ら
仰ロ。單
a 5 口ニコ 쩝 甲 n
ーロメ U
コ门
ミ
a
s
W
A ロ
。
门
ー
国ユっ
c 中
コプ
a 门 . ロ
S
u コユ
d
C
く
ロに。
ヨ
e 丁幼 n
ミミ
e n 了ぢ
门コ
c d e 门
a
n U U 习멉 單
쩝
。
口
丁
ロロ
门 U メ
b コっ 쩝 了作
ー
e h 쩝 巳
a e
3
。
っ门 W 门手
。ロ內
3 . ロフ
n q
e
门
口
了丁ロ
コ。
っ
l
= e a 门フ门コ
d S ココプヴ
回ロ
c
S 多仁 n
几
U 门
a コ n 门
= =
仁丁
e . e
丁コ
己
巳じ
。
门
门
ロ
ヨ叩
= 了ロ r 门
u h 쩝 プ
e ー了
门
门ヨ万门
h ロ m
m e
a
コ口
U コ
。
X 名
a C g 5
闐门。ー 쩝
k = r
ロ。一
巴
n e
C
e
e 召ロロくっ门
心
g
k コ门了 n
コ
ー
n 闐コ
h u ブ了丁。
s 国
e . 낵 门门コ门コ
' *
门门
。っ
。
巴
。。》
叫鸣
翠三巴
1
ヨ口
し
阴
仍
晌巴与
口コお :
夕 9W 卫
#
S 阴
目コ
ココ
门
U に
R
e
= ◆ と
自
A マ
s
a
く qE L = . R 葛
佔 P
ヌ
国 c P a
吕b
标
了ミ
如门 d 廖自
コ島 P e U y
门 P u e 自
っ忉阗 k 仁ココ 6 a
コ
丁 e c a y P
歹门 녘 くゆ C U コ
n n 房將 e
阴
e
d e 自 a
コ
的 e
作
コ 3 a m a ヘ
骊 q e C
n
它，
& 口フ
名c 兰 h 9
の
区号
コ 9 u =
t:
d
a
瞥
、 =
くコ n a n
ゆ门
절 = p p n
っ M コ a 吧
凸
ヨ 8
ミ
コ S
ら阗 p
口
口切ロ
区 ea 8
= ㈹ r
d 喜
輛
e
n
=
d
e
P
e
口 u 8
넋 コ C a 向
内 c 协
四 w n
名 & 压 C p 自
.
e & 협
0 6 h
了フ S
m 裙 e
e
言ヨ邕コ
= a
=
自
コ
6
コ
智
H
コ a
门 e
e
钿
g
n
e
二丁コ
く召 d r
n e & ロ
门
门
コ周 d ロ
.
心ら
门
ロ旦
b
ミ
t:
넋 y
ココ
歹巴瞬传
遍
ム
己可 n
，ミ
不哆
廖
PeHt6f オ
にて
쩝 ロ
门ロヨ
巴 8 曾
吗
ミ
넣 ユら
砭費臥弋
っ三ニ自
ヨ
ー겆
ヤ
#
ロ
》
n
罗三宮
国
自■ n e e n r r s s e h
m h h o o e « n r
y s
n
m $
r
o
T h o n a i
r k c
c s
n
a c a c w
u s t
d ı b w h ￠
o ņ
k
h
ł a
u h n m e r a s
m o 1 ı
æ n
Ł
a
c
c f d d k
m
o e a r r k n ť g h s i
o m
t
r
p k
c g
a
f
o
p
e r
o $
e
r
o n
e e
a
c b
p
n w = 5
t n e i
d
e ł
a n Ľ r
t
r c
c
r f
r
d w h
o
c
r p o c n o
ì
L e
o ı a
o c p d \ b
x
w d e h o d a
e g b e ı n Ħ t
w
s
p m
e
r r
p m n r
e r n s
f ) h n o n r a
a a u
e
e
a
w o s
o
c
T
r
d i Æ
m A
A u o d
c
a f
f
m e a ￠
[ c
u
ı
c v o n h
o u
n q
a u
s
n u h
s k
s
c u m h n m n
o e m c b o
w
f e
b d p o h g e
e
p b a o f d
d r o f s
o o
r c
n
m c e a
e v s r o
r
g
h s a t m c y
R a e s n
p s u g o e
h m c
s a r c r
o a c u b h
s
Ľ C b a
y o h c r w s v e o
p
h
e e
x
f e d d s y e
r
f h p
h
a n
o
m w
f k s n c n a f
e
s r U } f
c y s p
n a e n n v o f n
e s
1 h o
d a h e
f
o p
\
m n c
s u a a
s
r
Ņ o n æ e u m e ・
h c h n e o e
e n h u u e u x # s
n u g
)
b c n d n c o s c u
u o
a e
o m s a d s
n a
g
o n q t
c
n b s
M m f
e
n
o
r
p c
p
d n c y e e
r
s
t
f
t c
b a e e n u v s r e v
c c o p i c
c g e
e o e k e s s u c n r
w e a n
x s
e n h h e r r e o d
a e r u n e a
e d
o u k
s d w
h g s
o
o u
r
h n
a v = b
d
m
n a n b o g
n w
j
n e T f n
f
o
r
r o m
h a n a r u e e r n
e v
a o
g y h v c
c m o e $ ・
s
e e
h
r r
e m e n g s b g e h
e d
a
e
v
í
r h y n e f d
e
h
n m o
e
n e
r o h
\
e
c
o b
s m o e d O h o y s a
o g a u a r v f
m u
e n h n s k n o
r
e
o
e g
r
r n m d a d f u e o
e o w a e a n a e u d o d d e
m
a o n h s d y p k g o e
e v f a
e
r
a f
s
e b
d d e
r
o f
r
p h
d A c
o
s
a
e
e
e
c m
r
c e n Y r
s
g u
e
r o z a
e
z
e d
w
g
n
o m s
r c n n ı
e
o
n d g d e p u o r s
n
o d T e n
a
c
n
n m s
n
k o h r
r
r
c
s z p f
a
s b h
a e E e f o e
r
a v
a
o
o
c r
e
T
s
y s
s w
s h r
F
n
b n e o r w h n
c a r
m
o
c
u
e
a
s
a d
r d o m h
r
n n e
k
b d y d s A n
a
n u h
u
m n e e b
o
u s
r
s
e A c
g a
n
s
h
e g
a
e o
r
b b h s n r n p m
o o s o S a a e a e S
r r n b
s
m n \ m e n n
r
e v a s e e
e
a o f
i
e y e r d
o o T m u v o
r
u
b a a A b o r
ï n
o
s
a
e
c
n
d e e
o
c r c c ť s
e f O e h e b
o
n f
e
s
y g
e
m c h n
m
a
s
d
e
n
v
n
) t
c
o e a a s a b e
b B
y
s d m r
h c s m n r w b h n
c
e
p n o u m s e e
n t
n n a a o
s
o O s a
o
r
h
e
e g
e a
m k e
r r
e
r
o e e
s t
r
u
s
k a n
u f s r r
a g u a r v o
R c c n
o e a e n r s
m a
s
e a y u
h v e o d
v a
a u
e a
o a
c o e n
o f n s h W T n r r
n
c s
a w l
e
s 8
b n
n
u
e
s
s
n
o
o c
e
a P n
e M b
e
C 0 h
e
s
n
p
e p o
m e h e
r a s c c o e
i p 0 o c T 2 i n
d a 1 A h
c
m e f
n
u
b
o
3
4 5
o b
・
s
c n o f
b ・
r
o
ı
F P
o d
n
e n » ı f
o
e
s n f
n
a d o s k 4 5 e
o s y b e u
s
n o e u s 2 6
y
c
s
n o s r
b e s b a b n o
o r p o
r
m o
o
s
o
a
p a a
e y
3 a n o r o
p s o p o
r /
r e o
d
r
y b c r c e s 4 d a d e
a f S o p n u s
n e n o d
s e h s 2 s n a y
h s a o n r e a
o e e r d
A d n v a r r a e
e n o
n e n r g e
s a f c o p n
n y y a
m e
s
n o o o
a
s m s
k
s n
e
r m e
r
e
p o
c n
y o e
o b
a
c
o s
o s
r
e h
e f r
e
a
m
0 d
m n
s v
a
u
d n u n o 4 y s u
a e
n
a
m c
a h e a
d w e r k
r 2 e
o a o s q
s c a h o m s
s
s
u
o r
c
n h
e m u
g
n o f o a
c c
u
s
u
d e o
k n n o u
y q u r
w e u r
c
o p o n f g e r d c a
r e e
c
b
c w o y
o
o n p
d e
h z x
p d
o b v c
e a a a g p
y m n e d r
e a a e u
w d
e
d
f d
e n e
n
p a
s
m m n a
c a
e o v r h
s f
c
k y r r e b s o o r
r
u e s
o a
d
d a p e r o h c f o d f
o a n a a r
o e a b
f e
c
r u m e f
r w s y a p d
a
o d
m w r a
m n v e f
o q s
a
n e a s
m e n
s
e
M
b y o r d g o s p y s m o e e
s e Ŕ n
r
a n
n s
n b
o e d n
e
r b s
y n m v
y r
o
h o a e h o e n
y k r
c
a
c o
e w o o e a
o
r
a
a
r
e
h o
a
s o h o s b r
r r u h n e a
u s o e f u r r
g n
s
a
c
m s w a
e s e y
s
r
q
s y o d
a
u s
v
H
e
n e d o r
o h p a a d e e e p
d r s a d q n
m s e
s p n
s
u
o
e
f o p e
p
r
e n e a s
a
e
s
h
a e
e
c
o
y
u p o j c
a
e
n p e
r
a m p a e
n
s e U
c
s
o
n s e n
a a c a h a e n o y r
u a
e u y e d y p
e c
m
H\
e f u a
n
b n g h
e
m b
h b
e
n e
r
o d n s
u o k m
u o n y T
e a
r w n s a e e e c d r u
n
v v e n p v r
n t i
r e
a
h s e a s m k 5 y
Ħ
e a
o h
a o
t
u
a
y n
u n s c n u
s c 6 n z w
m p m a n a
b
e
o f
c o
y
o h s 3
v
n
d
e
d o a
a
c c o e f s
c n a h r
p o q i o f n a a r
u o o
e n n f
a a a s
o
r e a
u e f a s a o e c q e r h
h s o o i s u u c e d c a r n s e a c a
u d c u d
c * q n u o a n g k n
g
r n * n a m o s
o e d e s r s
n h
e a
c
e
e Ņ a r d
n
e p p
p a
n q m h
c
r
e o o b p e
a z
a
n s p s e r p t
n o
f
o m J # a e
a
a a c n d r
e a v w p c
s
e
f
e a a r a
g
p
s e « o
y
h
h
r y s n e
n e
a n
u v n n m e h
g p s
e r v a a s o s
a n n d e s a f
s n a d
r s
b e g a o
v e o e r r e
e a e b a s o b u m
e i
d d
b m w t
a
f # a
d
e o u
c
a c o
R
e
r
s
e n
o y s
p
r
d e r o s
e d l ū s l u c
u o p u b a n s e r e
t r c b d e o
r a a p i o
w q s
h r
q
p m c n a o u
s
d a e c
g
v c
f f m m d b n a f a
a
o m r
7 e
e r h r
o n
o o r Ð e o e p o g x e r y s u T c c
o n n
a h a c v n e
e
e t n A -
r
a o a
a h
d r a a s h n e d
s y i s b o T
u
s
o r r
a
u Q a
f
h
c
o
a r c
r
u
r
o n T a v
y
a
a
c y y
h
r
c a o h
C c
e
p d e
a
f
y o u
s
o
y
n
F a m t m
a
T n w b
o
d s
r f e e d n s a e
n g
n a
s a
a
c
a
c r
a w c o v a d
d
r w s
* * a h 3 s d s y r
u b a h o a
r s u o l
f
b p a o r
m r a s
S v 7
u e e b a s u d b o e g o c a g
r j u q u h
r s
k u u g a g a
o v u o n n o r c
r
0 o s
o e u a a c s o e
u o h z n r
H
w r e h r o s r e p o d a e
a 1 T S s h
a Q C m
u r a e
P
r
A h e o r
n n s c x
H
s q o e r h w h
o ı U n u
s
S =晶
s u T
a
e
r e s
ħ H u n S T T 1
t a
p
»晶
r e
m
H i m p
e
v
v W e e
e o o c s
D p
a
e
d
e h h O p T *
c * a
u a b o r c
v
ı v e c 9
e a
h * * R
m
c n f
l e T r
S
n 油
e c P ı * h
s
m c
m
f t r
m
t e c e
r d s n r ţ
r e o R u a e
h E C S a
s e c n h o
e v
m
b n n
o r e r o e G R n o
u c
e u o o c e h Ĥ 姓
d
t
S s w c r e n e p
n
N s
a
b o h g
C c i
o e
c
b a e
r
n g
f
r
a
u
r
a
r
e
p
t o
k
e h e
a f
S n
n a
r g
o e
r
a
p
s
o
a
g m a
s
O o
! a
b a
w 心
s
t
o b y t o o
r i
d r
i
e m c e o a y a
p o m n c
n b s h R c r
c o s
a
n
b
o e y
e
n
a
c
t
i g
p
i o y
o
c
t w p
p a
s
n r
c
c t e N t
t
a n \
\
d c
a
n
u
ww
g c s e
a r r d n
n
c
a a r
e
s
.
m n m g e n n o
r
a t s
a o n n I
-
o
g
q g
m d
c n o a
g
e h n
s y c o a h n m u R a r N r e h
a 仁
o n a d o c
a b n n e n
p n n a e o e
x
t
r
\
c
n m c o
m
o
D d m \
여
n e d x h e t d n a r y e n b b . \ b
y - p u e s
r
e
h o
n
o a
n
n
s
d d h o o o U o e 出
e a d o
o
n
p o
a m n l x
f
u
s
u s
u
c f
u f o s
s
S
n R
o g
a 刊
a
u e r
o n
n
d
a
n n a p
u
a s
o
r
e n
u
s
r
s
r p
s
a a
c
s
T x h m
c n e o c
s i c r w f a g e
b
r
p *
t ų
d e n h e i n e a
v
e
r d r
o
a u
a
e
a
e
c
R s
o
d h e s
y o r ı o T
习
v r g a r
e h a t b a R h s
e
n
i
e . v
e
h s
o b p o
s
o
s
n
a
n A a
f
r
c g a h o c o a s d o L c e g
s
o s u d b c e
e o .
c o
u
g n o « p n o
n h
f
山 m
h a y h s n
y
s o a
s
a
c g g g A v
s b
u r s r a
e c
e d s a h n s e y P e
n b a m o n h
o
P e
a
c h
u
s
a
r
e
h
a
S
o
a
n
e
r
e m
n
f
d
a
v
y f
y h e
v a
l
e L
e
d n m
s e a h e
o m n f
o m y d e c
o a m
a r
n
ı
B w r
n
s a d r
a e o r d d p n
e w o o C u s
o m
n r
o
w o f
b v
o
n
a e
a
r
s a
f
A h A
b f e y o d y r d a
k
o
b d h
e
o r s
c
o
r
T w n
n
d
e o e h s s b e b e ı
d e f u n o a
y c
s
c
e c
u
a
s s w y n
y
t a
x
o
c
O a
d v e
o w p
o
o r d g
e o
u
a
h
e
r
e r
c
d N n w
e a e
p h e m n
o
m b
d
n p
s
s e o S g o
e e e m e e h
e
d e p s
e c n a
r
k
r e R s d e n c e e a h
y
n
f
o o s o n d r
r n
o n c c z
c c v o
r
h
b m c
s
a
m k
e a a h
f
o n o
m a
o
p
a e
s s r
e a v n
d o
c
e g
o r p
u
n
e
e a e a
p
m r
s
c a
r
r
o y
r n s
b y s
c e c
c v
e s e b m n e
o u o n
r c a p
a
s
e
a o w a d
r
a
n s r d
o h a g o u n e
p d o p c
s n o T k c o
w o n h b
y c
a
n
a
w a r
n n e
r
a
c e o h
s n e f e
g o a s o f e s n o
c g p o n o o n
m n d r
q a
y o
s
o
n g
s
w o
o f
e
n h
e e
e
d
u
u
s
m h
d s s
b
s
a
o T
r
r
o
d
o 7
o
f
r
c
n
e
r
s
r
g
n
a
n n h
ħ ń e
d e e g w h g a s
a
s a e e s y a n
Ł ı
s
n h
ı ・
s
e R c a
b
e W R g R A
ı ı ı ı m o * u
T n c e o o
T
ı . ı * h d a h s g
E C b b M P d * ı * u e n b
r
C T P e
n O W h e h y
o a a P l D C K P
e
G N
U n s
h a
* * * g o
* * *
e n n e x a
s l
k
o a h
f n S g
e
e r
A B
c
M S D
* *
r e
y
n
n a o s e u p o c P P o s u
g
s
n m n h e s
c
a
y o c
d
e a c
f h h n r
u
l D a e
M S r F T
n c n o a e u o r
y r
g e a n h
u e g a f o r c e
c
n s h s i w i r
s
u
c
c
a
a
c
v d a d s e o w f
g
o e
a
- e p
a
h
p
a m e
d k g
u c e
u a
v
e
a
n e e
r
e a
.
i s r t
e n n e n e
i o a r e e
b
e n a h e e
s
a e f
c d d u t
a a w n s c r a x r o d s a n e n g p
f f
o
o
n
u n u m t m a
l
G
a
e b
a
g k a e p
g
f s
h
v
e
o s
a a r a
o
o e
o v
g c
d a r
E r e e h
r s
u
s
c a n g o
i s e
r
A
s
e
s
e
x o
e
r
e o e s g n r
e
n
c
d h f e c
n r r a n . s n o e g x p r
b x a a d r
d h f h o
y s y y . d s r r
a
l a s a
p r o s
T c e i
o i n n
d s t r c
v p r o c
n
h c o c
g
r s
n e r o c e l d u F p e
u y p p b e o h r o T r s
o k s e v n l r
s n u e c n a h g y a e e p r o
o m a o r
t n c r p o d s .
r d k a e R a u r u
y u e e r e
s
a
b
s
p
a e a
t
c w c
a
r
e m y t
g
n
g
s n h o n e s
k s e u
n a o a e i
n s p
r
t
p e o v n .
n b a o f
e
e b
a
a
r m c
y u r n r n a
a a
a .
u c e c c u d e d i n
s
n d f h s t s
u u . s
a c o s a r
r d e s a
o
p u e s n n e n
p d d d o
r n
e f o m m
c a r o n s
e a n a g
a r n
e c y s s
s
n e e
o p r
n h n c e
a a a e
s s
o
e z c n
r s
c a c
o r e s e
o s
d s
s
a
c
h r
s o p v
e u b e
r c s n
a e
g y
t e
h n a
a b
n
v
r e m
e c u
n e a
r c
s
e o h
m x n h R
o
a p m a
b
e
a
n
e v
e
m o
r n
d b e
a e s
e d A
d a e p
h f n n o p
u d
a r p d
n r a c
o a
d h e s y
e
r
m s
b o
n o b u n
g o e e s
A
m
s n n
s
n c a e s
n
n m n
*
o e n g y
o o
i m
=
y ä
d e - p
u o x a
o a
s d n
i
o
L a n s L
h
=
h r a e
e
e
p
o
o
s o a
p s r m c a o
p v c
a m p B
ı
e
m o
a
c y
t -
h
e
n
o m o
a
ą
3 3
g u a
n
m s c w o g e p
r
n
a n n
h r c
U
n o p s
a
p
g b m
t
y
h
w
o
v
y
s
h
d
o
M
n h a g e n n o
o l d e
a a c i v e a f a P
h p " o e d
p n a g p
d g e
h
ı m c h e n s a a n
g n n ¸ h
p
p
m o m
u
w h
o
n e u f
n r a a a «
d o t n s o c v
a
o b
s c n
r o a s
a e
s n h
n n a d r p n
o o .
r y e p e s n
L
n b e c y b o a
ı o d g c n
a v e s h n o h
p c
o
r o a e
c
n a
z n
e
h m h e p g
n
h T u p
e
a w
n d y t h C e x h
m
n
g
n
e a D s e c
m B c h
m o
e
i h s e b T
s a m w e
a
s r o
A g a a
ł l r a
s
h e a r
n p u c
e u
n a y h a
o n y
s a n o e b n h . a c w n
#
s $
b r n c e d
b
v n a L u
c a t a T
o e
e o
p y o
e t d p h
e o s a a e s a m
R d v n e y
o p r n p m
p
g a a d w o t
b n o o
o
s d i a d e
} n n n u
p e o o v c
U
o a a h i
o u n s a
o a h
r
r
t
c " i r n m a
a
n
e x
n o
c
s
a
o
m o e n h a o e
r g
m
s
p
c
n
o s
m o n r e
t
f
d
o y
n
c
e
s
b
o
n
s
i
y
e
b
r
u e
t s
u
r
o
e
e r 3
o
p
a
n
d
e
a o n
Ť e a n y l e a e h n f e a e
c f
n h o c n
e
n
d p e s e
s
i m e a
e
v
o g e b
f
L m s
a s
s u t
p
r
o p o c y e
n
e d b
o n
o
n
o
t e o y n e a
s h C c
s
n b
o o e
m
f e m h r d T o
u
a
i
u e o d
p v s
e o
e h e
b
o T
t
s
J B n r
n o a n s
d h c e h r c b e g k k
n A n i g a d o s o f w n r r
c e a
2
a f
o u i
l
r h
t b r s d
e e d
p
o
a d
e o
o
w
o
s
d c i o n d w
e e
0
1
h
w
W s
g
e
r
o
n e
a
e
r
e p
a o
m s
e
n s h
e s
a
h
s
n
a
a
u
s
n
o n n
o
e o
d
n
m
c
e
h
e
e
v
o
c
k
s e a e
B n b 3 w s
e e
r
g e m w ĥ n h a n a
W a
e 0 a
o o
p
n n
p o r
e T J o T h u m u m 1 h h
m d
p c
o
v
" " "
" ï
"
n
o e e
e
r e n c
a
c
a
a p
m r % r *
a
v
g b a
b P M M
o a
o e a
Ħ a 0 E u e a
h n
r
2 T T 5
R P S n o a a
.
s m n c
Ĥ
»
Ë
l
區區 J
d o
B
s
n l
" r
A e e y s
a
o n r
c b a a
u e p
o c c
y B r e r
g a o
s e n o u
s n o y
g e h e t
n c o e
n T n b v z
e i
v h n o n
4 c r o n
b a n h o
r c e c
u s
n o m e
c
o a h w c
o
s
M o u n
o o a a a y p y
p p c e s
h t g o b b n
d a F m d d e
c p d
a
e
n
a n
n p e
e
e
山
h p
a a m b
h
r e
s
p d d e s r
o
r
n
m
S a c r
u p e h f
? a o e s o o
o n E a
r
e f
e p e
h g L g r
p d n
r
u e
y
g n P n s
r
o
m o e p
m n a
M u
y
o s r o
h d c y p a p o
e
b
r c A a v s
r
e n p s
W
a o s
n a o u
X o g
c
s
k h
a
e d E n n
# c n o s a c
q r # e u o e r r
e
W
u
o
e
n D - m n d p
e p
n E g a o e
r
c h v o m o
y n r r
e
g
f
o c V f c
a
r u g o
r
\
d p u c n
L n r
n
s a p a m q a f o
h
a
e
s
O o a r
e r
e
r e d
a d
c
c u S g e n e
a
s o k e
o r
Ø e n f p
o w o n m a e
o
n c c
s
u k
b e p
m
s s
d
a
N y e w r
f
e
g
- r
o
t c a a c s
n p
o r p o n n w
C e } p r e e
d u
a
p h
e
d c u d
a
a A
8
e e n q
n p v a h o r
r
a k e e e e
e f s s e
o c u e a
r
n
s v a o
e n q e n n
t
ţ
h
a
w
s
w
p
f
e p n m y a
\ h e
u e o s
u T m
b
s
d
a
・ k
c e e p a
c w v
n
o o d h h a
R b
r e r
e m R o a
o s p o O n c
o e y d e t
R
w h m w o a n
u
h
e n
e
a o
@ h
e
o
d
x
E
h
T
e
d
p
e n
u
f
D
e
u
t
u
u
q
e
o o s
■■回回甲固 P
一一
iw i 5 4 3 2
W J
刃 \
口 G
W
e
a 舀
ミ〉ふ
发
S
U
= ン * プヨ自
W 3 ロ h キ
民
. P 团 과
4 四罩 A
a 叫ふゲ自 S
U っ 4 コ了 .
가
っ 3 阗 B 勺 3
ぼ 9 团
B W 为丁
n
C
S L ふ e
名印
と
@ E 勺自
R
Z a 国 0
g
.
n ミ n ミ门
げ
匈
自
b m
P 蹇向 d
》门 6 m
뇨 口口产
U B ン
h e
W 自 M 召ゆヘ m
召 6 定 .
=
ヘの J
门
C e . コ勾岫
a 叫
っ A ち
a
f ゆ
ぬヨケ
2 P
.
岡
S
门门の . 口
C プ气 E 口 2
e
f 门
叻ミ b っ
门
切
2
-
ー図
s V e 国
自 여
自 2 P
っセ
S
0 Ħ 产
と e
ミ aw
只
9 刃门气
」
S
っ e
ざ邝ロ
丁 n
コ芯コ
n っ门
日门 기
门 a 声
R 门
刊 =
声
6 心
啟ふの d
為
u コと習
b 匆 9 F
6 a 乙勺 4 U エ
( f ヘ U
ベ
C s n
飞 e 门自
ヘ e
コ n 了二
A ヘ 8 コ自
r 9 っ喜 /
C r 蚋 E
自丁 E
W \
轴
曳
B 酮コ
E
e & 닉 一
7 向 s = R
d e & @
為 d
Z b
B m 如 n 自 a
g
名コ
飞
R
芝
ふ C
霈
h
ヨ
鸣
가 b マ S
a
o
P 歹立
柏区骂
ヘ d
/ 骂 c
A pp e n dix A
R ev ie w o f L in e a r A ı geb ra
a n d T r ig o n o m e tr y
f b li s h in g th e s p a tia Į
r p he s tu dy o f ro bo t m a n ip u la t io n c o m p is e s o e s ta
ip u la t e d o b j e c t A n d th e
ı re a t io
ı n sh ip s b e tw e e n th e m an ip u ı a [o r M a n
r d e v e lo p in g th e k ın e m a an l
r e q u ir e d fo
ı
w o rksp a c e T he s p a t ia ıg e o m e m ıs
ip u la to r V e c to d tr c e s a s w e ll a
i s v e c to r a n d m a P t
dyn a m ic s o f th e m a n rs a n m a
fo r r e p e s e n ti n g ı o c ab o n
o p e r a tio q u ır e d i n s p a tia l g e o m e ņ
n s a r e e x te n s iv e ı
y re
a n d o r ie n ta tio n o f p o in ts in a 3 D s p a c e w ith r e s p e c
t to a r e fe r e n c e fr a m e
In th is A p p e n d ix a q u ic k r e v ie w a n d b r u s h u p o f t h e re q u ir e d m a tb e m a t ic s ts
p r e s e n te d
A 1 N O T A T IO N S
In th is te x t u s u a lly u ppe r c a se d fa c e
Bo ı lp h a b e ts a r e
a u se d to ( n o te e c ıo r s
su c h a s i a n d so o n a n d m a tr ic e s s u c h aş A B a n d so o n ; lo w e r c a w B o ld
E fa c e a lp h a b e ts to r u n it v e c to r s (e g i j k ) a n d lo w e r c a s e a \p h a b e ts fo r
s c a la r s C ( K )r d in a te fr a m e s a r e d e n o te d a s ( I } o r { r v } fo r c o o r d ın a te fr a m e
i$
w ith X Y Z a s p r in c ip a l a x e s T h e a s s o c ia tio n o f fr a m e s t o v e c to r s a n d m a tr ic e s
= is d e n o te d b s u e r s c ń t s u b s c r i t o r b o th fo r e x a m ı
y p p p p le p o r T .
A 2 V ECT O R S
È A p o in t in s a c e is d e s c r ib e d it h
p w r e s p e c t to a r e fe re n c e in e r t ia lc { w r d fr a ī n c
* s a v e c to r fr o m th e o r ig in o f th e fr a m to th e in t P T ire d
e po co m po n c n ts p p w
rn
P z a lo n g th e r »
c o o rd in a te a x e s o f th e fr a m e de s c r ib e th e v e c tm as
'
P =
ı
P ,
i+ '
P ,
j +
'
p ı (A ı>
てる'" 胃口
ー
一
一
U n lt e
R O B O T IC S
ı N Æ Q
lo o t R ū b o u « il
v i. E sp. g" a t" d to ' " c p a rts o r ro d o . o rk w ith n
a rc
R o b o ts u e ,
t o f . u m n . . N u , de v ı c«
i ' " i , g fi, ld d e d ic a te d Io th c d " " . p m c .
.
, . u ltid is c ip h n a ry ・. G n
u d i, g "
in c ı ip . Ia t. . A n d m o b ile , c h ic le s
Th O r id n s d R oı ts
x ı
s e rv e d by m e ta l
M a g n u s h o ld s b a n q u e t a t w h ic h g u e s s
t w e re
B is h o p A lb e r tu s
d
b i s nd c a lle
s e e in g th is s a in t T h o m a s A q u
in a s s m a s h e d th e a ttte n d a n ts to t a
ı \ tendants u po n ,
ł b is h o p a s o rc e r e r
Ł J
Y e ar 16 4 0
S he p a n ie d
"
h ic h h e c a lls
"
M a fille F r a n c in e ac co m
ø e e c a r te b u il￠lb 和m a le a u to m a to n w
1
'
D e s c a r te s o n a v o y a ge an d w as th r o w n o v e r b o a r d b y th e ca p ta in ,
w h o th o u g h t s h e w a s th e
. o ,k o f S . ta n
自 Y ear ]7 3 8
■ m e c h a n ic a l d u c k q u a c
k b a th e d ń n k w a te r , e a t g r a in d ig e s t it
,
Ja c q u e s d e V a u c a n s o n b u i s a
ld , ,
k a re u n n k t d ay
a b o u ts o f th e d u c
o w n o
a n d v o id it w h e r e
F re n c h E n g lis h an d co u ld d r a w la n d s c a p e s
in e ith e r or
Oll m a de by M a illa r d e t, th a t w r o te
,
Y ear 9 23
ı
U iv e r s a l R o b o ts (R U R ) R o b o
' t
k c e ip s th e te r m ro b o t in M s p la y R o s s u m s n
K a re l C a pe "
h ic h m e a n s s e r v itu d e fo r c e d a o r
" ıb
e c h rd ro b o ta w ,
ċ o liie ￠lło m tb s w o ,
b o t h me a n i ca l a n d cıec P i ca l
.e s t ing hou s e dog , w
a s d e v e l op e d wh i ch u s e d
ch
封
羽
习
召 19 6 0
Y e a r 19 5 0 s to S
o lo g y a d v a n c e s a n
d c o n tr o l m a c h in e r y is d e v e lo p e d Q u e s tio n s A r is e : ı s đ
C o mp u te r te c h n
i i
im m o b ile r o b o t? In d u s tr ia ıR o b o ts c re a te d R o b o tic In d u s tr ie s A # s o c a t o n s ta u e s
c o m p u te r a n
b l l if i l i ı t d e s ig n e d u »
th a t a n
'
in d u s t r ia l ro b o t is a r e p r o g r a m m a e m u t u n c t o n a m a n p u a o r
l d
i liz e d d e v ic e s th r o u g h v a r ia b le p ro g r a m m e m o tio n s to
n lo v e ı n a te r ia ls p a r ts to o s o r s p e c a , ,
f ta s k s
"
a v a r ie ty o
p e r fo r m
Y e ar 19 5 6
b ilitie s , u s in g c o m p u te rs
"
r s a im b in p e rc e p tu a l a n d p r o b le m s o lv in g c a p a
"
R e s e a rc he to c o m e
d to u c h se n s o r s T h e id e a is to s tu d y th e ty p e s o f in te llig e n t a c o
ti n s th e s e r o b o ts
c a m e ra s , a n
a re c a pa b le o f A n e w d is c ip lin e is b o m A I
Y ear 19 6 0
International It c o n ta in e d a te le v is io n
S h a k e y is S ta n fo r d R e s e a rc h In s titu te
m a de at
a m e r a c o n tr o l u n it a n d a n a n te n n a fo r a
c a m e r a r a n g e fin d e r o n b o a r d lo g ic b u m p s e n s o r s c
, , , ,
,
r a d io lin k S h a k e y w a s c o n tr o lle d b y a c o m p u te r
in a d iffe r e n t r o o m
T h e ñ ts t iĮ ıd u s tr ia l r o b o t : U N IM A T E Y e ar 19 5 4
h t rm U n iv e r s a ı
T h e fir s t p m a b le ro b o t is d e s ig n e d b y G e o r g e D e v o l, w h o c o in s t e e
la te r i
s h o r te n s th is to U n im a t o n w
h ic h b e c o m e s th e n a m e o f th e n r s t ro b o t
A u to m a tio n m ,
co m p ıe ￥ 4
區
Y ear 19 7 8
l M a c h in e fo r A s se m b ly ) ro b o t is ° v e lo pe d b y
m a b le U n iv e r s a
T ħe pum a (p r o g r a m
ith G lM o to r s d e s ig n su ppo rt
U n im a t io n w a e n e ra
n d
h a s e o f r a p id g r o w t
h M a n y in s titu tio n s in tr o d u c e p r o g r a m s a
T h e ro b o t i d t y e n te r s a p
h ic a l e n g in e e ń n g e le c tr ic a ı
n u s r
s p re a d a c ro s s m e c a n
o b o tic s c o u r s e s a r e
,
s m ro b o t ic s R
c o u r se
d c o m p u te r s c ie n c e d e p a r tm
e n ts
c n g in e e n n g , a n
Y ea r \ te s e n t
d b ile ro b o ts d ń v e a se c o n d
s m a ll r o b o tic s an m o
Em e r g in g . ppations in
a n ie s a n d æ s e a r
ch
o í s tar t n p c o m p
四
国 ard M in s e a rc h o f b u t tı
a n sw e r s a o
ıe
ill la u n c h to w a rs
N A sA
'
s M a rs E x pıo r a tio n R o v e rs w
h is to r y o fw a te r o n M a r s
c a tc g q r iæ E đ e ļ
T he C a te g o r ie s A re
D e fın itio n
i
A n in d u s tr ia lb o t is a g e n e r a l p u r p o s e p ro g r a m m a b le m a c h in e p o s s e s s in g c e r ta n
ro ,
h i h lik
L a n th r o p o m o r p h ic c h a r a c te ń s tic s T h e m o s t ty p ic a l a n th r o p o m o r p c o r u m a n e ,
to g e th e r w ith th e r o b o ts c a p a c y it to b e
c h a r a c te r is tic s o f a r o b o t is it s a r m T h is a r m ,
i f r o d u c ū o n ta s k s in c lu d in g m a c h in e
p r o g r a m m e d m a k e it id e a lly s u ite d to a v a r e ty o p
,
,
b r a m m e d to e r fo rm
loa d i n g s p o t w e ld in g s p r a y p a in tin g a n d a s s e m b ly T h e r o b o t c a n e p r o g o v e r th e o vpe r u n tiı
r
, ,
h
" " e o f m e c h a n ic a l m o tio n s a n d it c a n r e p e a t t a t m
o tio n s e q u e n c e
,
￡S rrammed to p e r fo r m so m e o th e r jo b
m a b le h in e th a t p o s se s se s c e r ta in
ge n e ra l p u rp o
b o t is m ac
A n in d u s tr i* ł r o a se p ro g r a m
an th r o p o m o rp h j￡fe a tu r e s
1no u s t ń a i ru b u ı ..
s t ap p a r e n t an t hr o p o m o r p h i c tea t ur e o1 an
しi i ï \ a u ı m ı ı. "
d i M Mo
a rm ,
o r m an ip u ı
a to r
lo a d in g h in e to o ls
ty o f ta s k s s u c h a s lo a d in g a n d u n m ac
v a r ie
p e r fo
,
* R o b o ts can rm a
sp o t w e ld in g a u to m o b ile b o d ie s ,
an d s p ra y p a in tin g
b s titu te s fo r h u m a n w o rk e rs in th e se ta s k s
* R o b o ts a r e ty p ic a lly u se d as su
b le , m u lti- fu n c tio ııa \ m a n ip u la to r d e s ig n e d o m o

