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Proyecto Danzante. Optimización. Algoritmo. Comportamiento inicial III. Simulación  cuasi correcta (incluido en Danzante)

 

Vimos el Algoritmo para optimizar.  Lo hemos implementado y comenzamos a depurar, en

 

Optimización. Algoritmo. Comportamiento inicial.htm

 

Optimizacion II.Desglose de operaciones.JCISER.htm

 

La corrección de un desgraciado paréntesis, que nos tenía empantanados en resultados dudosos, se ha resuelto al fin y presentamos ya resultados buenos de verdad.

 

El algoritmo funciona muy bien:

 

Problemas que subsisten:

1.No se carga en lugar correcto la moción rotada: los coeficientes w valen 1,0. O sea, q es nulo (comprobado)

        RESUELTO

2. No se `promedia con pesos w las esquletos para obtener las estimaciones de las longitudes de huesos (no en JISER)

3. No se calcula media de porcentajes de error en longitud huesos, para comparar diversas estimaciones.

4. No se ve resultado antes y después como Toca Moción, para percibir suavidad y estabilidad en el esqueleto optimizado (almacenar en 2 y 3 y retocar Toca Moción par que admita mociones varias -no solo 0 y 1)

5. Posibles otras cortapisas?. Ángulos posibles e imposibles

 

RESULTADOS:

(eliminamos los datos de la calibración que hemos usado y presentados repetidamente en estas páginas).

SIMULACION GENERAL DEL ALGORITMO JCISER
Longitudes medias de huesos de dos mociones paralelas y Desviaciones típicas alrededor de esas medias

===================================================================================================
Longitudes medias de huesos de dos mociones paralelas y Desviaciones típicas alrededor de esas medias
Archivo: D:\Danzante\Mociones\0.ARCADE.Viernes 1.mc2 Cuadros: 140 a 190
||Hue |de |a ||Tot |Mc0 |Mc1 |mm
|| 1| HipCenter.- Spine.....|| 72// 6: 8,1 % ||26 /026 : 100,2 % ||22 /022 : 100,6 % | mm
|| 2| Spine.....- ShoulderCe|| 340//13: 3,9 % ||118 /118 : 100,2 % ||109 /109 : 100,0 % | mm
|| 3| ShoulderCe- Head......|| 203// 9: 4,6 % ||72 /072 : 100,0 % ||64 /064 : 100,0 % | mm
|| 4| ShoulderCe- ShoulderLe|| 174//11: 6,4 % ||57 /058 : 101,7 % ||60 /060 : 100,1 % | mm
|| 8| ShoulderCe- ShoulderRi|| 214//32: 14,9 % ||56 /057 : 100,1 % ||86 /086 : 100,1 % | mm
|| 5| ShoulderLe- ElbowLeft.|| 236// 7: 2,9 % ||80 /080 : 100,0 % ||77 /078 : 100,3 % | mm
|| 9| ShoulderRi- ElbowRight|| 248//15: 6,0 % ||87 /087 : 100,2 % ||78 /079 : 100,8 % | mm
|| 6| ElbowLeft.- WristLeft.|| 230//33: 14,5 % ||62 /062 : 100,2 % ||92 /092 : 100,4 % | mm
||10| ElbowRight- WristRight|| 229//21: 9,4 % ||75 /077 : 101,8 % ||77 /079 : 102,1 % | mm
|| 7| WristLeft.- HandLeft..|| 68// 9: 13,7 % ||22 /024 : 106,6 % ||23 /024 : 101,6 % | mm
||11| WristRight- HandRight.|| 119//35: 29,2 % ||53 /056 : 105,7 % ||26 /026 : 101,9 % | mm
||12| HipCenter.- HipLeft...|| 93// 10: 10,5 % ||27 /027 : 101,2 % ||35 /035 : 100,2 % | mm
||16| HipCenter.- HipRight..|| 94//12: 13,0 % ||26 /026 : 101,1 % ||37 /037 : 100,0 % | mm
||13| HipLeft...- KneeLeft..|| 490//15: 3,0 % ||162 /162 : 100,4 % ||165 /165 : 100,0 % | mm
||17| HipRight..- KneeRight.|| 494//14: 2,8 % ||166 /166 : 100,3 % ||163 /163 : 100,0 % | mm
||14| KneeLeft..- AnkleLeft.|| 296//26: 8,7 % ||87 /087 : 100,0 % ||111 /111 : 100,0 % | mm
||18| KneeRight.- AnkleRight|| 309//17: 5,5 % ||104 /105 : 100,7 % ||102 /103 : 100,6 % | mm
||15| AnkleLeft.- FootLeft..|| 99// 8: 7,9 % ||34 /035 : 101,3 % ||31 /032 : 100,8 % | mm
||19| AnkleRight- FootRight.|| 91// 6: 7,1 % ||30 /030 : 101,4 % ||31 /031 : 100,7 % | mm



===================================================================================================
Longitudes medias de huesos en mociones reunidas

===================================================================================================
Longitudes medias de huesos de dos mociones paralelas y Desviaciones típicas alrededor de esas medias
Archivo: D:\Danzante\Mociones\0.ARCADE.Viernes 1.mc2 Cuadros: 140 a 190
||Hue |de |a ||Tot |Mc0 |Mc1 |mm
|| 1| HipCenter.- Spine.....|| 71// 2: 3,5 % ||0 /000 : 276,2 % ||0 /000 : 304,8 % | mm
|| 2| Spine.....- ShoulderCe|| 340// 5: 1,5 % ||1 /001 : 130,4 % ||1 /001 : 135,5 % | mm
|| 3| ShoulderCe- Head......|| 200// 0: 0,2 % ||0 /001 : 166,7 % ||0 /001 : 177,4 % | mm
|| 4| ShoulderCe- ShoulderLe|| 167// 8: 4,9 % ||0 /001 : 189,3 % ||0 /001 : 183,3 % | mm
|| 8| ShoulderCe- ShoulderRi|| 211// 3: 1,2 % ||0 /001 : 188,2 % ||0 /001 : 152,4 % | mm
|| 5| ShoulderLe- ElbowLeft.|| 233// 4: 1,8 % ||0 /001 : 158,4 % ||0 /001 : 161,1 % | mm
|| 9| ShoulderRi- ElbowRight|| 249// 10: 3,9 % ||0 /001 : 151,6 % ||0 /001 : 160,3 % | mm
|| 6| ElbowLeft.- WristLeft.|| 225// 8: 3,5 % ||0 /001 : 180,4 % ||0 /001 : 147,9 % | mm
||10| ElbowRight- WristRight|| 225//15: 6,6 % ||0 /001 : 164,3 % ||0 /001 : 162,9 % | mm
|| 7| WristLeft.- HandLeft..|| 67// 7: 9,9 % ||0 /000 : 308,9 % ||0 /000 : 296,0 % | mm
||11| WristRight- HandRight.|| 116//13: 11,5 % ||0 /001 : 199,2 % ||0 /000 : 280,3 % | mm
||12| HipCenter.- HipLeft...|| 89// 4: 4,0 % ||0 /000 : 273,1 % ||0 /000 : 238,8 % | mm
||16| HipCenter.- HipRight..|| 91// 3: 3,1 % ||0 /000 : 279,9 % ||0 /000 : 233,3 % | mm
||13| HipLeft...- KneeLeft..|| 488//10: 2,1 % ||1 /001 : 111,4 % ||1 /001 : 110,1 % | mm
||17| HipRight..- KneeRight.|| 489// 10: 2,0 % ||1 /001 : 110,0 % ||1 /001 : 110,6 % | mm
||14| KneeLeft..- AnkleLeft.|| 296// 4: 1,2 % ||0 /001 : 151,8 % ||1 /001 : 134,3 % | mm
||18| KneeRight.- AnkleRight|| 309//10: 3,4 % ||1 /001 : 139,1 % ||1 /001 : 140,3 % | mm
||15| AnkleLeft.- FootLeft..|| 81//13: 16,1 % ||0 /000 : 242,5 % ||0 /000 : 253,9 % | mm
||19| AnkleRight- FootRight.|| 83// 9: 10,4 % ||0 /000 : 261,1 % ||0 /000 : 254,3 % | mm



--------------------------------------------------------------------------------------------
OPTIMIZACIÓN de D:\Danzante\Mociones\0.ARCADE.Viernes 1.mc2 Cuadros:de 140 hasta 190. Ejecutada 13-4-16.04-49-51
--------------------------------------------------------------------------------------------

