S. Le-jeu, 12 poses issues de l'algorithme de recherche de poses optimales calculées dans un sous-espace de travail où les câbles peuvent être considérés comme sans masse et sans élasticité

S. Le-jeu, 23 poses choisies d'après l'expérience sur les bords de l'espace de travail

S. Le-jeu, 6 poses optimales dans l'espace de travail complet du robot

L. Résultats, algorithme sont donnés en terme de moyenne et d'écart type de la valeur du critère pour chaque câble à la gure 4.11 (multipliés par 10 3 pour la visibilité). C'est à dire l'erreur entre le modèle et les observations

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