t v e
A nin d u s tr ia ır o ı x )t is a p r o g r a m m a
bl d ti s to r tlıe
l o r s p e c ia l d e v ic e s th r o u g h v a r ia e p g
ro ram m e m o o n
= m a te r ia ls , p a r ts , t o o s ,
r ie ty o f ta s k s
p e r fo r m a n c e o f a v a
ip u la to d c o n tr o lle r to m o ve it an d
bo t c o n s is ts o f a m ec h a n ic a l m an r an a
ro
r e la te d fu n c tio n s
d ū e n t th e d
i u la to r c o n s is ts o f jo in ts an d 出出s to p o s iū o n an o en
T he ı æ c h a n ic a l m a n p
o f th e m a n ip u a
l to r r e la tiv e to its b a s e
. ı jo in ts in rd in a te d fa s h io n to e x e c u te a p ro g ra m m ed
T ħe c o ııtr o lle r o p e ra te s th e
a co o
w o rk c y c le
每 r e la ū v e m o v e m e n
t b e tw een
。
bo t j o in t is s im iı a r to a hu m an b o dy jo in t It p ro v id e s
六
巻 A ro
一
f th e b o d y
卷 tw o p a r ts o
M ip u la to r jo in ts : c la s s iħe d as lin e a r
一 t ia l r o b o ts h a v e fiv e o r s ix jo in ts an
y p ic a l in d u s r
,
鳧 T
一
o r r o ta tin g
(d ) T w is tin g jo in t ( ty p e T jo in t) (e ) r e v o lv in g jo in t (ty p e V jo in t)
B o bo tÆ v s ic a ı[ınm i l g ņ
J
In d u s tr ia ıbbots co m e in a v a ń e ty o f sh a pe s an d s iz e s T he y a re ca p a b le o f v a ńo u s a rm
m an ip u la tio n s lin d th e y p o sse ss d iffe r e n t m o tio n s y s te m s
e l bd M o n P h y s ic a l c o n fig u r a tio n s
Fo u r b a s ic co n fig u r a tio n s a r e id e n tifie d w ith m o st o f th e c o m m e r c ia lly a v a ila b le in d u s tr ia l