Comienzan Iteraciones para cuadro 140

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -05 -01 -01 -54 -04 -45 -24 79 -06 -11 02 -64 -90 -53 -07 12 71 -72 05
co 2 04 -01 -01 -31 -09 91 87 14 -03 -10 -21 15 33 00 10 09 08 -52 61
co 3 -05 -01 -01 32 06 62 79 48 -06 -04 -08 -11 19 24 46 -06 -78 40 -36
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -16 02 12 01 02 -01 -28 78 -65 23 06 00 -01 01 -01 -01 08 -10
co 2 14 -31 10 15 00 06 -04 08 -07 -06 05 50 -47 10 03 38 -17 -55 45
co 3 -02 -09 -03 11 -01 -02 09 -25 53 -29 05 -03 09 -03 02 -11 06 -08 09
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,59 0,50 0,50 0,93 0,58 0,09 0,05 0,93 0,46 0,43 0,31 0,94 0,81 0,67 0,94 0,88 0,81 0,24 0,87
Esque 2 0,41 0,50 0,50 0,07 0,42 0,91 0,95 0,07 0,54 0,57 0,69 0,06 0,19 0,33 0,06 0,12 0,19 0,76 0,13
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -02 01 -01 -28 -02 -23 -12 42 -10 01 -01 -33 -45 -26 -04 06 36 -37 03
dpco 2 01 02 -01 -17 -05 45 44 06 -01 -05 -11 03 21 -01 04 01 06 -21 26
dpco 3 -02 00 00 15 03 31 39 27 -08 00 -04 -05 08 12 23 -02 -40 21 -19
Lambdas Total x y z: 0,18 0,16 0,78 0,84

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:52,778 √J0m:52,545 √Mm:11,550 λ:0,18 |dp|m:0,0737 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:51,899 √J0m:51,668 √Mm:11,381 λ:0,18 |dp|m:0,0737 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:51,049 √J0m:50,819 √Mm:11,285 λ:0,18 |dp|m:0,0737 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:50,232 √J0m:49,999 √Mm:11,263 λ:0,18 |dp|m:0,0737 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:49,449 √J0m:49,209 √Mm:11,314 λ:0,18 |dp|m:0,0737 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:48,700 √J0m:48,452 √Mm:11,435 λ:0,18 |dp|m:0,0737 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:47,988 √J0m:47,728 √Mm:11,623 λ:0,18 |dp|m:0,0737 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:47,315 √J0m:47,039 √Mm:11,876 λ:0,18 |dp|m:0,0737 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:46,682 √J0m:46,387 √Mm:12,190 λ:0,18 |dp|m:0,0737 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:46,090 √J0m:45,774 √Mm:12,563 λ:0,18 |dp|m:0,0737 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:45,542 √J0m:45,200 √Mm:12,990 λ:0,18 |dp|m:0,0737 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:45,040 √J0m:44,667 √Mm:13,469 λ:0,18 |dp|m:0,0737 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:44,584 √J0m:44,177 √Mm:13,998 λ:0,18 |dp|m:0,0737 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:44,177 √J0m:43,732 √Mm:14,573 λ:0,18 |dp|m:0,0737 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:43,820 √J0m:43,332 √Mm:15,193 λ:0,18 |dp|m:0,0737 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:43,515 √J0m:42,979 √Mm:15,854 λ:0,18 |dp|m:0,0737 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:43,262 √J0m:42,674 √Mm:16,555 λ:0,18 |dp|m:0,0737 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:43,064 √J0m:42,419 √Mm:17,293 λ:0,18 |dp|m:0,0737 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:42,920 √J0m:42,213 √Mm:18,067 λ:0,18 |dp|m:0,0737 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:42,832 √J0m:42,058 √Mm:18,874 λ:0,18 |dp|m:0,0737 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:42,800 √J0m:41,955 √Mm:19,711 λ:0,18 |dp|m:0,0737 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -03 00 00 00 -01 -01 -02 14 -12 04 -01 -03 -02 00 00 02 -01 -02
co 2 03 -05 02 02 00 04 02 02 -01 -01 00 09 -07 02 01 07 -03 -12 10
co 3 -01 -02 -01 03 00 02 04 -03 09 -05 01 -01 02 00 02 -02 -01 00 00
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -49 01 -25 -11 29 -05 111 -23 -36 16 -10 -05 07 -04 -02 28 -13 -14
co 2 17 24 03 -23 06 13 -09 -36 19 -03 02 00 26 -53 21 12 96 -106 03
co 3 -03 -52 -01 -26 -32 37 17 111 -34 -15 03 -08 -02 -08 13 -03 -30 18 15
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,59 0,50 0,50 0,93 0,58 0,09 0,05 0,93 0,46 0,43 0,31 0,94 0,81 0,67 0,94 0,88 0,81 0,24 0,87
Esque 2 0,41 0,50 0,50 0,07 0,42 0,91 0,95 0,07 0,54 0,57 0,69 0,06 0,19 0,33 0,06 0,12 0,19 0,76 0,13
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 05 00 03 01 -04 00 -15 10 -02 00 01 -01 -02 00 00 -02 01 01
dpco 2 -01 -06 00 04 -01 00 02 05 -03 00 00 05 -07 07 -02 02 -13 07 05
dpco 3 00 06 00 05 04 -04 00 -15 09 -01 00 01 01 01 -01 -01 03 -02 -02
Lambdas Total x y z: 0,25 0,85 0,63 0,77

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:43,078 √J0m:41,891 √Mm:20,131 λ:0,25 |dp|m:0,0177 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:43,019 √J0m:41,883 √Mm:19,693 λ:0,25 |dp|m:0,0177 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:42,966 √J0m:41,878 √Mm:19,263 λ:0,25 |dp|m:0,0177 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:42,917 √J0m:41,875 √Mm:18,843 λ:0,25 |dp|m:0,0177 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:42,873 √J0m:41,876 √Mm:18,434 λ:0,25 |dp|m:0,0177 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:42,835 √J0m:41,880 √Mm:18,036 λ:0,25 |dp|m:0,0177 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:42,801 √J0m:41,886 √Mm:17,649 λ:0,25 |dp|m:0,0177 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:42,773 √J0m:41,896 √Mm:17,276 λ:0,25 |dp|m:0,0177 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:42,749 √J0m:41,908 √Mm:16,915 λ:0,25 |dp|m:0,0177 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:42,731 √J0m:41,924 √Mm:16,569 λ:0,25 |dp|m:0,0177 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:42,717 √J0m:41,943 √Mm:16,239 λ:0,25 |dp|m:0,0177 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:42,709 √J0m:41,964 √Mm:15,924 λ:0,25 |dp|m:0,0177 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:42,706 √J0m:41,989 √Mm:15,627 λ:0,25 |dp|m:0,0177 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -09 00 -04 -02 04 -01 16 02 -10 04 -02 -02 00 -01 00 05 -02 -03
co 2 04 02 01 -03 01 04 -01 -05 02 -01 00 04 01 -07 04 05 14 -21 04
co 3 -01 -09 00 -03 -05 06 04 16 -02 -04 01 -02 01 -01 03 -01 -05 03 02
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -28 02 -19 -09 26 -07 56 22 -54 18 -04 -03 04 -02 -03 21 -06 -14
co 2 25 -03 11 -17 06 13 -10 -16 08 -04 03 20 -05 -26 11 32 52 -81 04
co 3 -05 -24 -04 -20 -25 26 17 55 04 -24 04 -09 03 -04 07 -07 -19 10 15
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,59 0,50 0,50 0,93 0,58 0,09 0,05 0,93 0,46 0,43 0,31 0,94 0,81 0,67 0,94 0,88 0,81 0,24 0,87
Esque 2 0,41 0,50 0,50 0,07 0,42 0,91 0,95 0,07 0,54 0,57 0,69 0,06 0,19 0,33 0,06 0,12 0,19 0,76 0,13
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 03 00 03 02 -05 01 -07 -05 10 -03 00 00 -01 00 01 -03 01 02
dpco 2 -05 02 -02 03 -01 -02 03 02 -01 01 -01 -04 02 04 -01 -06 -08 12 01
dpco 3 01 02 01 04 04 -04 -03 -07 -02 04 -01 02 -01 00 00 01 03 -02 -03
Lambdas Total x y z: 0,55 1,21 0,94 1,55