ro b o ts
1 C a r te s la n c o n tig u r a tio n A r o b o t w h ic h is c o n s tr u c te d a r o u n d th is c o n fig u r a tio n c o n s is ts

o f th r e e o r th o g o n a l s lid e s a s s h o w n in fig Th e th r e e s lid e s a r e p a ra lle l to th e x y a n d z a x e s
, , ,
o f th e C a r te s ia n c o o r d in a te s y s te m B y a p p r o p ń a te m o v e m e n ts o f th e s e s lid e s th e r o b o t is ,
c a p a b le o f m o v in g its a r m a t a n y p o n t w ith in its th r e e d im e n s io n a l r e c ta n g u la r ly s p a c e d w o r k

i
sp a c e
& C y lln d r lc a l c o n fıg u r a tı on in th is fig u r a tio n th e r o b o t b o d y is a v e r tic a l c o lu m n t}ı

con ,
at
Sħeeļ s a b o u t a v e r tic a l a x is T h e a rm c o n s is ts o f s e v e r a l o r th o g o n a l s lid e s w h ic h a llo w th e
a rm tĞ b m oved up o r do w n a n d in a n d o u t w ith r e s p e c t to th e b o d y T h is is ilı u s tr a tc d
sc he m a tic a n r ū g u re
th is c o 而 \ r a tio n a ls o g o e s b y th e
"
sp h c ńc al rd in a tc "
3 p oı
ır t i o n n am e co o
ith in w H c h it c a n its is a p a r tia l s p h e re as sho w n in

w o rk s p a c e m ove a rm
b e c a u s e th e w
bo t ha s r o ta r y ba se d a p iv o t th a t can be u s e d to r a is e an d lo w er a
fig u re T h e ro a an
te le s c o p in g a rm
4 J o in te d a r m c o n llg u r a tio n is c o łn b in a tio n o f c y lin d ń c a l a n d a f tic u la te d c o n fig u ra tio n s

s h o w n in fıg Th e a r m c o n s is ts o
f se v e ral
T h is is s im ila r in a p p e a r a n c e to th e h w a n a r m ,
as
h d e r e lb o w a n d
ı
d by jo in ts w h ic h a r e a n a lo g o u s to th e h u m a n s o u , ,
be rs c o n n e c te
s tr a ig h t m e m
d to b a s e w h ic h
a can b e r o ta te d to p r o v id e t e r o b o t w ith th e
h
bo t n
a rı is m o u n te
w r is t T he ro
l
q u a s i s p h c r ic a Ñp a
ce
o rk w ith in a
p a c ity
to w
ca
N DN CA L
CYL ı
C A M I A N / M Y
器繙儒盟专
一
￠
bı
B a s ic R o bo t M o tio ıts
团
团
■
冒 W th e c o n fig u r a tio n
n a te v e r th e p u r p o s e o f th e ro b o t is to p e r fo rm
, a u s e fu l ta s k T o
acco m p l is h th e ta s k a n e n d e fĺ
,
e c to r o r h a n d is a tta c
,
h e d to th e
,
e n d o f th e r o b o ts a r m It is th e
l
c n d c « c c to r w h ic h a d a p ts t c g e n e r a p u r p o s e r o o
h b t t t i l
o a par c u ar a s t k T o d o th e ta s k th e ,
ro ıx »t a r m m u s t b e c a p a b le o f m o v in g th e e n d e ffe c to rs th ro u g h a s e q u e n c e o f m o tio n s a n d
p o s itio n s
T h e re a re s ix b a s ic m o tio n s o r d e g re e s o f fr e e d o m ,
h ic h p ro v id e th e ro b o t w ith th e
w
th c c n d e fĺ ė c to rs th ro u g h th e re q u ir e d s e q u e n c e s o f m o tio n s T h e s e s ix
i*ı
bility to m o ve
& « f fre e d o
d e g li§ m in te n d e d to e m u la te th e v e rs a tility o f m o v e m e n t p o s s e s s e d b y th e
a re
hu m an
i
a tm l N o t a ll r o b o ts a r e e q u p p e
d w ith th e a b ility to m o v e in a lıs e x d e g r e e s T h e s ix
ı
b a s ic m o tio n s û o ı ıa n d b o d y m o tio n s a n d th re e w ń s t m o tio n s