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 140 Distancia Esque. Antes y Despues Retoque:32,00 Distancias Despues con p y q: 59,00 67,00 mm


Comienzan Iteraciones para cuadro 141

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -05 -01 -01 -54 -04 -45 -38 79 06 08 07 -60 -94 -47 01 16 78 -65 05
co 2 07 -01 -01 -27 -09 86 61 14 01 06 17 19 48 04 14 13 09 -23 29
co 3 -03 -01 -01 40 06 54 62 52 06 03 03 -11 26 24 56 -05 -86 41 -44
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -12 02 09 04 00 00 -27 17 36 -21 04 -01 -02 02 -03 -04 09 -07
co 2 14 -27 07 13 03 01 -02 07 -08 09 -09 51 -39 -05 07 43 -69 -06 43
co 3 -02 -06 -02 08 06 -06 07 -25 20 07 00 -06 09 -05 06 -13 14 -13 07
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,61 0,50 0,50 0,93 0,58 0,09 0,04 0,93 0,56 0,54 0,62 0,94 0,83 0,65 0,96 0,88 0,84 0,28 0,89
Esque 2 0,39 0,50 0,50 0,07 0,42 0,91 0,96 0,07 0,44 0,46 0,38 0,06 0,17 0,35 0,04 0,12 0,16 0,72 0,11
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -02 -01 00 -27 -02 -23 -19 39 03 05 03 -30 -47 -23 00 08 39 -33 03
dpco 2 04 -01 00 -13 -05 43 30 07 01 03 08 10 24 02 07 07 04 -12 15
dpco 3 -02 -01 -01 20 03 27 31 26 03 02 02 -05 13 12 28 -03 -43 20 -22
Lambdas Total x y z: -0,02 0,42 0,35 1,27

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:53,127 √J0m:53,153 √Mm:10,646 λ:-0,02 |dp|m:0,0702 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:52,329 √J0m:52,355 √Mm:10,440 λ:-0,02 |dp|m:0,0702 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:51,558 √J0m:51,583 √Mm:10,275 λ:-0,02 |dp|m:0,0702 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:50,813 √J0m:50,837 √Mm:10,155 λ:-0,02 |dp|m:0,0702 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:50,096 √J0m:50,121 √Mm:10,081 λ:-0,02 |dp|m:0,0702 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:49,408 √J0m:49,433 √Mm:10,055 λ:-0,02 |dp|m:0,0702 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:48,751 √J0m:48,777 √Mm:10,078 λ:-0,02 |dp|m:0,0702 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:48,126 √J0m:48,152 √Mm:10,151 λ:-0,02 |dp|m:0,0702 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:47,534 √J0m:47,561 √Mm:10,274 λ:-0,02 |dp|m:0,0702 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:46,976 √J0m:47,004 √Mm:10,449 λ:-0,02 |dp|m:0,0702 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:46,453 √J0m:46,483 √Mm:10,674 λ:-0,02 |dp|m:0,0702 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:45,968 √J0m:46,000 √Mm:10,948 λ:-0,02 |dp|m:0,0702 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:45,520 √J0m:45,554 √Mm:11,269 λ:-0,02 |dp|m:0,0702 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:45,111 √J0m:45,148 √Mm:11,637 λ:-0,02 |dp|m:0,0702 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:44,742 √J0m:44,782 √Mm:12,050 λ:-0,02 |dp|m:0,0702 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:44,414 √J0m:44,457 √Mm:12,504 λ:-0,02 |dp|m:0,0702 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:44,128 √J0m:44,175 √Mm:12,999 λ:-0,02 |dp|m:0,0702 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:43,885 √J0m:43,936 √Mm:13,530 λ:-0,02 |dp|m:0,0702 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:43,685 √J0m:43,741 √Mm:14,098 λ:-0,02 |dp|m:0,0702 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:43,530 √J0m:43,590 √Mm:14,698 λ:-0,02 |dp|m:0,0702 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:43,418 √J0m:43,484 √Mm:15,329 λ:-0,02 |dp|m:0,0702 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:43,352 √J0m:43,424 √Mm:15,989 λ:-0,02 |dp|m:0,0702 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:43,330 √J0m:43,409 √Mm:16,677 λ:-0,02 |dp|m:0,0702 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 00 00 03 00 03 02 -04 -01 -01 00 03 05 03 00 -01 -04 03 00
co 2 -01 01 00 01 00 -05 -03 -01 00 -01 -01 -02 -02 00 -01 -02 01 01 -03
co 3 00 00 00 -02 00 -03 -04 -02 -01 00 00 01 -02 -01 -03 01 04 -02 02
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -04 -57 02 -14 -13 22 -01 96 -43 37 -20 -05 -08 12 -06 -08 16 -10 -05
co 2 36 00 08 -13 02 04 -01 -27 10 11 -09 19 27 -83 35 34 26 -53 04
co 3 -07 -53 -02 -15 -30 25 20 95 -37 07 00 -09 01 -14 20 -11 -15 14 06
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,61 0,50 0,50 0,93 0,58 0,09 0,04 0,93 0,56 0,54 0,62 0,94 0,83 0,65 0,96 0,88 0,84 0,28 0,89
Esque 2 0,39 0,50 0,50 0,07 0,42 0,91 0,96 0,07 0,44 0,46 0,38 0,06 0,17 0,35 0,04 0,12 0,16 0,72 0,11
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 01 06 00 03 01 -01 01 -12 04 -05 02 02 03 00 01 00 -04 03 00
dpco 2 -04 00 -01 02 00 -03 -02 02 -01 -01 01 -03 -04 09 -04 -05 -02 06 -02
dpco 3 01 06 00 00 03 -04 -04 -11 03 -01 00 01 -01 01 -04 01 04 -02 00
Lambdas Total x y z: 0,21 0,64 0,71 0,68

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:44,125 √J0m:43,433 √Mm:17,009 λ:0,21 |dp|m:0,0136 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:44,092 √J0m:43,430 √Mm:16,631 λ:0,21 |dp|m:0,0136 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:44,060 √J0m:43,428 √Mm:16,255 λ:0,21 |dp|m:0,0136 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:44,032 √J0m:43,428 √Mm:15,881 λ:0,21 |dp|m:0,0136 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:44,005 √J0m:43,429 √Mm:15,510 λ:0,21 |dp|m:0,0136 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:43,982 √J0m:43,432 √Mm:15,142 λ:0,21 |dp|m:0,0136 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:43,960 √J0m:43,437 √Mm:14,777 λ:0,21 |dp|m:0,0136 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:43,942 √J0m:43,444 √Mm:14,415 λ:0,21 |dp|m:0,0136 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:43,925 √J0m:43,452 √Mm:14,057 λ:0,21 |dp|m:0,0136 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:43,912 √J0m:43,462 √Mm:13,702 λ:0,21 |dp|m:0,0136 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:43,901 √J0m:43,473 √Mm:13,351 λ:0,21 |dp|m:0,0136 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:43,892 √J0m:43,487 √Mm:13,005 λ:0,21 |dp|m:0,0136 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:43,886 √J0m:43,502 √Mm:12,664 λ:0,21 |dp|m:0,0136 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:43,882 √J0m:43,518 √Mm:12,327 λ:0,21 |dp|m:0,0136 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:43,881 √J0m:43,537 √Mm:11,996 λ:0,21 |dp|m:0,0136 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -08 00 -01 -02 04 00 13 -07 05 -03 00 00 03 -01 -01 01 00 -01
co 2 05 00 01 -02 00 -01 -01 -04 02 01 -02 02 03 -12 05 05 04 -07 00
co 3 -01 -08 00 -03 -05 03 02 13 -06 01 00 -01 00 -02 02 -01 -01 01 02
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -30 01 -17 -08 18 -01 51 -10 16 -11 -04 -05 07 -03 -02 11 -06 -04
co 2 23 02 07 -16 03 04 -01 -14 03 06 -05 19 10 -49 20 27 15 -39 04
co 3 -04 -29 -02 -17 -20 16 20 50 -09 01 00 -09 02 -06 10 -05 -10 08 06
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,61 0,50 0,50 0,93 0,58 0,09 0,04 0,93 0,56 0,54 0,62 0,94 0,83 0,65 0,96 0,88 0,84 0,28 0,89
Esque 2 0,39 0,50 0,50 0,07 0,42 0,91 0,96 0,07 0,44 0,46 0,38 0,06 0,17 0,35 0,04 0,12 0,16 0,72 0,11
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 04 00 04 01 -03 01 -07 -01 -02 02 01 02 -01 00 00 -03 01 01
dpco 2 -04 00 -01 04 -01 -02 00 02 00 -01 01 -04 -01 07 -03 -05 -02 07 -01
dpco 3 01 04 00 03 03 -03 -05 -07 00 00 00 02 -01 00 -02 01 02 -02 -01
Lambdas Total x y z: 0,55 1,33 1,00 1,26