ıs is t o f th r e e a n ı
A m a r d b o d y = ņ tio ııs
tir e a r m
1 V c R ic a l M U p a n d d o w n m o ū o n o f th e a n n c a u s e d b y p iv o ū n g th e
a v e rs e : ,
en
r tic a l s lid e
a bo yt a h o ń z o n ta l a x is o r m o v in g th e a r m a lo n g a v e
e x te n s io n a n d re tr a c ū o n o f th e a rm (in an d ou tm o vem ent )

2 R a d ia l tr a v e r s e
ıđ is (ń g h t le ħ s w iv e l o f th c ro bo t
3 R o
b t th e v e r tic a
ta tio n a l tr a v e r s e : ro ta tio ıı a o u
o r
arm i
W r is t M o t io n
W r i st sw i ve l :R o t at ion the
of w r i st
W r i st b en d :U p dow n
or m o v e m e n t of the w r i st , t hi s a l so i nv o ıve s r ot at ion
m o vem ent
W r i st ya w R i gh t or lef t sw i ve l of the w r i st ,
R « ıtiın ıı
lr a rım
ed
V « tı
巳上)
R ıd iıı
sa dv a n ta e e s of 5S tv ııe s o f ro b o ts
VOlve c o o r d in M e s 3 ta ū o n a l m e s c a n r e a c h a b o v e o r
X X ï =
ro D iffi° ,
m o st
b e lo w o b s ta c le s L co m p le x m an ip u la to r
s t e m
e o f m o v in g fro m o n e p o in t to a n o th e r
l poı n t to p o ı n t (p T p ) c o n t r o l r o b o t is c a p a b ı
t c o n tr o l
d e d in th e c o n tr o ım e m o r y P T P r o b o ts d o n o
p o in t T h e lo c a tio n s a r e r e c o r i in c lu đ
ıi t s
o n e p o in t to th e n e x t p o in t C o m
m o n app c a o n
th e p a th to g e t fr o m
d l d in g, a n d
c o m p o n e n t in s e r tio n , s p o t w e ld in g h o le
d r illin g m a c h in e lo a d in g a n u
, ,
n o a
c ru de a s se m b ly o pe ra tio n s
C P c o n tr o ı th e ro b o t c a n s to p a t a n y
2 C o n tin p a th (C P ) c o n t r o ır o b o t w ith
u o ı
ıs ,
h o in ts a lo n g th e p a th m u s
t b e s to r e d
s p e c ifie d p o in t a lo n g th e c o n tr o lle d p a th A lıt e p
l u d e s p r a y p a in tin g
lic a tio n s in c ı
e x p lic itly in t h e r o b o t s c o n tr o l m e m o r y T y p ic a a p p
,
fin is h in g g ı u in g a n d a r c w e ld in g o p e r a tio n s
L , ,
th s o f 山行c re n t
3 C o ntr o ııe d p a th ro bot th e c o n tr o l q u ip m e n t c a n g e n e r a te p a
e
ą ig h t lin e s i h a h ig h d e g r e e o f
c ir c le s a n d in te r p o la te d c u r v e s w t
ge o m e tr y s u c h a s s tr a
T$
,
,
a c c u ra c y A ll c o n tr o lle d p a th r o b o ts h a v e a s e r v o c a p a b ility to c o rr e c t th e ir p a th
% e ch n ic a ıE æ a = O fA lı n Į d u s tr iņ ıB o b Q ţ
T he te c h n ic a l fe a tu re s o f an in d u s u ia l ro b o t d e te r m in e its e ffic ie n c y a n d c ffe c ū v e n e s s a t

i l
s o m e o f th e m o s t im p o r ta n t a m o n g th e s e te c h n c a
p e r fb r m in g a g iv e n ta s k T h e fo llo w in g a re
fe a tu r e s
f fr e e d o m E a c h
D e f F r e e d o m (D O F ) E a c h jo in t o n th e r o b o t in tr o d u c e s a d e g re e o
gr e e o
R o b o t s ty p ic a lly h a v e 5 o r 6 d e g r e e s o f
d o f c a n b e a s lid e r ro ta r y o r o th e r ty p e o f a c tu a to r
, ,
fre e d o m 3 o f th e d e g r e e s o f fie e d o m a lı o w p o s itio n in g in 3 D s p a c e w h ile th e o th e r 2 o r 3 a r e ,
h d e fī e c to r 6 d e g r e e s o f fr e e d o m a r e e n o u g h to a lıo w th e ro b o t to
u s e d fo r o r ie n ta tio n o f t e e n
i i t 2D sp a c e o r
l p o s itio n s a n d o ń e n ta tio n s in 3 D s p a c e 5 D O F r e q u re s a r e s c o n ot ń t
￠e a c h a ı
,
d f h d li ls s u c h a s a rc
U e it lim its o ń e n ta tio n s 5 D O F r o b o ts a r e c o m m o n ly u s e o r a n n g o o
t
weide
W o rk V oı u m e lw o r k s p a c e T h e r o b o t te n d s to h a v e a fıx e d a n d lim ite d g e o m e tr y T h e

i
* « & * w eı o p e iı ı b e b o u n d a r y o f p o s itio n s in s p a c e th a t th e r o b o t c a n r e a c h F o r a C a r te s a n
d b
th e w o r k s p a c e m ig h t b e a s q u a r e fo r m o r e s o p h is tic a te r o
o ts
r o b o t (lik e a n o v e r h e a d c r a n e ) ,
l k lik e a c lu m p o f in te r se c ū n g b u b b le s
'
'
th e w o r k s p a c e m ig h t b e a s h a p e th a t o o s
n = ııo n
« h b
萨啕目 1 0 S c ııW
S p h ・r ı 《)r ı
￠s o ı心目 C o n ñg u ı
ır8 ıtx ı
月回国ゆ 철 炯咖園鳴叫声削岫 d ı蛔匈喇晶自旷
朝纲 ııı 由曜羽红曲良 ııd 佣
ı咄印ゐo ı
瞩
P t e c is io n M o v e iıpn t
T he pition w ith w h ic h th e ro bo t c a n m o v e th e e n d o f its w ń s t is a c ń tic a l c o n s id e r a tio n in

m o st a p p lic a tio n s In ro b o tic s , p r e c is io n o f m o vem e nt is a co m l
p x is s u e
e an d w e w ill
,
d e s c r ib e it a s c o n s is tin g o f th r e e a ttr ib u te s
1 C o n tr o l r e s o lu tio n
2 A c c u ra c y
3 R e p e a ta b ility
C o n tr o ıR u do n
e so ı T h is is th e s m a lle s t c h a n g e th a t c a n b e m e a s u r e d b y th e fe e d b æ k
W
s e n so rs , o r c a u sed b y th e a c tu a to rs , w h ic h e v e r is la rg e r If a r o ta r y jo in t h a s a n e n c o d e r th a t
» ￠a s u r e s e v e r y 0 0 1 d e g r e e o f r o ta tio n a n d a d ire c t d r iv e s e r v o m o to r is u s e d to d ń v c th e
,
w ith a r e s o ı u tio n o f 0 5 d e g r e e s th e n th e c o n tr o l r e s o lu tio n is a b o u t 0 5 d e g re e s (th e

,
w o rs t c a » çan b e 0 5 + 0 0 1)
T h is iıd e te r m in e d b y th e r e s o lu tio n o f th e w o rk s p a c e If th e b o t is de d
A c c ıır a c y ro co m m an
to tlir r e l Đ * p o l l in s p a c e it w ill o f e n b e o ff b y ,
s o m e a m o u n t, th e m a x im u m d is ta n c e
d b e c o n s id e re d th e a c c u r a c y
s ho u ı
bo t h a n is m ill h a v e s o m e n a tu r a l v a r ia n c e in it T h is m e a n s th a t
R e p e a ta b ility T he ro m ec w
t th e p o in t it ilın o t a lw a y s s to p at
p e a te d ly in s tru c te d to r e t ur n o
sa m e w
w h e n th e ro b o t is re ,
th e s a m e p o s itio n
司
召
m ıc q
ı
R e p e ıte d \ T a rq p o in t
b ev lûu s no ı nt R L m n T
p o ıitio n
Rı
piı
ity
D iılribu üo n o f
þ
C o n tro ı
_ ıy - . L
lin e a r p o s itio n in g a x is , w ith s ho w in g c o n tr o l r e s o lu tio n a c c u ra c y , a n d
A p o llı ea o f a s y s te m ,
ı r e p e a ta iw
b
to th e m a x im u m v e lo c ity th a t is h ie v a b le b y th e T C P or b y in d iv id u a l
S ï ie ıd - # e r s e ithe r ac ,
b e r is in m o st r o b o ts , an d w ill v a r y o v e r th c w o rk s p a c e a s th e
jo in ts T h is n um n o t a c c u r a te
ge o m e tr y o f th e ro bo t c ha n ge s
th im u m m a s s th e r o b o t
W e ig h t C a r r y in g C a p a c ity (p a y lo a d ) T h e p a y lm d in d ic a te s e m a x
bl ı
b t o r d ra m a tic lo s s o f a c c u r a c y It is p o s s i e
o
c a n lift b e fo r e e ith e r fiilu r e o f th e ro o s ,
W nen
h r o b o t o p e r a te b u t th is is n o t a d v is e d
e x c e e d th e m a x im u m p a y lo a d a iıd s till h a v e t c
,
,
一
一
ー
ド Scanned by CamScanner
th e ro b o t is a c c e le r a t in g fa s t th e
p a y lo a d s h o u ld b e le s s th a n th e m a x im
,
ffe d b y th e a b ility to fir m ly g r ip th e a r t a s w ı

u m m a s8 T h is is
a c te
p e l a s th e r o b o t s tr u c t
,
u re an d th e a c tu a to r s
T he e n d o f a r m to o lin g s h o u ld b e c o n s id e r d
,
e p a r t o f th e p a y ı
o ad
m ţ ę m s
T h e re a r e th r e e b a s ic d ń v e s y s te m u se d in c o m m e r c ia lly av a ila b le ro b o ts
l H yd ic d r iv
ı
ra . e g i. e s a r o b o t g 【e a t s p e e d a n d s tre n th T h e s e s te
a c tu a t e lin
g y s m s c a n b e d e . ig n e d m
o , ro ta tio n a l . i. Ts M
ear
j e m a in d i. . d " " a ・ o f . H d r a h
g y . ・ s y s te - is th a t it
o c" P i・・ n o o ' " a c e in a d d itio . To M a t . q . i. d b y th e , o b o t
2 E ı
e c t r lc d r iv
p a r e d w ith a h y đ a u lic s y s te m a n e le c tr ic s y s te m
e c o m
p r o v id e s a r o b o t w ith
■ııııııı■ le s s s p e e d
,
q d
an g th
A c c o r d in g ly e le c tr ic d r iv e s s te m s a r e a d
s tr e n
, y o p te d fo r s m a lle r r o b o ts
H o w e v e r , r o b o ts s u p o r te d bu
ľ p
ľ yJ eu lıe vc tL ń
- " Ļ d
I ıc u ń v e
I ıV St
& ys
C s Le iur e m o r e a c c u r a tee e x h
l l ıss a
C m ıb i
h ib lt b e tte r ,
į . ir 1 r e p e a ta b ility a n d a r e c le a n e r to u s e
R ,
3 P » eı ım a tic d r iv e a r e g e n e r a lly u s e d fo r aı
le r r o b o ts T h e s e b o ts ith fe w
sm ro w e r de g re e s
I o f fr e e d ä in i c a 】
T y o u t s im p le p ic k a n d p la c e ń a l h a n d lin g
,
m a te o p e r a tio n s
ー
」
i h
T h e r e a r e v a r io u s m e th o d s w h c r o b o ts c ın b e p r o g r a m m e d to p e r fo r m a g iv e n w o rk c yc ı
e
W e d iv id e th is p ro g r a m m in g m e th o d In to fo u r c a te B o r ic »
ı M ın u a
ł lm e th o d
2 W a lk th r o u gh m e th o d
3 L ea d th r o u gh m e th o d
4 0 ff lin e p r o g ra m m in g
M a n u a ım e th o d
T h is m e th o d is lly p r o g ra m m in g in th e c o n v e n tio n a ıs e n s e o f th e w o r ld It is m o re lik e