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:44,384 √J0m:43,572 √Mm:11,417 λ:0,55 |dp|m:0,0105 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:44,365 √J0m:43,589 √Mm:11,163 λ:0,55 |dp|m:0,0105 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:44,347 √J0m:43,606 √Mm:10,911 λ:0,55 |dp|m:0,0105 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:44,332 √J0m:43,625 √Mm:10,660 λ:0,55 |dp|m:0,0105 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:44,319 √J0m:43,644 √Mm:10,410 λ:0,55 |dp|m:0,0105 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:44,307 √J0m:43,665 √Mm:10,161 λ:0,55 |dp|m:0,0105 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:44,298 √J0m:43,686 √Mm:9,914 λ:0,55 |dp|m:0,0105 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:44,290 √J0m:43,709 √Mm:9,668 λ:0,55 |dp|m:0,0105 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:44,285 √J0m:43,732 √Mm:9,425 λ:0,55 |dp|m:0,0105 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:44,281 √J0m:43,757 √Mm:9,183 λ:0,55 |dp|m:0,0105 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:44,279 √J0m:43,782 √Mm:8,943 λ:0,55 |dp|m:0,0105 mm
Acabado Optimizado (izq). Cuadro 141 Distancia Esque. Antes y Despues Retoque:31,00 Distancias Despues con p y q: 54,00 71,00 mm


Comienzan Iteraciones para cuadro 142

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -03 -01 -01 -60 -02 -33 -27 72 -16 -09 -03 -65 -102 -54 -07 13 78 -64 02
co 2 02 -01 -01 -28 -05 80 48 13 -10 -09 02 20 43 01 10 13 07 -25 30
co 3 -02 -01 -01 41 02 49 68 47 -15 -04 01 -07 26 28 57 01 -97 45 -51
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -09 01 06 04 01 01 -28 74 -40 -01 00 -01 -01 01 01 -03 06 -06
co 2 15 -26 03 09 02 03 -01 08 -06 -01 -01 34 -32 -04 06 26 -42 -18 42
co 3 -03 -06 -01 05 00 02 07 -25 50 -22 00 -08 07 -04 05 -06 09 -14 10
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,55 0,50 0,50 0,94 0,55 0,10 0,07 0,92 0,37 0,44 0,54 0,95 0,84 0,67 0,96 0,88 0,89 0,26 0,92
Esque 2 0,45 0,50 0,50 0,06 0,45 0,90 0,93 0,08 0,63 0,56 0,46 0,05 0,16 0,33 0,04 0,12 0,11 0,74 0,08
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 -01 00 -30 -01 -17 -14 36 -07 -05 -01 -32 -51 -27 -04 06 39 -32 01
dpco 2 01 -01 00 -14 -03 40 24 07 -05 -04 01 10 21 01 05 07 03 -13 16
dpco 3 -01 -01 -01 21 01 24 34 23 -07 -02 00 -04 13 14 28 00 -48 22 -25
Lambdas Total x y z: -0,04 0,08 0,72 0,42

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:49,962 √J0m:50,001 √Mm:10,255 λ:-0,04 |dp|m:0,0706 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:49,106 √J0m:49,145 √Mm:10,076 λ:-0,04 |dp|m:0,0706 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:48,276 √J0m:48,314 √Mm:9,947 λ:-0,04 |dp|m:0,0706 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:47,473 √J0m:47,511 √Mm:9,870 λ:-0,04 |dp|m:0,0706 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:46,698 √J0m:46,737 √Mm:9,848 λ:-0,04 |dp|m:0,0706 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:45,954 √J0m:45,994 √Mm:9,880 λ:-0,04 |dp|m:0,0706 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:45,240 √J0m:45,282 √Mm:9,970 λ:-0,04 |dp|m:0,0706 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:44,560 √J0m:44,603 √Mm:10,116 λ:-0,04 |dp|m:0,0706 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:43,914 √J0m:43,959 √Mm:10,319 λ:-0,04 |dp|m:0,0706 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:43,304 √J0m:43,352 √Mm:10,577 λ:-0,04 |dp|m:0,0706 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:42,731 √J0m:42,783 √Mm:10,889 λ:-0,04 |dp|m:0,0706 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:42,197 √J0m:42,253 √Mm:11,253 λ:-0,04 |dp|m:0,0706 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:41,703 √J0m:41,764 √Mm:11,667 λ:-0,04 |dp|m:0,0706 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:41,251 √J0m:41,318 √Mm:12,128 λ:-0,04 |dp|m:0,0706 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:40,843 √J0m:40,916 √Mm:12,634 λ:-0,04 |dp|m:0,0706 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:40,478 √J0m:40,559 √Mm:13,182 λ:-0,04 |dp|m:0,0706 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:40,160 √J0m:40,248 √Mm:13,769 λ:-0,04 |dp|m:0,0706 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:39,888 √J0m:39,985 √Mm:14,393 λ:-0,04 |dp|m:0,0706 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:39,663 √J0m:39,770 √Mm:15,051 λ:-0,04 |dp|m:0,0706 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:39,487 √J0m:39,604 √Mm:15,741 λ:-0,04 |dp|m:0,0706 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:39,360 √J0m:39,488 √Mm:16,461 λ:-0,04 |dp|m:0,0706 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:39,282 √J0m:39,423 √Mm:17,208 λ:-0,04 |dp|m:0,0706 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:39,254 √J0m:39,408 √Mm:17,981 λ:-0,04 |dp|m:0,0706 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 00 00 03 00 02 02 -03 -02 02 00 04 06 03 00 -01 -04 03 00
co 2 -01 01 00 01 00 -05 -03 -01 01 01 00 -02 -01 00 -01 -02 01 02 -03
co 3 00 00 00 -03 00 -03 -04 -02 -01 01 00 01 -02 -01 -03 00 05 -02 02
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -04 -44 01 -23 -10 19 03 99 -01 -45 10 -12 -06 11 -06 -06 21 -20 00
co 2 33 07 04 -21 05 03 02 -32 19 -05 04 11 25 -71 28 19 57 -67 00
co 3 -06 -47 -01 -23 -35 27 31 98 -18 -22 02 -12 00 -10 15 -06 -25 28 01
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,55 0,50 0,50 0,94 0,55 0,10 0,07 0,92 0,37 0,44 0,54 0,95 0,84 0,67 0,96 0,88 0,89 0,26 0,92
Esque 2 0,45 0,50 0,50 0,06 0,45 0,90 0,93 0,08 0,63 0,56 0,46 0,05 0,16 0,33 0,04 0,12 0,11 0,74 0,08
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 01 06 00 04 01 -01 00 -13 -01 07 -01 03 04 00 01 00 -05 04 00
dpco 2 -04 00 -01 03 00 -03 -02 03 -02 01 -01 -03 -04 09 -04 -03 -06 09 -02
dpco 3 01 06 00 02 04 -05 -06 -13 02 03 00 02 -01 00 -04 01 06 -04 01
Lambdas Total x y z: 0,24 0,81 0,79 0,74

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:40,456 √J0m:39,436 √Mm:18,367 λ:0,24 |dp|m:0,0156 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:40,408 √J0m:39,432 √Mm:17,958 λ:0,24 |dp|m:0,0156 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:40,362 √J0m:39,430 √Mm:17,551 λ:0,24 |dp|m:0,0156 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:40,321 √J0m:39,430 √Mm:17,146 λ:0,24 |dp|m:0,0156 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:40,283 √J0m:39,433 √Mm:16,744 λ:0,24 |dp|m:0,0156 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:40,248 √J0m:39,438 √Mm:16,344 λ:0,24 |dp|m:0,0156 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:40,218 √J0m:39,446 √Mm:15,947 λ:0,24 |dp|m:0,0156 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:40,190 √J0m:39,457 √Mm:15,553 λ:0,24 |dp|m:0,0156 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:40,167 √J0m:39,469 √Mm:15,163 λ:0,24 |dp|m:0,0156 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:40,147 √J0m:39,484 √Mm:14,776 λ:0,24 |dp|m:0,0156 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:40,130 √J0m:39,502 √Mm:14,392 λ:0,24 |dp|m:0,0156 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:40,118 √J0m:39,522 √Mm:14,013 λ:0,24 |dp|m:0,0156 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:40,109 √J0m:39,545 √Mm:13,638 λ:0,24 |dp|m:0,0156 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:40,103 √J0m:39,570 √Mm:13,268 λ:0,24 |dp|m:0,0156 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:40,102 √J0m:39,597 √Mm:12,903 λ:0,24 |dp|m:0,0156 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -07 00 -03 -02 04 01 16 -01 -07 02 -01 01 03 -01 -01 02 -02 00
co 2 05 02 01 -03 01 -01 00 -06 03 -01 01 01 04 -12 04 03 10 -11 -01
co 3 -01 -08 00 -05 -06 04 04 16 -03 -03 00 -02 00 -02 02 -01 -03 04 01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -19 01 -22 -06 15 02 54 09 -26 00 -08 -04 06 -03 -01 13 -11 -01
co 2 22 03 05 -20 05 02 01 -17 10 -01 00 14 08 -39 13 20 27 -44 02
co 3 -04 -21 -01 -22 -25 16 30 54 -05 -15 00 -10 02 -03 07 -03 -14 16 03
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,55 0,50 0,50 0,94 0,55 0,10 0,07 0,92 0,37 0,44 0,54 0,95 0,84 0,67 0,96 0,88 0,89 0,26 0,92
Esque 2 0,45 0,50 0,50 0,06 0,45 0,90 0,93 0,08 0,63 0,56 0,46 0,05 0,16 0,33 0,04 0,12 0,11 0,74 0,08
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 02 00 05 01 -03 00 -08 -03 04 01 02 02 00 00 00 -03 02 00
dpco 2 -04 00 -01 05 -01 -01 -01 02 -01 00 00 -04 00 06 -02 -05 -03 08 -01
dpco 3 01 03 00 04 05 -03 -07 -08 00 03 00 02 -01 00 -01 00 03 -03 00
Lambdas Total x y z: 0,61 1,46 1,25 1,24

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:40,796 √J0m:39,649 √Mm:12,269 λ:0,61 |dp|m:0,0118 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:40,769 √J0m:39,673 √Mm:11,996 λ:0,61 |dp|m:0,0118 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:40,745 √J0m:39,698 √Mm:11,724 λ:0,61 |dp|m:0,0118 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:40,724 √J0m:39,725 √Mm:11,453 λ:0,61 |dp|m:0,0118 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:40,705 √J0m:39,753 √Mm:11,182 λ:0,61 |dp|m:0,0118 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:40,689 √J0m:39,782 √Mm:10,913 λ:0,61 |dp|m:0,0118 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:40,676 √J0m:39,813 √Mm:10,645 λ:0,61 |dp|m:0,0118 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:40,665 √J0m:39,845 √Mm:10,378 λ:0,61 |dp|m:0,0118 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:40,657 √J0m:39,879 √Mm:10,113 λ:0,61 |dp|m:0,0118 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:40,651 √J0m:39,914 √Mm:9,849 λ:0,61 |dp|m:0,0118 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:40,649 √J0m:39,950 √Mm:9,586 λ:0,61 |dp|m:0,0118 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:40,648 √J0m:39,988 √Mm:9,326 λ:0,61 |dp|m:0,0118 mm
Acabado Optimizado (izq). Cuadro 142 Distancia Esque. Antes y Despues Retoque:30,00 Distancias Despues con p y q: 51,00 68,00 mm


Comienzan Iteraciones para cuadro 143

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -01 -01 -60 -02 -29 -23 72 -08 -09 -02 -64 -99 -53 -08 09 78 -59 -02
co 2 00 -01 -01 -28 -06 78 50 13 -05 -12 04 20 39 00 11 13 11 -21 22
co 3 -01 -01 -01 37 03 51 65 43 -07 -02 02 -07 23 27 54 -06 -100 43 -67
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -06 01 02 06 02 00 -30 74 -62 21 01 00 -01 00 04 -03 10 -08
co 2 13 -26 04 06 04 00 02 09 -05 -10 07 30 -27 -01 04 26 -56 -07 40
co 3 -02 -02 -01 02 04 12 -05 -27 49 -27 05 -06 06 -02 03 -04 11 -15 09
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,52 0,50 0,50 0,94 0,55 0,12 0,09 0,92 0,44 0,44 0,56 0,95 0,83 0,67 0,98 0,89 0,89 0,28 0,98
Esque 2 0,48 0,50 0,50 0,06 0,45 0,88 0,91 0,08 0,56 0,56 0,44 0,05 0,17 0,33 0,02 0,11 0,11 0,72 0,02
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 -01 00 -30 -01 -14 -11 35 -02 -06 -01 -32 -49 -27 -04 05 39 -29 -01
dpco 2 00 -01 00 -14 -03 39 25 07 -03 -06 02 10 19 00 05 07 04 -11 12
dpco 3 -01 -01 -01 19 01 26 33 21 -02 -02 01 -04 11 13 27 -03 -50 21 -33
Lambdas Total x y z: -0,05 0,14 0,64 0,33

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:49,946 √J0m:49,999 √Mm:10,605 λ:-0,05 |dp|m:0,0696 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:49,115 √J0m:49,167 √Mm:10,401 λ:-0,05 |dp|m:0,0696 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:48,310 √J0m:48,361 √Mm:10,237 λ:-0,05 |dp|m:0,0696 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:47,531 √J0m:47,581 √Mm:10,115 λ:-0,05 |dp|m:0,0696 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:46,780 √J0m:46,831 √Mm:10,039 λ:-0,05 |dp|m:0,0696 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:46,059 √J0m:46,110 √Mm:10,012 λ:-0,05 |dp|m:0,0696 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:45,368 √J0m:45,420 √Mm:10,036 λ:-0,05 |dp|m:0,0696 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:44,709 √J0m:44,762 √Mm:10,115 λ:-0,05 |dp|m:0,0696 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:44,083 √J0m:44,139 √Mm:10,249 λ:-0,05 |dp|m:0,0696 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:43,493 √J0m:43,552 √Mm:10,439 λ:-0,05 |dp|m:0,0696 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:42,939 √J0m:43,001 √Mm:10,685 λ:-0,05 |dp|m:0,0696 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:42,422 √J0m:42,489 √Mm:10,987 λ:-0,05 |dp|m:0,0696 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:41,945 √J0m:42,017 √Mm:11,343 λ:-0,05 |dp|m:0,0696 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:41,507 √J0m:41,585 √Mm:11,750 λ:-0,05 |dp|m:0,0696 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:41,112 √J0m:41,197 √Mm:12,206 λ:-0,05 |dp|m:0,0696 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:40,759 √J0m:40,852 √Mm:12,709 λ:-0,05 |dp|m:0,0696 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:40,450 √J0m:40,552 √Mm:13,255 λ:-0,05 |dp|m:0,0696 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:40,186 √J0m:40,297 √Mm:13,842 λ:-0,05 |dp|m:0,0696 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:39,967 √J0m:40,090 √Mm:14,466 λ:-0,05 |dp|m:0,0696 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:39,795 √J0m:39,929 √Mm:15,126 λ:-0,05 |dp|m:0,0696 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:39,670 √J0m:39,817 √Mm:15,818 λ:-0,05 |dp|m:0,0696 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:39,592 √J0m:39,753 √Mm:16,539 λ:-0,05 |dp|m:0,0696 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:39,561 √J0m:39,738 √Mm:17,288 λ:-0,05 |dp|m:0,0696 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 00 00 03 00 02 01 -03 -03 04 -01 04 06 03 00 -01 -04 03 01
co 2 -01 01 00 01 00 -04 -03 -01 01 01 -01 -03 -01 00 -01 -02 02 02 -03
co 3 00 00 00 -02 00 -03 -03 -01 -02 01 00 01 -02 -01 -03 01 05 -02 03
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -03 -39 01 -29 -06 22 00 85 20 -84 37 -11 -05 10 -06 -07 17 -23 07
co 2 28 09 06 -27 08 06 00 -26 14 -16 15 10 24 -65 25 22 43 -49 -06
co 3 -05 -40 -02 -30 -30 45 13 84 -03 -35 09 -11 00 -08 14 -07 -20 35 -11
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,52 0,50 0,50 0,94 0,55 0,12 0,09 0,92 0,44 0,44 0,56 0,95 0,83 0,67 0,98 0,89 0,89 0,28 0,98
Esque 2 0,48 0,50 0,50 0,06 0,45 0,88 0,91 0,08 0,56 0,56 0,44 0,05 0,17 0,33 0,02 0,11 0,11 0,72 0,02
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 05 00 05 01 -02 01 -11 -04 11 -05 03 03 00 01 00 -04 04 -01
dpco 2 -03 00 -01 04 -01 -03 -01 02 -01 02 -02 -02 -03 07 -03 -04 -04 06 -01
dpco 3 01 05 00 02 03 -07 -03 -10 -01 05 -01 02 -01 00 -03 01 05 -05 03
Lambdas Total x y z: 0,23 0,59 0,97 0,76