n o t re a
s e tt in g u p a m a c h in e r a th e r th a n p ro g r a m m in g It is th e p r o c e d u re u s e d fo r th e s im p ı e r ro b o ts
h b
a n d in v o lv e s s e tt in g m e c h a n ic a l s to p s c a r n s , s w itc h e s o r r e la y s in t e r o o ts c o n tr o l u n it F o r
,
th e s e lo w te c h n o lo g y r o b o ts u s e d fo r s h o r t w o r k c y c le s (e g p ic k a n d p la c e o p e r a tio n s ) th e
,
,
m an u a l p ro g ra m m in g m e th o d is a d e q u a te
1 w a lk tı
m ı
ı￠#h m e th o d
In th is m e th o đ*h e p r o g r a m m er m an u a ı
ıy
d h a n d th ro u g h th e m o ū o n
m o v e s th e ro b o ts a rm an
s e q u e n c e o f th e i w o r k c y c le E a c h m o v e m e n t is re c o r d e d in to m e m o r y fo r s u b s e q u e n t
f e d c a n u s u a lı
b y b i Æ d u c tio n T h e s p e e d w ith w h ic h th e m o v e m e n ts a r e p e r o r m b t th e c c lye
t h a v e to w o rr y y
b e c o n tr o lle d in d e p e n d e n tly s o th a t th e p r o g r a m m e r d o e s n o
a o u
i i h it i c c o rr e c t T he
tim e d u r in g th e w a lk th r o u g h T h e m a in c o n c e r n
s g e tt n g t e p o s o n s e q u e n e
b f i tin g a n d a r c w e ld in g
w a lk th r o u g h m e th o d w o u
ld e a pp r o p ń a te o r s p r a y p a n
ıe a d th r o u g h
ı
m e th o d
h h its
f a te a c h p e n d a n t to p o w e r d ń v e th e r o b o t t ro u g
T h e le a d th r o u g h m e th o d m a k e s u s e o
ll h a n d h e ld d e v ic e w ith s w itc e a n d
h s
m o tio n s e q u e n c e
T h e te a c h p e n d a n t is u s u a lly a s m a
i o r d e d in to m e m o r y fo r
h ic a l m o v e m e n ts E a c h m o tio n s r e c
d ia ls to c o n tr o l th e r o b o ts p y s bo t
i w o r k c y c le T h e le a
d th r o u g h m e th o d is v e r y p o p u la r a m o n g ro
fu tu r e p y la b a c k d u r n g
e a n d c o n v e n ie n c e
r o g r a m m in g m e
th o d s b e c a u s e o f its e a s
p
i
'
万
一
늬
一
俨
一
,
、
O n L in e /ıe a d,
T h ro u gh p ro gra m m in g
A dv a n ta ge
ı E a sy
ı N o s p e c ia ıp r o g r a m m in g s k iı
ls o r tra in in g
D is a d v an ta ge s
n
o t pr ac t ica l for ıar g e he a v y
or ro b o t s
ı H ig h a c c u ra c y a n d s tr a ig h t ı
in e m o v e m e n ts a r c d iffic u lt to a c h ie v e a s
,
a re a n y o th e r k in d o f g e o m e tr ic a ll d e fin e d tr a e c to r s u c h a s c ir c l
y j y u ar ,
a r c s , e tc
ı d iffic u lt to e d it o t u n w a n te d
u o p e ra to r m o ve s
ı d iffic u lt to in c o r p o r a te external se n so r d a ta
ı S y n c h ro iz a tio n ith o th e r m a c h in e s
n w o r e q u ip m en t in th e w o r k c e ll is
d iffic u lt
ı A la r g e am o u n to fm e m o ry is re q u ir e d
1 0ñ*e pro gra m m in g
T h is m e th o d in v o lv e s th e p r e p a r a tio n o f th e r o b o t p r o g r a m o ff lin e in a m a n n e r s im ila r to ,
N C p a r t p r o g r a n ım in g O ff lin e r o b o t p r o g r a m m in g is ty p ic a lly a c c o m p ı
is h e d o n a c o m p u te r
te r m in a l A fte r p r o g r a m h a s b e e n p r e p a r e d it is e n te r e d in to th e r o b o t m e m o r y fo r u s e,
d ū M ıg « ro ￠k e y c le T h e a d v a n ta g e d o f o ff lin e r o b o t p r o g r a m m in g is th a t th e p ro d u c tio n
tim e o f th e r o b o t is n o t lo s t to d e la y in te a c h in g th e r o b o t a n e w ta s k P ro g r a m m in g o ff lin e
c an be d o n e w h ile th e ro b o t is s till in p r o d u c tio n o n th e p r e c e d in g jo b T h is m ean s h ig h e r
u tiliz a tio n o f th e ro bo t an d th e e q u ip m e n t w ith w h ic h it o p e r a te s
A n o th e r be n e fit a s s o c ia te d w ith o ff lin e p ro g ra m m in g is th e p r o s p æ t o f in te g r a tin g th e ro bo t
in to th e fa c to r y C A D /C A M d a ta b a s e an d in fo r m a tio n s y s te m
m m in g ı a n g u a g e T h e y a r e p r o g ra m m e d
N o ir * eıa ıp u te r tr o lle d r o b o ts d o n o t r e q u ire p r o g ra
co n
m m e d by
h u h m e th o d s w h ile th e s im p le r r o b o ts a r e p r o g r a
b y th e w * M h r o u g h o r le a d t r o g
t o l fo r ro b o ts c a m e th e o p p o r tu n ity
m a n u a l m e th ö d s
W ith th e in tr o d u c tio n o f c o m p u te r c o n r
,
b t r a m m in g la n g u a g e
a n d th e n e e d to
d e w lo p a c o m p u te r o ń e n te d ro o p ro g
T M
T he v A L L a n \ a ge
PU M A ro b o t
T ĥ e VA L an g u a g e
ı wa s đv e l op e d for
d s fo r V ic to r s A s se m b ly L a n g u a g e
* V A L s ta n
¡ l is ba s i ca l ly uf l- ine lan g ua
V A L s t at em e nt s a r e d i vi de d i nt o t wo c a t eg o r i es a )
p ro g ra m
Mo n i tor i ng c om m a nd bi
m in g in s tr u c tio n s
M o n i tor co m m a n d ar e of ad m i ni st ra t ive i n
se t
s t ruc t ion s tha t di rec t the op
ro b o t s y s te m So m e o f th e fu n c tio n s f
e r at ion of thc
o M o n ito r c o m m a n d
s a re
P re p a r in g th e s y s te m fo r th e u s e r to w r ite fo r p U M A
p ro g r a m s
D e fın in g p o in ts in spa c e
C o m m an d in g th e P U M A to e x e c u te a
p ro g ra m
L is tin g p r o g r a m o n th e CRT
J
ı * E x a m p le s fo r m o n ito r c o m m a n ds a re : E D IT , E X E C U T E S p E E D H ERE e tc
, ,
P r og r am i ns t ru c t ion s a re a s et o f s t at em e n t s u s ed to w ū te r ob ot p n
o
s ta te m e n t u s u a ll c o rr e s
r ro og g
p r ra am ms .
s ee
n
y po n d s to o ne m o vem ento f th e ro b o ts a rm o r w r is t
E p le fo r p r o g r a m in s tr u c tio n s a re M o v e to p o in t m o v e to a o in t in a s t a i h li
xam
p r g t ne ,
m o tio n o p e n ,g r ip p e r c lo s e g r ip p e r (M O V E M O V E S A p p R O A p p R O S D E p A R T
,
, ,
,
,O P E N I C L O S E I A N D
, ,
, E X IT ) ,
T he M C L L an g » ge
匯 * M su n ds % r M ac h in e C o n tr o l L a n g u a g e d e v e lo p e d b y D ou g la s
T ho l an gu a g e i s b a s ed on t he A P T an d N C l an g u a g e . e s i gn e d c o n t ro l c o m p l et e
m an u fa c tu r in g c e ll
M C L is e n h a n c e m e n t of AP T wh ich po s s e s s e s ad d i tion a l op t ion s an d fea t ur e s ne e d ed

to d o o ff lin e p r o g r a m m in g o f r o b o tic w o r k c e ll
A d d i tion a l v o c a b u l ar y w o r d s w e r e d e v e ıop e d t o p r o v i de t he s u p p l em e n t ar y
c a pa b ilitie s in te n d e d to b e c o v e r e d b y th e M C L T h e s e c a p a b ility in c lu d e V is io n ,
ip» .
In s p e c tio n a n d C o n tr o l o f s ig n a ls
M CL aı
so p e r m its th e u s e r to d e fin e M A C R O S ı ik e s ta te m e n t th a t w o u ld b e
\ï '" :
):. ,
co n ven ie n t to u s e fo r s p e c ia liz e d a p p lic a tio n s
.
. M
C L pr o g r am i s ne e d e d to co m p i le to pr od u c e CL F I LE .
S a ı* f M C L p r o g r a m m in g la n g u a g e s
ds o a re D E V IC E SE N D đ c E rv
* co m m an , , ,
EP T A B O R T T A S K R E G IO N L O C A T E e tc
W O Rı , , , ,
T e x te d ţ e m e ııt s
fr o c o m m e r c ia lly a v a ila b le r o b o t la n g u a g e s
L a n gu a ge s ta te m e n ts ta k e n m
T h e b a s ic m o tio n s ta te m e n t is
M O VE P1
a n d o r ie n ta t o n i đ fin e d
fr o its c u r re n t p o s itio n to a p o s itio n
C o m m an d s th e ro b o t to m ove m
P 1 T tre p o in t p ım u st b e d e fin e d
b y th e v a ń a b le n am e
目學覇子严紧减れ团团国回国围
m ￠開 w *￥ \! d ￠O ï 》 P l ¡
中 l to ų ı￠ e llı w R P W ı e* d ı hro ıııı
ł》r
Tb m o ll ?ypnłc h W pp ! a t 勃
\ d ￠ılro d p o lq ￠* m łn 《# M th a t p p l
n łł iı* f
mn》d !p s d ı lhn u p ıo p \ ro
m ėm p ry
朋雕幕P ı
，
r H
Ał
e »a￠d in th p ı
e a d ţ b r o ńg h p fo ç￠d» n tg b f o ĺ e th e v a r la b ı wn
ę pı ￠fw th￠p o in t
w h a t is n ￠$iQ \ d in to th ç tpbq ç Q W I m e m o ry is th c) ıe t o f jQ ln t Ħ
oıltipr o r « q p n »» ıı
eı
骂!埽 b y th e c q ū 鯽pı ı￠ s to 如 ñ w ihF 印加之酽 ıi
F o r ￠* , 0 3 6 13 7 .6 3 0 0 0 )
, , , ,
ı(P ie rO )
氕* iyp Jp !n ţ p 《i￠ip n ņ An d Il ı￠ļ Ę vd
T he firs t v \ 9f W b o dy ?n d R w N
d e fin e ĺ h o wńqť jbł

nlitl
d o w pı
t\ t ::tt +pthwl :
:
w m ! r w w w ı ・
N gp ? #e th* roĵ ? 呷 \ y jo in t coorin$

y 》 a p p in í d e fin e d þ
57 63
6 ı ļł \ , , ,
9)
q ţ i*? ￠
b iı
lid中 ļ ccŕip!iı
h h
ı b
&tkid=gį pimáËņipjđ w ı2 $, n F a Q ￥ q b e ta te m e
iv e , E m
e n tl q de lta M 9 W
T-:
?e i v￠
ie ￠
m ve ś !ie g Į łp p e r to ii s a fe
m
a s in g le A T a d ł ił
ńcs f p o in ts c o n n e c te d ・
gether in m o ve
A p i# In a ro b o t proglpm is a se o
g ı* e n *ı
fiabı
e ııa m n
pA \ +ła M T H Ţ P ! m ,8 3 )
P F ŁU ・ ,
M »M » , it\ T
ti, į m t lșı ' *
y + ŕ ih e iį T
dkı
.
h ç iħę《ip d a to <+ ' h l Jt

Ą
象
S đp E F D 7 § ł
in t姑姑 s p e ç ・; !:
ì iıa
, ďĮ m h
Fo r examrł ,
nđıfo r c o n tr p ı
ı\n * the ņ p d ￠fl￠o to rı
çpm n ı
ł
c h d lo l b the w rlıt o f th * m a q lp u ıa ţ ų r, lhıy ırıv N q » ￠h \

A lĺ hp u *l\ a n d eftorım * ï \* ￠
o l* l e n m m ıp d ın ! w d t» n
e Ąte m i dp v \p e ￠ $ p ç
fo r ç p11\r q lıln ı ı h# e n d ıtw \Q r P oıþ
阗単m a n d l ąn
O P *lN (fu lly o po n )
and
C ĺ Q S$ (fu lı
y c lo ıe )
F o r w lp p p rıw ith fo r c e ae n w O ıt ç q n þ qte d th r o p *h tlp
# rpï u ı !
rp bo t ç o n tr o ı￠r, * c q m m ıł
ıd
$U C h 朋，
b e d e fin e d a s i đ v ic e w h ic h is a tta c h e d to
d e ffe c to r s
ı
n noli»Sy o f r o b o tic s
ė termı ,
n un
a s p e c ific ta s k T h e ta s k m g t
i h b e w o r k p a r t h a n d lin g s p o t
th e ro b o ts w r is t to p e r fo r m
,
i ilitie s a r e
w e ld in g s p r a y p a in tin g o r a n y o
f a g r e a t v a r ie ty o f o th e r fu n c tio n s T h e p o s s b
it o f th e a p p lic a tio n e n g in e e rs w h o d e s ig n ro b o t
,
lim ite d o n ly b y th e im a g in a tio n a n d in g e n u y

h ic h e n a b le s th e ro b o t to p e r fo r m
f t s a r e th e s p e c ia l p u r p o s e to o lin g w
s y s te m s T h e e n d e f e c o r
b e ith e r b y th e c o m p a n y th a t o w n s
It is u s u a lly c u s to m e n g in e e re d fo r t a t jo
h
a p a r tic u la r jo b
,
fa c tu re r h a s e n g in e e re d g ro u p s
h t s o ld th e r o b o ts M o s t ro b o t m a n u
th e r o b o t o r c o m p a n y t a
d ic e to th e ir c u s to m e r s o n e n d e ffe c to r s
f b ń c a te e n d e ffe c to r s o r p ro v id e a v
w h ic h d e s ig n a n d a
d e s ig n
lu itld lii iė
ilv ill d iv id e A v a r io u s ty p e s o f en d e ffe c to rs in to tw o
ç p u w ńq iłĖe Mr s a n d to o ls
o r
￠a te g o r le s : g p p
b je c t ın d p la c e it a t a đ s ire d
lı u s e d to gr a s p an d h o ld an o
g e n e ra y
l Hppers a re
if» d =
be c la »
lo c a Ħıa G r ip p e r s
・
can
M e c h a n lc d g r ip p e r s
V ł» u m uction c U p s
H oo ks ,
Sc o o ps an d so fo r th
,
o r k p a rt
2 T o o ı
s a ro b o t is r e q u ire d to m a n ip u la te a to o l to p e r fo r m a n o p e r a tio n o n a w
l
ld in g to o s s p r a y
H e re th e t o o l a c ts a s e n d f f e c t o r s S p o t w e ld in g to o ls a r c w e ,
,
i d in g a r e ty p ic a l e x a m p le s
o z z le s a n d r o ta tin g s p in d le s fo r d r illin g a n d g r n
p a in t in g n ,
o f to o ls u s e d a s en d e ffe c to rs
k t +
W o & C o n tr o ıA n o c lĺ s
d In ţ e r ı
ll l: in d u s tr ia l lly w o r k w ith o th e r th in g s p r o c e s s in g e q u ip m e n Ļ
ro b o ts u su a
W o rk c e c o n tr o
a n d p e r h a p s h u m a n o p e r a to r s
A m e a n s m u s t b e p r o v id e d fo r
w o r k p a r ts c o n v e y o r s to o ls
b o t w o r k s ta ū o n s S o m e o f
, ,
h a c tiv itie s w h ic h a r e g o in g o n w ith in t e r o