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:40,654 √J0m:39,765 √Mm:17,667 λ:0,23 |dp|m:0,0148 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:40,611 √J0m:39,759 √Mm:17,273 λ:0,23 |dp|m:0,0148 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:40,570 √J0m:39,757 √Mm:16,881 λ:0,23 |dp|m:0,0148 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:40,532 √J0m:39,756 √Mm:16,490 λ:0,23 |dp|m:0,0148 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:40,498 √J0m:39,757 √Mm:16,101 λ:0,23 |dp|m:0,0148 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:40,467 √J0m:39,761 √Mm:15,714 λ:0,23 |dp|m:0,0148 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:40,439 √J0m:39,767 √Mm:15,329 λ:0,23 |dp|m:0,0148 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:40,414 √J0m:39,775 √Mm:14,946 λ:0,23 |dp|m:0,0148 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:40,392 √J0m:39,785 √Mm:14,566 λ:0,23 |dp|m:0,0148 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:40,373 √J0m:39,798 √Mm:14,188 λ:0,23 |dp|m:0,0148 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:40,358 √J0m:39,812 √Mm:13,814 λ:0,23 |dp|m:0,0148 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:40,346 √J0m:39,829 √Mm:13,442 λ:0,23 |dp|m:0,0148 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:40,337 √J0m:39,848 √Mm:13,074 λ:0,23 |dp|m:0,0148 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:40,331 √J0m:39,870 √Mm:12,709 λ:0,23 |dp|m:0,0148 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:40,329 √J0m:39,893 √Mm:12,348 λ:0,23 |dp|m:0,0148 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -06 00 -04 -01 04 00 13 02 -12 06 -01 01 03 -01 -01 02 -03 01
co 2 04 02 01 -04 01 00 -01 -05 02 -02 02 01 04 -10 04 03 08 -08 -02
co 3 -01 -06 00 -06 -05 06 01 13 -01 -05 01 -02 00 -02 01 -01 -02 05 -01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -20 01 -25 -02 17 00 52 12 -41 14 -08 -04 05 -03 -02 11 -14 04
co 2 19 04 06 -23 07 05 -01 -16 09 -07 06 12 09 -37 12 19 23 -33 -03
co 3 -03 -21 -02 -25 -21 26 18 51 -02 -18 03 -09 02 -02 06 -03 -12 21 -05
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,52 0,50 0,50 0,94 0,55 0,12 0,09 0,92 0,44 0,44 0,56 0,95 0,83 0,67 0,98 0,89 0,89 0,28 0,98
Esque 2 0,48 0,50 0,50 0,06 0,45 0,88 0,91 0,08 0,56 0,56 0,44 0,05 0,17 0,33 0,02 0,11 0,11 0,72 0,02
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 02 00 05 00 -03 00 -08 -02 05 -01 02 01 00 00 00 -02 02 00
dpco 2 -03 00 -01 04 -01 -02 00 02 -01 01 -01 -03 -01 05 -01 -04 -03 06 00
dpco 3 01 03 00 04 03 -04 -05 -08 00 03 00 02 -01 00 -01 00 03 -03 01
Lambdas Total x y z: 0,56 1,12 1,34 1,15

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:40,896 √J0m:39,938 √Mm:11,729 λ:0,56 |dp|m:0,0107 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:40,874 √J0m:39,958 √Mm:11,468 λ:0,56 |dp|m:0,0107 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:40,855 √J0m:39,980 √Mm:11,208 λ:0,56 |dp|m:0,0107 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:40,838 √J0m:40,003 √Mm:10,949 λ:0,56 |dp|m:0,0107 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:40,823 √J0m:40,027 √Mm:10,691 λ:0,56 |dp|m:0,0107 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:40,810 √J0m:40,052 √Mm:10,434 λ:0,56 |dp|m:0,0107 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:40,799 √J0m:40,078 √Mm:10,178 λ:0,56 |dp|m:0,0107 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:40,791 √J0m:40,105 √Mm:9,924 λ:0,56 |dp|m:0,0107 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:40,784 √J0m:40,134 √Mm:9,670 λ:0,56 |dp|m:0,0107 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:40,780 √J0m:40,163 √Mm:9,419 λ:0,56 |dp|m:0,0107 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:40,778 √J0m:40,194 √Mm:9,169 λ:0,56 |dp|m:0,0107 mm
Acabado Optimizado (izq). Cuadro 143 Distancia Esque. Antes y Despues Retoque:30,00 Distancias Despues con p y q: 50,00 68,00 mm


Comienzan Iteraciones para cuadro 144

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -01 -01 -60 -02 -25 -18 72 02 63 01 -59 -99 -43 -08 09 78 -59 -02
co 2 00 -01 -01 -28 -06 69 51 13 03 63 09 19 39 00 11 13 12 -21 27
co 3 -01 -01 -01 37 02 56 58 43 02 13 01 -10 26 23 54 -02 -106 45 -67
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -06 01 04 07 -02 00 -07 -09 06 14 -01 00 00 00 04 -03 09 -07
co 2 13 -24 03 08 05 00 -01 02 -02 -05 06 28 -27 01 01 24 -51 -04 35
co 3 -02 -03 -01 04 10 -11 10 -07 -03 09 01 -07 06 00 01 -03 11 -14 09
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,52 0,50 0,50 0,94 0,55 0,13 0,11 0,92 0,54 0,79 0,59 0,94 0,83 0,64 0,98 0,89 0,92 0,28 0,98
Esque 2 0,48 0,50 0,50 0,06 0,45 0,87 0,89 0,08 0,46 0,21 0,41 0,06 0,17 0,36 0,02 0,11 0,08 0,72 0,02
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 -01 00 -30 -01 -12 -09 36 01 32 01 -29 -50 -21 -04 05 39 -29 -01
dpco 2 01 -02 00 -13 -03 34 25 07 01 31 05 11 18 00 05 08 03 -11 15
dpco 3 -01 -01 -01 19 02 27 30 21 01 07 01 -06 13 12 27 -01 -52 22 -33
Lambdas Total x y z: -0,12 2,26 0,31 0,35

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:50,617 √J0m:50,688 √Mm:7,666 λ:-0,12 |dp|m:0,0720 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:49,736 √J0m:49,806 √Mm:7,583 λ:-0,12 |dp|m:0,0720 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:48,879 √J0m:48,951 √Mm:7,590 λ:-0,12 |dp|m:0,0720 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:48,048 √J0m:48,124 √Mm:7,688 λ:-0,12 |dp|m:0,0720 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:47,245 √J0m:47,326 √Mm:7,876 λ:-0,12 |dp|m:0,0720 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:46,471 √J0m:46,558 √Mm:8,151 λ:-0,12 |dp|m:0,0720 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:45,726 √J0m:45,823 √Mm:8,506 λ:-0,12 |dp|m:0,0720 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:45,014 √J0m:45,122 √Mm:8,936 λ:-0,12 |dp|m:0,0720 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:44,334 √J0m:44,457 √Mm:9,433 λ:-0,12 |dp|m:0,0720 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:43,689 √J0m:43,829 √Mm:9,991 λ:-0,12 |dp|m:0,0720 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:43,080 √J0m:43,239 √Mm:10,603 λ:-0,12 |dp|m:0,0720 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:42,508 √J0m:42,691 √Mm:11,263 λ:-0,12 |dp|m:0,0720 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:41,975 √J0m:42,184 √Mm:11,966 λ:-0,12 |dp|m:0,0720 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:41,482 √J0m:41,720 √Mm:12,707 λ:-0,12 |dp|m:0,0720 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:41,031 √J0m:41,302 √Mm:13,483 λ:-0,12 |dp|m:0,0720 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:40,623 √J0m:40,930 √Mm:14,291 λ:-0,12 |dp|m:0,0720 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:40,258 √J0m:40,605 √Mm:15,128 λ:-0,12 |dp|m:0,0720 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:39,939 √J0m:40,330 √Mm:15,990 λ:-0,12 |dp|m:0,0720 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:39,666 √J0m:40,104 √Mm:16,877 λ:-0,12 |dp|m:0,0720 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:39,440 √J0m:39,928 √Mm:17,786 λ:-0,12 |dp|m:0,0720 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:39,261 √J0m:39,805 √Mm:18,715 λ:-0,12 |dp|m:0,0720 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:39,131 √J0m:39,732 √Mm:19,664 λ:-0,12 |dp|m:0,0720 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:39,050 √J0m:39,712 √Mm:20,629 λ:-0,12 |dp|m:0,0720 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:39,018 √J0m:39,745 √Mm:21,612 λ:-0,12 |dp|m:0,0720 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 01 00 05 -01 03 02 -06 01 -07 -02 06 10 04 01 -01 -07 05 01
co 2 -02 03 00 02 00 -07 -05 -02 00 -06 -02 -06 00 00 -01 -05 06 03 -07
co 3 00 00 00 -04 -02 -04 -07 -03 00 -02 00 02 -03 -02 -06 01 09 -03 06
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -03 -42 01 -29 -03 19 00 109 -132 151 -66 -14 -07 09 -04 -03 21 -30 10
co 2 26 05 06 -26 08 05 00 -31 04 30 -17 12 20 -68 28 22 49 -56 -07
co 3 -05 -43 -02 -29 -27 37 17 108 -90 39 01 -13 02 -10 15 -04 -26 46 -17
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,52 0,50 0,50 0,94 0,55 0,13 0,11 0,92 0,54 0,79 0,59 0,94 0,83 0,64 0,98 0,89 0,92 0,28 0,98
Esque 2 0,48 0,50 0,50 0,06 0,45 0,87 0,89 0,08 0,46 0,21 0,41 0,06 0,17 0,36 0,02 0,11 0,08 0,72 0,02
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 04 00 05 00 00 01 -12 11 -15 04 04 06 01 01 00 -05 05 00
dpco 2 -03 01 -01 03 -01 -04 -02 02 00 -05 01 -04 -02 05 -03 -04 -01 06 -03
dpco 3 01 04 00 00 01 -05 -05 -10 07 -04 00 02 -02 00 -04 01 07 -05 04
Lambdas Total x y z: 0,16 0,29 1,27 0,64

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:40,755 √J0m:39,810 √Mm:22,114 λ:0,16 |dp|m:0,0168 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:40,699 √J0m:39,794 √Mm:21,621 λ:0,16 |dp|m:0,0168 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:40,646 √J0m:39,781 √Mm:21,128 λ:0,16 |dp|m:0,0168 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:40,596 √J0m:39,771 √Mm:20,638 λ:0,16 |dp|m:0,0168 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:40,551 √J0m:39,764 √Mm:20,150 λ:0,16 |dp|m:0,0168 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:40,509 √J0m:39,759 √Mm:19,663 λ:0,16 |dp|m:0,0168 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:40,471 √J0m:39,758 √Mm:19,179 λ:0,16 |dp|m:0,0168 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:40,437 √J0m:39,759 √Mm:18,696 λ:0,16 |dp|m:0,0168 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:40,407 √J0m:39,763 √Mm:18,217 λ:0,16 |dp|m:0,0168 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:40,381 √J0m:39,770 √Mm:17,740 λ:0,16 |dp|m:0,0168 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:40,359 √J0m:39,779 √Mm:17,266 λ:0,16 |dp|m:0,0168 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:40,340 √J0m:39,792 √Mm:16,795 λ:0,16 |dp|m:0,0168 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:40,326 √J0m:39,807 √Mm:16,328 λ:0,16 |dp|m:0,0168 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:40,315 √J0m:39,826 √Mm:15,864 λ:0,16 |dp|m:0,0168 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:40,308 √J0m:39,847 √Mm:15,405 λ:0,16 |dp|m:0,0168 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:40,305 √J0m:39,871 √Mm:14,949 λ:0,16 |dp|m:0,0168 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -05 00 -02 -01 03 00 11 -15 16 -08 00 02 02 00 -01 01 -02 01
co 2 03 01 01 -03 01 -01 -01 -04 00 02 -02 00 02 -08 03 01 07 -06 -03
co 3 00 -05 00 -04 -04 03 00 12 -10 04 00 -01 -01 -02 00 00 -01 05 -01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -22 01 -26 -02 16 00 59 -65 83 -37 -11 -05 06 -02 00 15 -20 06
co 2 18 06 04 -23 07 05 00 -16 00 17 -10 10 14 -47 17 16 36 -42 -05
co 3 -03 -24 -01 -25 -23 29 17 58 -43 23 -01 -10 02 -05 09 -01 -18 31 -09
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,52 0,50 0,50 0,94 0,55 0,13 0,11 0,92 0,54 0,79 0,59 0,94 0,83 0,64 0,98 0,89 0,92 0,28 0,98
Esque 2 0,48 0,50 0,50 0,06 0,45 0,87 0,89 0,08 0,46 0,21 0,41 0,06 0,17 0,36 0,02 0,11 0,08 0,72 0,02
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 02 00 04 00 -02 00 -07 06 -09 03 02 02 00 00 00 -03 03 00
dpco 2 -02 -01 -01 04 -01 -02 -01 01 00 -02 01 -02 -02 06 -02 -03 -04 06 00
dpco 3 00 02 00 03 03 -04 -03 -06 04 -03 00 02 -01 00 -02 00 03 -04 02
Lambdas Total x y z: 0,41 0,65 1,23 1,00

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 144 Distancia Esque. Antes y Despues Retoque:32,00 Distancias Despues con p y q: 48,00 73,00 mm


Comienzan Iteraciones para cuadro 145

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -01 -01 -55 -02 -20 -26 65 -01 50 -03 -63 -97 -48 01 09 74 -55 -06
co 2 01 -01 -01 -27 -06 64 64 13 -01 64 06 23 39 00 15 13 15 -21 27
co 3 -02 -01 -01 37 02 49 26 41 -01 -15 -02 -11 26 28 60 -06 -108 45 -69
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -06 02 07 08 -04 01 -03 -36 27 13 -01 -01 00 00 02 -03 08 -07
co 2 15 -33 08 10 07 -04 00 02 -01 -07 09 22 -23 04 -01 31 -55 -07 36
co 3 -03 00 -02 07 18 -15 04 -03 -23 27 -03 -06 05 01 -01 -06 11 -12 08
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,53 0,00 0,50 0,93 0,55 0,15 0,09 0,90 0,50 0,77 0,54 0,94 0,83 0,67 0,99 0,89 0,90 0,29 0,99
Esque 2 0,47 1,00 0,50 0,07 0,45 0,85 0,91 0,10 0,50 0,23 0,46 0,06 0,17 0,33 0,01 0,11 0,10 0,71 0,01
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 00 -01 -28 -01 -10 -13 33 00 25 -01 -32 -48 -24 00 05 37 -27 -03
dpco 2 00 00 -01 -14 -03 32 32 06 -01 32 03 11 19 00 08 06 07 -10 14
dpco 3 -01 -01 00 18 01 25 13 20 -01 -07 -01 -05 13 14 30 -03 -54 22 -35
Lambdas Total x y z: 0,01 1,45 0,34 0,23