h
c o o r d in a tin g a ll o f t e
t i th a t
a c e s im u lt a n e o u s ly to m a k e c e r a n
tia lly , w h ile o th e r s ta k e p ı
th e a c tiv itie s o c c u r s e q u e n
e c o o r d in a te d a n d o c c u r
in th e p r o p e r s e q u e n c e a d e v c e c a lle d th e
i
th e v a r io u s a c tiv itie s a r
,
w o r k c e ll c o n tr o ı
1y r e s id e s w ith in th e r o b o ts a n d h a s
le r u s u a ı
Ķ c e ll c o n tr o lle r is u s e d T h e f th e w o r k c e ı l c o m p o n e n ts
i
o v ė iiw r e s p o n s
ib ility fo r r e g u la tin g th e a c tiv it e s o
F u n c t io n s i w o rk c e ll c o n tr o lle r
lĤ sa 8 th e se qu en ce o f a c tiv itie s in th e w o rk c y c le s
1 C o n tr o
lta n e o tiv iū e s
1ı m t ï o U i W s im u u s ac
d in in g s ig n a ls
p ro c e e d b a se on co m
3 M a k in g d e c is io n s to
is io n
g lo g ic a l d æ
s
4 M a k in
5 P e r fo r m in g co m p u ta tio n s
6 D e a lin g w ith exce p ū o n a l e v e n ts

h p e ń o d ic a lly chan g in g to o ls
7 p e r fo rm in g ir r e g u la r c y c le s ,
su c as
A n n c k iN lh c fe
in tc r ı a tu r e o f
w o r k c e ll c o n tr o ıw h ic h
p re v e n t« th e w o r k c y c le s e q u e n c e fr o m
in
ť t m tin tı g u n t il n c e r tı d
\ in c o n
it io n s o r s e t o í c o n d itio n s h a s b e
e n s a ti« fıe d In a r o h o tic w o r k
c c lı th e r e a r c ı w o ty p e N : o u tg o in g a n d in c o m in T h
,
g e o u te r g o in 吕 in te r ı o c k i» a * ig n a ıs e n t
Ir o m th e w u ık H ra tio n c o n tro ı le r to s o m e e x te r n a l m a c h in e
o r d e v ic e th a t w ilıc a u s e it to
o p e ra te o r n o t tu o p e r a te fo r e x a m
p le th iB w o u ld b e u s e d to p r e v e n t a m a c h in e fm m in itia tin
it# p r o c e li& u n tiıit w a s c o m m a n d e d to g
p r o c e s s b y th e w o r k c e lıc o n tr o lle r a n in c o m in 吕
in te r ıtw k i» u s in g le fr o m
,
s o m e e x te rn a l m a c h in e o r d v i
e c e to th e w o r k c o n tro lle r w h ic h
d c te r rn in e s w h e th e r o r n o t th e r o r a m m e d w
p g o r k c y c le s e q u e n c e w ilı r o c e e d P o r e x a m
p p le
th is w o u ı d b c u » e d to p r e v e n t th e w o r k ,
c y c le p r o g r a m fr o m c o n tin u in g u n til th e rrıa c h in e

# ig n ı\ıe d th a t it h a d c o m
pı c te d its p ro c e s s in
g o f th e w o r k p ie c e
T he u »e o f in te r lo c
k s p r o v id e s a n im p o r ta n t b e n e fit in th e c o n tr o l o f th e w o r k c c ı
y e b e c a u s e it
p r e v e n ts a c tio n s fr o
m h a p p e n in g w h e n th e
y s h o u ld n o t,
a n d it c a u s e s a c tio n s o c c u r w h e n th e y
s ho u ıd In te r ı o c k R a r e n e e d e d to h e l c o o r d in a te th e a c tiv iti
p e s o f th e v a r io u s in d e p e n d e n t
c o m p o n e n ts in th e w o r k c e ll a n d to h e l a v e r t d a m a f
p g e o o n e c o m p o n e n t b y a n o th e r In th c
pı a n n in 8 o f in te r lo c k s in th e ro b o tic w o r k c e ll th e a
,
li
p p c a o n e n g in e e r m u s t c o n s id e r b o th
ti
ıbF n o r m a l s e u n f
q e c e s o th e a c tiv itie s th a t w ill o c c u r d u r in g th e w o r k c y c le a n d th e p o te n tia l
,
c tio n th a t m ig h t o c c u r T h e n th e s e n o r m a ıa c tiv it ie s a r e lin k e d to e th e r b

g y m ean s o f
ĦĦM * w lıc h e s p r e s s u r e s w itc h e s p h o to e le c tr ic d e v ic e s a n d o th e r s y s te m c o m p o n e n ts
, , ,
M a lfu n c tı o » *h a t c a n b e a n t ic ip a te d a re p r e v e n te d b y m e a n s o f s im ila r d e v ic e s
lo r c e r ta in r o b o ı a p p lic a tio n th e ty p e o f w o rk R ta tio n
, c o n tro l u « in g in te r lo c k * is n o t
h
u u tc t c ro
u u c tł b o t m u » t ta k e o n m o re h u m a n lik e se n e a
s s n d itie s in o rd e r to p e r fo r m
c a p a b iı
th c ta n k in tı M \tiņ fa c to ry w a y th e e e s e n s e s a n d c a p a b ility in c lu d e s v is io n a n d h a n d e y e
c o o Id in n tio n tu u c h h e a r in g a c c o r d in g ı
, , y w e w iı l d iv e d th e ty p e s o f s e n s o r s u s e d in ro b o tic s
h
in to t c Iu llo w in g th r e e c t i
a e go r e s
I V is io n s e n s o rs
2 T a c tile an d p ro x im ity s e n s o rs
3 V o ic e s e n s o r s
L ł
s ls o n e o
o n B s y s te m s
ńiiid» p o s s ib le b y
f th e
w iı
o t o f a tte n tio n in ro b o tic s r e s e a r c h c o m p u te r iz e d
th a t is r e c e iv in g a ı
a re a s
o g y in fu tu r e a u to m a te d fa c to r ie s R o b o t v is io n is
ıb e a n im p o rta n t te c h n o ı
id e o c a m e r a a s u ffic ie n t ı
m ean s o f ig h t s o u rc e a n d a c o m p u te r
v
p ro g r a m m e d to p ro c e s s im a g e d a ta T h e c a m e r a s m o u n e e th e r o n th e ro b o t o r in a fix e d
i t d i
l T he
p o s itio n a b ij曾山e ro b o t s o th a t its fie ld o f v is io n in c lu d e s th e r o b o ts w o r k v o u m e
c o m p u te r ĥ o ftw g t e e n a b le s th e v is io n s y s te m to s e n s e th e p re s e n c e o f a n o b je c t a n d its
m iĺ io n a n d o r ie ıı * tio n V is io n c a p a b i ity w o u l e n a b le th e ro b o t to c a r r y o u t th e fo llo w in g

l d
k in d￠ìilpB ı eıılle ￠ iı
R e tr ie v e p a r ts w h ic h a re ra n do m y o r ie n te d
ı o n a c o n v e yo r
h ic h in te r m ix e d ith o th e r o b je c ts
R eco g n iz e p a rtic u ı
a r p a r ts w a re w
P e r fo rm a sse m y o p e r a tio n s
bı w h ic h r e q u ire a lig n m e n t
ith th e ity to
c a p a b iı d to fo rc e s bo e tw e e n
c o n ta c t t
e s e n s o r s p r o v id e th e ro b o t
T a c tiı w ı re s p o n d
*§
b ils e ıf a n d o th e r o b je c ts w ith in its w o r k v o lu m e T a c tile s e n s o r s c a n b e d iv id e d in to tw o typ e s
1 T ouc h s e n s o rs
E . S tr e s s s e n s o rs
h th e r c o n ta c t h a s b e e n m a d e w ith a n o b je c t A
T o u c h s e n o r s a l l u s e d B im p ly to in d ic a te w e
h u r o s e o f a to u c h s e n s o r S tr e s s s e n s o rs a r e u s e
d to
W l￠ m ic ro s w ī ı c a n s e r v e t e p f p S tra in a u e d e v ic e s a re t ic a lly e m p lo y e d in
* i m * ai* ıd c o f th e c o n ta c t o rc e g g yp
m e
fo rc e m e a s u r in g se n s o rs
飞
iū e s w o u ld b e in a s s e m b ly m d in s \ tio n
a b iı
p o te n tia l u s e o f ro b o ts w ith ta c tile s e n s in g c a p
d e lic a te p a r t a lig n m e n t a n d jo in in g
o p e ra tio n s In a s s e m b ly th e ro b o t c o u ld p e r fo r m
i d d im e n s io n a l
,
o p e ra tio n s In in s p e c tio n to u c
h se n s in g w o u ld b e u s e d in g a u g in g o p e r a t o n s a n
th e r
,
e o b je c t is c lo s e to a n o
r s a r e u s e d to s e n s e w h e n o n
m e a s u ń n g a c tiv itie s p r o x im ity s e n s o
o b je c t O n x ) \ , th e
a n ìı pm x \n \ \ty ı
ıe n a n r ı w n u lt ıh elï ıc a te d n (w n c ır th e e M ıe ffe ( t￠)r * T h
a p a h ilit y
ı\
s c n b in g c c nn be eng in e e r e d b y IT ıc a n n u l n p liıa ı t o * ıın iı d
p y t v ı
te* «ıdywretıı
) x l n \ ity d e te c tt m a g n e t ic n e id # e n * o r = u r o th
,
pn *, m
, e r tlcvite
]n tu b o tic s . pmx im ity s e n s o r s m i h t b e

g u s e d to in d ic a te th e
p re a c n c e o r a ln e n c e o f ı * po r k
p a ıt o r o th e r o h je e t ņ ie y c o u ld a in o b e h ı
e p fu l in
p r e v e n tin g in ju r y to th c r o b a r h u m ın
c o w o r k e rs in th c fa c to r y
3 s ŁæN w c e
A n o th e r a re a o f r o b o tic s r e s e a rc h i8 v o ic e s e n s in v o ic e
g o r p ru g r a m m in 吕 V o fe c
Pmgramming c an b e d e fin e d a s th e o ra lco m m u n ic a tio n o f co m m a n d s to th e ro b o t o f o th e r
m ac h in e T he
b o t c o n tr o ı ı
ro e r is e q u i
p p e d w ith a s p e e c h r e c o 8 n itio n s y s te m w h ic h a n ıı z e a
th e v o ic e in p u t a n d c o m y
p a r e s it w ith a s e t o f s to r e d w o r d
patterns w h e n a m a tc h iı fo u n d
b e tw e e n th e in p u t a n d th e t
s o r e d v o c a b u la r
y w o r d th e r o b o t p e r fo r m s s o m e a c tio n a w h ic h
c o r r e s p o n d s to t h e w o r d V
o ic e s e n s o r s c o u ı
d b c u s e fu l in r o b o t p r o r a m m in to ĥ c e d u th
g g p p e
P ro g r a m m in g p r o c e d u re ju s t a s it d o e s in N C
p ro g r a m m in g ı t w ouı d aı s o b c b c n e fic ia ıin
e s p c c ia ıly in h a z a r d o u s w o r k in
g e n v ir o n m e n ts fo r p e r fo r m in g u n iq u e o p e ra tio n s ıu c h ıa
m a in te n a n c e a n d re a ir w o k
p r T h c ro b o t c o u ld b e p la c e d in h a z a r d o u s e n v iro
n m e n t ın d
m o te ı
dg y c o m m a n e d to p e r fo rm th e r e a ir c h o r e s b
d
p y m e a n s o f s te p b y s te p in s tru c tio n $
m 】ııır ı
* * O r ı pMide a w a y o f s im u ı
a tin g
"
a iv e n e s s
ı "
S en s o r s g i ve ro b ot s en v i ro n m e n t aı aw a r en e s s
S en s o r s pr o v i de of me ans of hu m a n pr o t ec t ion
S e n s o r s h e l p ro b o t pr e s e r v e itse l f
* Se n s o rs e n a b le g o a l s e e k in g
* Se n s o rs e n a bı
e c lo s e d lo o p in te r a c tio n
・ S e n s o rs m a k e ro b o ts in te re s tin g
iį
L L * Sen s o rs c a n m a k e p ro g r a m m in g "
c h a lle n g in g "
N ee d to re p la c e h u m an la b o r by ro b o ts
W o r k en v i ro n m e nt ha z a r d o u s for hu m a n b e i ng s
* R e p e titiv e ta s k s
B o r i ns an d un p l ea s a n t tas k s
* M u ti s h ift o p e r a tio n
ı s
I nf re q u e nt ch a n g e o v e r s
* P e r fo r m in g a t a s te a d y p a c e
* O p e r a tin g fo r lo n g h o u r s w ith o u t r e s t
R e s po n d i ng in au t om a t ed op e r a t ion s
M i ni mi zi ng va ń a t ion
* «lļ s tń a l R o b o t A p p lic a tio n s c an b e d iv id e d in to
M a te ń a l h a n d lin g a p p lic a tio n s
lo c a tio n to a n o th e r
* In v o lv e th e m o vem ento fm a te ńalo r p a r ts fr o m on e
d /o r d e p a lle tiz in g m ac h in e
* & in c lu d e s p a r t p la c e m en t, p a lle tiz in g an ,
o a d in g a n d u n lo a d in g
ı
p r o c e s s in g o p e r a tio n s
ı a s th e en d
b o t to ip u la te a s p e c ia ı p r o c e s s to o
q u ir e s th e
R ro m an
* e
ff
e e c to r s
d in g a r c w e ld in g r iv e tin g sp ra y p a in tin g
in c lu d e s p o t w e ı
,
a p p lic a tio n
, ,
* T he ,
b in o lis h in g
m ac h in in g , m e ta l c u ttin g d e u r r g p
,
,
i n
y A p p lic a t o
bı s
A sse m
fa s p e c ia ıto o ls a n
d o th e r a u to m a ū c
d lin g ip u la tio n s o
v e p a rt h a n
m an
* In v o ı
ta s k s a n d o p e r a tio n s
tio n s
In s p e c tio n O p e r a
a w o rk
in s p e c tio n d e v ic e
b o t to p o s iū o n p a r t to an
R e q u ir e th e r o
th e
d e v ic e o r se n so r to p e rfo r m
b o t to m an ip u la te a
M v o lv e th e ro
In s p e c tio n
■ Mater
T h is
H
c a te g o r y in c lu d e s th e fo llo w in g
t
* p a r t P la c e m e tı
a ııd /o r d e p a lle tiz in g

* p aı
ıe tiz in g
匿 Scanned by CamScanner
圈 ■
ıoa d l n 吕an d
/ or un ıoa d i ng
M a c h i ne
S t ac k i ng an d ins e r tion op e r at ion s
p a ıt P la c e m ent
is th e a tiv e
re ı ı e p ic k
y s im p ı and p la c e
ı T h e b a s ic o p e r a tio n in th is c a te g o r y
o p e r a tio n
n e eds a ı ow - ec h n o l og y r ob ot o F t he c y l ind r i ca l
T h is a p p l ica t ion
c o o r d in a te ty p e
f m o st o f th e a p p lic a tio n s
* O n ly tw o ,
th r e e , o r fo u r jo in ts a re re q u ire d o r
e re d r o b o ts iz e d
a r e o fte n u tiı
* pne u m a tic a lly po w
p u lle tiz in g an d /o r D e p a lle tiz in g

i
b o t to k p a r ts o ï ıe o n to p o f th e o th e r th a t s
p p lic a tio n s re q u ire
T he a ro s ta c ,
i fr o m th e to p o n e b y o n e
n s ta c k p a r ts b y r e m o v n g
to p a lle tiæ th e m o r to u
,
th a t is d e p a lle tiz e th e m
th e a s s e m b ly lin d s ta c k in g th e m
E xam p le : p ro c e s s o f ta k in g p a r ts fr o m e an
d/o r o a d in
un ı
M ıs bio e lo a d lik an g
d /o r fr o m p ro d u c tio n m ac h in e
* R o b o t tr a n s fe rs p a r ts in to an a
T h e re a r e th r e e po s s ib le c a se s
M
d
h in e lo a d in g in w h ic h th e r o b o t lo a s p a r
ts in to a p ro d u c tio n
ı ac
o a d e d b y s o m e o th e r m e a n s
ı
m a c h in e b u t th e p a r ts a re u n
,
ki f d
o e r a tio n w h e r e th e r o b o t e e s s e
h et
E xam p le : a p r e s s w o r n g p ,
t d ro p o u t o f th e p r e s s b y
b la n k s in to th e p re s s b u t th e fin is h e d p a r s
,
g r a v ity
h ic h th e ra w m a te ria ls u e fe d in to th e m a c h in e
M a c h in e lo a d in g in w
ı= = iE ◆ w ith o u t ro b o t a s s is ta n c e
T h e ro b o t u n lo a d s 1h e p a r t fro m th e m a c h in e
v is io n
a s s is tc d b y v is io n o r n o
L E x a m p le B in p ic k in g d ie c a s ū n g a n p a s
d l tic m . u ld in g
, ,
匡 in v o lv e s b o th lo a d in g an d
M ach in e lo a d in g a n d u n lo a d in g th a t
o rk
k p a r ts b y th e ro b o t T h e r o b o t lo a d s a ra
w w
u n lo a d in g o f th e w o r
h d pa rt
s s a d u n lo a d s a fin is e
p a r t in to th e p r o c e
E x a m p le : M ac h in e o p e ra tio n d iffic u ltie s
* D iĦı re n e e in c y c le tiın e b e tw e e
・
n th e r o b o t a n d th e
T hc c yc ı p r o d u c ıio n m a c h in e
c tim e o f th e m a c h in
e m a y b e re ı a tiv e ı ı
y o n g c o m p a re d to th e
m bo t s c yc ı
'
e tim e
S ta c k in g a n d in s e r tio n o p e r a tio n
* In th e s ta c k in g p ro c e s s th e l
ro bo t p ı
a c e s n a t p a r ts o n f
w he re
to p o e ac h o th e r ,
th e v e r tic a ı ı
o c a tio n of th e dropoff
h a n g in g Ħ»s itio n is co n tin u o u s ly
c w ith c y c le tim e
I n t he i ns e r t ion p r oc e s s r ob o t i ns e r t s p ar ts i nt o t he c o m p a r t me nts of a
d iv id e d c a r to n
T he ro bo t m u st ha v fo ı
lo in g k
e w a tu r e s to fa c iı
ita te m a te r ia ıh a n d lin g
* T he m a n ip u la to r m u st be b le to lift th e p a r ts
a s a fe ly
T he rob o t mu s t ha v e the rea c h ne e d e d .
T he rob o t mu s t ha v e cy l ind r i ca ı co o r d i na t e ty .
pe
T he ro bo t '
s c o n troıle r m u s t h a v e la r g e
a eno u gh m e m o ry to s to r e a ll th e
p ro g ra m m e d p o in ts s o th a t th e ro bo t can m o ve fr o m o ne lo c a tio n to
a n o th e r
* ıĮh e ro bo t m u st h a v e th e s p e e d n e c e s sa ry fo r m ee tin g th e tr a n s fe r c y c le o f
e o p e ra tio n
Pr o c e s s in g o n w a do n s
R o b o t pe r f or ms a pr o c e s s i ng pr o c e d ur e on t he pa r t .
*
T he ro b o t is e q u ip p e d w ith s o m e ty p e o f p r o c e s s to o lin g as its en d e ffe c to r
* M an ip u la te s th e to o lin g r e la tiv e to th e w o r k in g p a r t d u ń n g th e c y c le
* Iń d u s tr ia l r o b o t a p p lic a tio n s in th e p ro c e s s in g o p e r a tio n s in c lu d e
ı Spo t w e ld in g
ı C o n tin u o u s a r c w e ld in g
ı S p ra y p a in tin g
ı M e ta ıc u ttin g an d d e b u r r in g o p e r a tio n s
l ike d ń l ling , g r i nd i ng , as e r wa t er
V a r i ou s m a c h i ni ng o p e r at ion s l
an d
je t c u ttin g ,
an d ń v e tin g
R o t at ing an d sp i nd l e op e r a t ion s
ı A d h e s iv e s an d s c a la n t d is p e n s in g
勇
Scanned by CamScanner 凅
A S S e te r a u o ı
oı ķ
T he ap p l ica t ion s i nv o l ve bo t h ma t er i al - a n d l ing an d the ma n i pu l at ion of a too l .

* T h e y ty p ic a ı ıy in c ı u de co m po n e n ts to b u ild th e p ro d u c t d to p e r fo r m
h a n d lin g o p e r a tio n s an m a te r ia l
A r e t ra d i tion a l ly ab o r n
ı - t en s i ve a c t iv
i ties i n i nd u s t r
b o r in g H e n c e a r e lo i y an d ar e h i g ıy
l d h rep e t itive an d
g c a c a n id a te s fo r ro b o tic
a p p lic a tio n s
T h e s e ar e cıas s i fie
d a s
ı B a tc h a s se m b ly : A s m an y as o ne m illio n p r o d u c ts m ig h t b e a s se m b le d
L Jo w v o lu m e : In th is a sa m p le ru n o f te n th o u sa n d o r le s s p r o d u c ts
m ig h t b e m a de
ı
T he a sse m b ly ro b o t c e ll s h o u ld b e a m o d u la r ce ll
=
O n e of th e w e ll s u lite d a re a s fo r ro b o tic s a sse m b ly is th e in
dd le c tr o s e r tio n o f
o e n ic c o m
p o n e n ts
we!ati
* Elm e in s p e c ū o n o e r a ū o n r
p e q u ir e s p a r ts to b e ip u la te d ,
m an an d o th e r a p lic a tio n s
r e q u iE e th a t a n in s i p
p e c o n to «»l b e m a n ip u la te d
t
I
ns p e c B b n w o r k r e q u i res h i gh p r e c i si on p a t ien c e ,
a nd nd hum a n u
j d gme n t i s
c ite n n e e d e d to
a
d e te r m in e w h e th e r a d u c t is w ith in
p ro qu a lity spe c ific a tio n s o r
n o t
* In s p e c tio n ta s k s th a t a r e e r fo rm d b y in d u s tń a ır o b o ts
p e c a n u su a lly b e d iv id e d in to
th e fo llo w in g th r e e te c h n i u e s
q
ı B y u s in g a fe e le r a u e o r a lin e a d i
g g r s p la c e m e n t tr a n s d u c e r k n
o w n as a
lin e a r v a r ia b le d iffe r e n tia l tr a n f
s o rm e r (L V D T ) th e p a r t b e in g ,
m e a s u re d w ill c o m e in
p h y s ic a l c o n ta c t w ith th e in s tr u m e n t o r b
m e a n s o f a ir p r e s s u re
y
w h ic h w ill c a u s e it to r id e
, a b o v e th e s u r fa c e
b e in g m e a s u Jre d
ı B y u tiliz in g r o b o tic v is io n m a trix v id e o c a m

e r a s a r e u s e d to o b ta in
,
an
im a g e o f th e a r e a o f in te r e s t w h ic h is d i iti d
, g ze a n d c o m p a r e d to a
s im ila r im a g e w ith s p e c ifie d to le r a n c e
L ı B y in v o ı
v in g th e u s e o f o p tic s a n d li h t u s u a ll la s e r
g , y a or in fr a re d
so u rc e is u s e d to illu s tr a te th e a r e a o f in te r e s t
m ït ma y be i n ac t ive or pa s s i ve ro l e.
= In a c t iv e ro le ro b o t is r e s p o n s ib le fo r d e te r m in in g w h e th e r th e p a r t is
go o d o r ba d
ı In th e p a s s iv e ro le th e r o b o t fe e d s a g a u g in g s ta tio n w ith th e a r t
p
W h ile th e g a u g in g s ta tio n is d e te r m in in g w h e th e r th e p a r t m e e ts th e
s p e c ific a tio n th e r o b o t w a its fo r th e p r o c e s s to fin is h
,
昆 Scanned by CamScanner
vantaEes Q
* R o b o tic s a n d a u to m a tio n c a n , in m a n y s itu a tio in c r e a s e

e ffic ie n c y q u a lity a n d c o n s i
n ,
p r o d u c tiv ity , s a fe ty
, s te n c y o f p ro d
,
u c ts
* R o bo ts c a n w o r k in h a z a rd o u s e n v iro n m e n t
s
* R o b o ts n ee d n o e n v ir o n m e
n ta l c o m fo r t
* R o b o ts w o rk c o n tin u o u s l w
y ith o u t an y hu m a n ity n e e d s a n d illn e s s e s
R o b o t s ha v e rep e a t ab l e pr ec i si on at al ıtime s
R o b ot s ca n be mu c h mo r e a c c u r a t e t ha
n hu m a n s , he y
a c c u ra c
y
t ma y ha v e mi lli or mi cr o i nc h
* R o b o ts an d th e ir se n s o rs c a n ha v e c apa b ilitie s b e y o n d th a t o f h
u m ans
k : R o b o ts
'"
re
P ro
p la c e h u
c '" ' " tiP '"
m a n w o r k e rs w
s ti' " i o r ta " ' " ' " ta . . . u s ly ,
hu m an s can o n ly o ne
ho c a n c r e a te e c o n o m ic p r o b le m
ıb ć q
s
dT*ıļ ļ ages 0 R o b o ts
* R b o ts lķ
o ca p a b ility to re s p o n d in em e rg e n c ie s th is, c a n c a u se
ı In a p p r o p r ia te an d w ro n g re s p o n s e s
■ A la c k o f d e c is io n m a k in g po w er
■ A lo ss o f po w er
ı D am a g e to th e ro bo tan d o th e r d e ic e s
v
ı H u m an in ju ń e s
R o b ot s ma y ha v e l imi ted ca p a b i lities in
ı D e g re e s o f F re e d o m
D
ıi e x te ń ty
ı
= se n so rs
ı v is io n s y s te m s
= R ea l tim e R e spo n se
hĮ
P o b ot s a r e og s t ly, d
ue to
ı In itia l c o s t o f e q u ip m e n t
ı In s ta lla tio n C o s ts
■ N ee d fo r p e ń p h e r a ls
Ł
ı N ee d fo r tr a in in g
= N ee d fo r PT o g r a m m in g
◆ b o t a t ıo r ıs
G e n e ra l c h a r a c te r is tic s o f in d u s tń a ļ w o r k s itu a tio n s th
at p ro m o te th e u s e o f in d u s tr ia l rM
1 H a z a rd o u s w o rk e n v ir o n m e nt fo r hu n an s
ı
2 R e p e tit iv e w o rk c y c le
3 D iffic u ı
t h a n d lin
g ta s k fo r hu m an s
4 M u ı
ti s h iħ o p e r a tio n s
5 In fr e q u e n t c ha n ge o v e rs
6 P a r c p o s itio d
n an o ń e n ta tio n a r e e s ta b lis h e d in th e w o rk c e l
ı
島 뇨
:H A P T E R
A R o b o t E n d E ffe c to r s -
1 1 In tto d u c ı io n 2 2 T y p ￠ıo f e n d * lfl c ı 23Cı » ıiĦc a tio n o f e l o n

o n 24
M « h a n ic a l s rip p e tı U V * c u ıım
p ip p m z 6 M aw t k p ip p e ıı 1 7 A d h l ıiv ￠
W W W ı8 d e ıig n o f grip p e r ı r « lu ir e n ıe n b fo r ř p ip p e n d e s ig n tip s fo r
d e s ig n in g a g ń p p e r G r ipp e r fo r c e m e C a ıı
s iı 2 9 R t m o ı e r C om ıia ıı« D e * i« e ı
y p
(R C C ı) Q ıte s tio n s t l ı A n ııu e r ı H ig h u g h b O b je c tiv e T y p e Q u e i tio m
e t i c ıl Q u e s tio n s
02 1
, \N T R O D U C T ı
ON
계w 戳
ĝ ĝ
ĝ ĝŝ
团团■匡多国回国■
ı 国团团西回国回国国
― ―
・
每
m
ーー
凸
钠
ー
うの
マコ
뚜
ーー叫
ーと m
君#ゴく貢宕島
罝豸
佇》ツ芝 9 얻 ワぞゴ Į
習歹
门
门ー招コ
ー夏 접 汇 뉩瑤
n
皆自 .
自
己
マ霄卫 뀝
n 口
彐
ー # マ
.
g 電子罝匈
曳免口门自 쩝 爻8
西 졈雹
自
身ユ
뀝 ユ匈多ユコの
ユ匽匈コヨ區
昏
芎
ヨ妄罨 짊
歹 뀝
召イロ
여 确フ伯陜健
겋号
心幻也自
習甚
台
1
否习自ユ 급 ヨ又コ
뉩
自
会
コ
也一
島
召言
虽日谩
넵
三吕气曲了
。 = 冒
移
コ
彐目目
自
. a 穿
ぎ注
义回く
낵 i す 0
冒
= 叫輸盗
甚号前脅召
旳 낵 目。 .
ヨど丘ぼ
篷子了司
树イ
コ
日
ぎ n 石巷墓
ー
零い
芹邑オ
鼋ヨ
自良
邑召
黟ロ
如气门 징子コ
芽胃
0 自
'
矛
每・
可g
ロ
コ匡으 = 歹で
哥 얩 第
Ş 豸
马
复雾
く
子
巷
区
ず
己
自
话复ぱ口
8
個名
当
ユ
鹳
コく
只四了男卫
于
曾
0 . 门
腎专四Ħ C
コ
》
又
9
毛甚
ゴり
g屯多三
口
国邑气
n 了 =
毡
晉
E W了韬
8 牙ヨ自
1
ロ吧
妄 닻 0
ム
習
牙8 歹
ー
여
自了輸
置
君ぎ
兩個
牙習
了
口
冬
5
确 졈
子
窝
n
ぽ
委锄庁
フ
넣
弓n 習自
島
ー
ロ
歹
ーa
・ヘ台
諾自了コ日
角
々習
메
虿写
自
n
召
。
ロ
ヨ眉コ
万自
口
售
녘
馏
0
習
会
召冒星え
万每
に了弓
ぎ
可
呻ー育ず
々
口
歹 8
r k 和
訪殆
Ļ * ) 日 m \ T
h W M
- M- U 刍 M
A r
仪 «
W# -
mW
a m 国 «
t 姆
3
»
d
2
ı C 《 m 门 « ı T r
ぱ »
n M m
n 野 m« N
h
n « b h
o p
n
w p
M d 加
ı
o b
m ı
個 nr r
d
* 2 2 J
出 ı ı
P
n
酌 w mm
ı
ı
a
o 3 S g
F
n
h ı
a
ï *
»
g
o e
m e
h
b
m
T
m
łb
r
c
e w
o e
y
m »
m 開k ł
b
n
e
ó o
%
n ı
n
ı
e
g b * e r c
d
w 併
n
l
W
g r
g
*
r
e
n
h
a m d » n
d e
d
e
d
n m » ı
n d
g
e
c
a q c
d
t
r
u h
p n d o
p d y ı n
e m d
«
p n h
e
c e * i
ı
r e
ı p e
h
t e * ・
o
f r u h
o o
r r r
n (
o m u t
o
ı
g ı
l h
r o a m ・
m
e
w o m u a U
w
d o
i
t
M d
p
ı
n
o
w o ù o
w
b
ı c
h g
n e
c
o
n
r
w
g h d g
f
n o
ı ・
n d b n b
d e
g f
如
ı
w e
r r d o
M W
w
e e a g » ı R
a r 次 y
e
w o
t
e
n
b
e
e
n
t
* ı
w o O
o
ñ p
a
s
w e
y e e *
n p
a
r
y g r d 国
e
p e s u b 内
e e p 四
a ı
s
d f
o
m r 炯
o p ı s ı 由
f s o
b
m h
a o 目
o r q
b
s
p g 朝
h
w
ı t 创
g
h 旭
r
p
r
加
w 闸
u 四
o
n n
禹
)
p o
b
2 F o
* * «
k )
A
n
* E
n
« - m F
M S
c
a a
U - - b 2
n
￠
m
o o n
n r
& u
g
n c w d n ￠
3 E
o I
o ı
m
n e u ￡ p
l f 2 k r d o e o h d r
p n t n o ı
n d c h
M 心切
s 4 e r e e e
g h h r
s a k r p c
u o
r n
g s
a
n ı g v m a a r g
m d w o
p t h r
a o ß o g c
r
* ı
ı
p o k y o p
r r n n e * p
« ı
e
n ı w w p n e g ı
p a ı
g m g
r e o a n y h m c y
ı
m e
c
h y
n a r
o p m a r n a a o y w p
y
d u o n
d p n e o d o
ı e d
f
m m n ı
o b m n n n
c
ı
e o w g e k l
r r e u n b r n s u i
o ı r u a
f * ı
e
n e ・ a
s
e a m g k
n
k
e
n
w Z
g
n
n
s e
d r
o
p o
c m H y
a e
ı p
a
g
d
A ń d o n n o n o e +
p m o
b p n f
g m s w a
o
ł

Robotics Notes Unit I & III-1-1 PDF

Caricato da

Informazioni sul documento

Titolo originale

Copyright

Formati disponibili

Condividi questo documento

Condividi o incorpora il documento

Opzioni di condivisione

Hai trovato utile questo documento?

Questo contenuto è inappropriato?

Copyright:

Formati disponibili

Robotics Notes Unit I & III-1-1 PDF

Caricato da

Copyright:

Formati disponibili

ı Rn l Ľ

R o b o t D iffe r e n t ia l M o tio n lj n ear an d A n g u la r v e lo c it y o f r ig id lin k V e lo c it y a lo n g lin k M a ip u lu to r ja c u b ia n

R e c u r s iv e A lg o r ith m S im u la t io n E u le r L a g ra n g e E q u a t io n s o f m o tio n /A n y u ne o r m tıı

E n d e H ec to r s : M e c h a n ic a ıa n d o th e r ty p e s o f g r ip p e r s T oo ls as e n d eflc tor s R o bu l :tn d e lT e c to r im c rlıc į e

IR 2 I R o b e r t J S c h illin g F u n d a m e n ta ls o f R o b o t ic s A n a ly s is & C m tm ì l P re m ic e H :lll d ! P 1 Td 0 0 2

& 2 )a ) W hat do yo u m e a n by Se n s o rs a in d iffe

& ) a ) E x p la l+n t h e c o n c e p t o f fo r w a r d a n d in v e r s e k in e m a tic s o f r o b o t s

Q 4 ) a ) E x p la in D H c o n v e n t io n fo r a s s ig n in g fra m e s to lin k s and id e n t ify in g jo in t lin k p a ra m e te r s

(d ) D e fin e e n d e ffe c t o rs M e n t io n it s d iffe r e n t ty p e s

i& 2 ) D e fin d ffe c to D is c u it s d iffe c o n s id e r a t io n

(a ) D lin e J a c o b ia n D e r iv e th e e x p r e s s io n fo r d iffe r e n tia l o p e r a to r

Q6 (a ) W r ite s h o r t n o te o n (i) N e w to n E u le r r e c u r s iv e a lg o ń th m (ii) D e NO C (8 )

Q7 (a ) E x p la in t h e r o le o f en d e ffe c to r s a s (i) g r ip p e r (ii) t o o ls b y ta k in g t w o

(c ) D e s c r ib e th e m e r it s & d e m e r its o f fo llo w in B R o b o t p ro gr a m m in g L a n gu a ge s : (4 5 1

(1) W r ite th e r o ta tio n m a tr ix fo r r o ta tio n o f T w ith r e s p e c t to y - a x is

(a ) E x i»la in th e co n ce pt o fFo rw a r d K in e m a tic s a n d In v e r s e K in e n ıa tic s o f

Q 4 N XPlain ith n e a t s k e tc h th e s te p b y s t e p p r o c e d u r e t o b e fo llo w e d fo r

b o t in v o lv in g o n e lin e a r m o tio n a n d t w o ro ta r y m o tio n

(ii) F o llo w e d b y a r o t a tio n o Į Į Q h g ııa x i s

& p trv &

W e A gt h a rm h ıte n ļ n b e in g 2 0 b e y h u m an b e in g 3 p r o te c t its e lf fro m h a rm

10 M e n t io n B ii$iM iı* = E i tio n o f r o b o ts ?

(i)P h \ ic a ıc o n fig u r a t io n 1 C a r te s ia n c o o rd in a te c o n fg u r a t io n 2 C y lin d r ic a l c o o r d in a t e co n fig u r a t io n 3 Po ı

s p h e r ic a \ c o o r d in a te c o n fıg u ra t io n 4 J o in te d a rm co n fig u ra t io n e c tiv e C o m p lia n c e A s s e m b ly R o b o t A

W u '" u tth '" pe ' " p ・t h ' "r o l ?

N p t' " o p 2 P o in t t ° p . In t l C o n t - lle d p a t

1 Lo d c a r r y in g c* Ħ c ı rıd 2 S p e * d o f m o v * m e n t 3 N u m b * r o f d ıır ııs o f fre ıd o m 3 R e ıc h 4 v ıl lt

D a dv 1 Ex pe n s iv e 2 H ig h m a in t e n a n c e 3 Note n e rg y e ffic ie n t 4 N o is y 5 N o t s u ite d fo r cı

m a in ta in e d a n d re p a ir e d 4 Lig h t w e ig h t 5 T h e d r iv e s y s t e m is w e lıs u ite d fo r e ı

3 U - . Ity o f m e c h a n k a l. H a . c t . ' "tks th ro u g h o u t t h . ' " l ' "eed ' "e 4 L o . M e c h a n k a la n d

4 SUitableforEū p o w er lım lo w n E H iđ ic a tio n s

e ・r t r ı+n s ı)H ırm

W he re v e r th e ra c k an d p in io n an d h y d ra u lic r ım a re n o te a c c u ra te , th e lin e a r s c r e w ın d b ıll l c r e w s

6 E n v ir t»n m e n t spe c ific a t io

lin e a r lty lity B )S t a b ilit y h )D e a d

b le , m u lti- fu n c tio ııa \ m a n ip u la to r d e s ig n e d o m o

m an ip u la tio n s lin d th e y p o sse ss d iffe r e n t m o tio n s y s te m s

Fo u r b a s ic co n fig u r a tio n s a r e id e n tifie d w ith m o st o f th e c o m m e r c ia lly a v a ila b le in d u s tr ia l

1 C a r te s la n c o n tig u r a tio n A r o b o t w h ic h is c o n s tr u c te d a r o u n d th is c o n fig u r a tio n c o n s is ts

c a p a b le o f m o v in g its a r m a t a n y p o n t w ith in its th r e e d im e n s io n a l r e c ta n g u la r ly s p a c e d w o r k

& C y lln d r lc a l c o n fıg u r a tı on in th is fig u r a tio n th e r o b o t b o d y is a v e r tic a l c o lu m n t}ı

Sħeeļ s a b o u t a v e r tic a l a x is T h e a rm c o n s is ts o f s e v e r a l o r th o g o n a l s lid e s w h ic h a llo w th e

a rm tĞ b m oved up o r do w n a n d in a n d o u t w ith r e s p e c t to th e b o d y T h is is ilı u s tr a tc d

ith in w H c h it c a n its is a p a r tia l s p h e re as sho w n in

4 J o in te d a r m c o n llg u r a tio n is c o łn b in a tio n o f c y lin d ń c a l a n d a f tic u la te d c o n fig u ra tio n s

b a s ic m o tio n s û o ı ıa n d b o d y m o tio n s a n d th re e w ń s t m o tio n s

e x te n s io n a n d re tr a c ū o n o f th e a rm (in an d ou tm o vem ent )

T he te c h n ic a l fe a tu re s o f an in d u s u ia l ro b o t d e te r m in e its e ffic ie n c y a n d c ffe c ū v e n e s s a t

fre e d o m 3 o f th e d e g r e e s o f fie e d o m a lı o w p o s itio n in g in 3 D s p a c e w h ile th e o th e r 2 o r 3 a r e ,

W o rk V oı u m e lw o r k s p a c e T h e r o b o t te n d s to h a v e a fıx e d a n d lim ite d g e o m e tr y T h e

T he pition w ith w h ic h th e ro bo t c a n m o v e th e e n d o f its w ń s t is a c ń tic a l c o n s id e r a tio n in

w ith a r e s o ı u tio n o f 0 5 d e g r e e s th e n th e c o n tr o l r e s o lu tio n is a b o u t 0 5 d e g re e s (th e

ffe d b y th e a b ility to fir m ly g r ip th e a r t a s w ı

T h is m e th o d is lly p r o g ra m m in g in th e c o n v e n tio n a ıs e n s e o f th e w o r ld It is m o re lik e

1 0ñ*e pro gra m m in g

T h is m e th o d in v o lv e s th e p r e p a r a tio n o f th e r o b o t p r o g r a m o ff lin e in a m a n n e r s im ila r to ,

A n o th e r be n e fit a s s o c ia te d w ith o ff lin e p ro g ra m m in g is th e p r o s p æ t o f in te g r a tin g th e ro bo t

M C L is e n h a n c e m e n t of AP T wh ich po s s e s s e s ad d i tion a l op t ion s an d fea t ur e s ne e d ed

骂!埽 b y th e c q ū 鯽pı ı￠ s to 如 ñ w ihF 印 加之 酽 ıi

d e fin e ĺ h o wńqť jbł

N gp ? #e th* roĵ ? 呷 \ y jo in t coorin$

h ç iħę《ip d a to <+ ' h l Jt

c h d lo l b the w rlıt o f th * m a q lp u ıa ţ ų r, lhıy ırıv N q » ￠h \

骂!埽 b y th e c q ū 鯽pı ı￠ s to 如 ñ w ihF 印加之酽 ıi