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:50,561 √J0m:50,557 √Mm:9,035 λ:0,01 |dp|m:0,0706 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:49,716 √J0m:49,712 √Mm:8,905 λ:0,01 |dp|m:0,0706 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:48,897 √J0m:48,893 √Mm:8,847 λ:0,01 |dp|m:0,0706 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:48,105 √J0m:48,101 √Mm:8,863 λ:0,01 |dp|m:0,0706 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:47,343 √J0m:47,338 √Mm:8,956 λ:0,01 |dp|m:0,0706 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:46,611 √J0m:46,606 √Mm:9,125 λ:0,01 |dp|m:0,0706 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:45,910 √J0m:45,905 √Mm:9,369 λ:0,01 |dp|m:0,0706 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:45,243 √J0m:45,238 √Mm:9,685 λ:0,01 |dp|m:0,0706 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:44,611 √J0m:44,605 √Mm:10,069 λ:0,01 |dp|m:0,0706 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:44,014 √J0m:44,008 √Mm:10,516 λ:0,01 |dp|m:0,0706 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:43,456 √J0m:43,449 √Mm:11,023 λ:0,01 |dp|m:0,0706 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:42,937 √J0m:42,929 √Mm:11,583 λ:0,01 |dp|m:0,0706 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:42,458 √J0m:42,450 √Mm:12,192 λ:0,01 |dp|m:0,0706 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:42,022 √J0m:42,012 √Mm:12,846 λ:0,01 |dp|m:0,0706 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:41,629 √J0m:41,618 √Mm:13,542 λ:0,01 |dp|m:0,0706 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:41,281 √J0m:41,268 √Mm:14,274 λ:0,01 |dp|m:0,0706 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:40,978 √J0m:40,964 √Mm:15,041 λ:0,01 |dp|m:0,0706 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:40,723 √J0m:40,707 √Mm:15,838 λ:0,01 |dp|m:0,0706 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:40,514 √J0m:40,497 √Mm:16,665 λ:0,01 |dp|m:0,0706 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:40,355 √J0m:40,336 √Mm:17,517 λ:0,01 |dp|m:0,0706 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:40,244 √J0m:40,223 √Mm:18,394 λ:0,01 |dp|m:0,0706 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:40,183 √J0m:40,160 √Mm:19,294 λ:0,01 |dp|m:0,0706 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:40,172 √J0m:40,146 √Mm:20,214 λ:0,01 |dp|m:0,0706 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 00 00 03 00 01 01 -04 00 -03 00 04 05 03 00 -01 -04 03 00
co 2 00 00 00 02 00 -04 -04 -01 00 -04 00 -01 -02 00 -01 -01 -01 01 -01
co 3 00 00 00 -02 00 -03 -01 -02 00 01 00 01 -01 -02 -03 00 06 -03 04
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -03 -38 02 -22 -02 19 -04 103 -129 136 -56 -11 -05 11 -07 -08 19 -25 07
co 2 28 04 08 -20 03 05 02 -32 06 41 -28 07 28 -65 24 18 59 -59 -06
co 3 -05 -36 -02 -22 -22 64 -21 100 -93 31 10 -11 00 -08 13 -08 -25 41 -13
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,53 0,00 0,50 0,93 0,55 0,15 0,09 0,90 0,50 0,77 0,54 0,94 0,83 0,67 0,99 0,89 0,90 0,29 0,99
Esque 2 0,47 1,00 0,50 0,07 0,45 0,85 0,91 0,10 0,50 0,23 0,46 0,06 0,17 0,33 0,01 0,11 0,10 0,71 0,01
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 03 00 03 00 -01 01 -10 10 -12 05 03 03 00 01 00 -04 04 00
dpco 2 -02 00 -01 02 00 -02 -02 02 00 -05 02 -01 -03 05 -02 -02 -05 05 00
dpco 3 00 03 00 01 02 -06 01 -09 07 -02 -01 01 -01 00 -03 01 05 -05 03
Lambdas Total x y z: 0,16 0,32 0,99 0,58

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:41,006 √J0m:40,175 √Mm:20,690 λ:0,16 |dp|m:0,0143 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:40,965 √J0m:40,171 √Mm:20,227 λ:0,16 |dp|m:0,0143 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:40,927 √J0m:40,168 √Mm:19,766 λ:0,16 |dp|m:0,0143 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:40,892 √J0m:40,167 √Mm:19,305 λ:0,16 |dp|m:0,0143 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:40,859 √J0m:40,169 √Mm:18,846 λ:0,16 |dp|m:0,0143 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:40,830 √J0m:40,172 √Mm:18,389 λ:0,16 |dp|m:0,0143 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:40,803 √J0m:40,178 √Mm:17,932 λ:0,16 |dp|m:0,0143 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:40,780 √J0m:40,186 √Mm:17,477 λ:0,16 |dp|m:0,0143 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:40,759 √J0m:40,195 √Mm:17,024 λ:0,16 |dp|m:0,0143 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:40,741 √J0m:40,207 √Mm:16,573 λ:0,16 |dp|m:0,0143 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:40,727 √J0m:40,221 √Mm:16,124 λ:0,16 |dp|m:0,0143 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:40,715 √J0m:40,237 √Mm:15,676 λ:0,16 |dp|m:0,0143 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:40,706 √J0m:40,254 √Mm:15,231 λ:0,16 |dp|m:0,0143 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:40,700 √J0m:40,274 √Mm:14,789 λ:0,16 |dp|m:0,0143 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:40,697 √J0m:40,296 √Mm:14,349 λ:0,16 |dp|m:0,0143 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:40,696 √J0m:40,320 √Mm:13,913 λ:0,16 |dp|m:0,0143 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -04 00 -02 00 02 00 11 -15 15 -07 00 01 02 -01 -01 01 -02 01
co 2 03 00 01 -02 00 00 -01 -04 01 04 -03 01 03 -08 03 02 07 -07 -01
co 3 -01 -04 00 -03 -03 07 -03 11 -11 04 01 -01 00 -01 01 -01 -01 04 -01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -21 02 -19 01 12 -02 58 -71 82 -33 -08 -04 07 -04 -05 13 -16 04
co 2 22 -01 08 -18 04 04 01 -17 02 24 -16 12 13 -43 14 20 34 -42 -04
co 3 -04 -19 -02 -19 -13 41 -10 56 -50 20 05 -10 02 -04 08 -06 -16 26 -06
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,53 0,00 0,50 0,93 0,55 0,15 0,09 0,90 0,50 0,77 0,54 0,94 0,83 0,67 0,99 0,89 0,90 0,29 0,99
Esque 2 0,47 1,00 0,50 0,07 0,45 0,85 0,91 0,10 0,50 0,23 0,46 0,06 0,17 0,33 0,01 0,11 0,10 0,71 0,01
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 02 00 03 00 -01 00 -06 06 -08 03 01 01 00 00 00 -02 02 00
dpco 2 -03 00 -01 02 -01 -01 -01 01 00 -03 01 -02 -01 05 -02 -03 -03 05 00
dpco 3 00 02 00 02 01 -05 00 -05 04 -02 00 01 -01 00 -01 01 02 -03 01
Lambdas Total x y z: 0,39 0,60 1,11 0,91

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 145 Distancia Esque. Antes y Despues Retoque:31,00 Distancias Despues con p y q: 47,00 73,00 mm


Comienzan Iteraciones para cuadro 146

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -01 -01 -56 -02 -20 -01 62 -06 20 14 -59 -106 -45 05 09 76 -29 59
co 2 -02 -01 -01 -28 -06 61 30 15 -05 46 -11 19 44 -02 11 13 15 -01 -15
co 3 -01 -01 -01 38 02 55 23 35 -10 -17 -04 -07 33 26 56 -06 -111 34 -129
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -08 01 16 -06 03 -02 00 36 -88 56 01 00 -01 00 03 01 -18 17
co 2 15 -31 07 17 -06 09 -07 00 -03 -19 22 28 -30 04 03 31 -09 -02 -15
co 3 -03 -03 -02 16 -09 -09 16 00 26 -25 01 -05 06 -02 02 -06 04 16 -13
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,49 0,50 0,50 0,94 0,55 0,15 0,33 0,88 0,40 0,71 0,36 0,94 0,87 0,66 0,99 0,89 0,91 0,34 0,96
Esque 2 0,51 0,50 0,50 0,06 0,45 0,85 0,67 0,12 0,60 0,29 0,64 0,06 0,13 0,34 0,01 0,11 0,09 0,66 0,04
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 00 -01 -30 00 -10 00 31 -07 21 00 -30 -53 -22 03 04 38 -12 27
dpco 2 -03 03 -01 -16 -02 30 16 08 -02 25 -08 06 26 -01 05 03 09 00 -06
dpco 3 00 00 00 17 02 29 10 18 -08 -06 -02 -03 16 13 28 -02 -56 15 -63
Lambdas Total x y z: 0,24 0,31 0,55 2,82

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:50,743 √J0m:50,478 √Mm:10,516 λ:0,24 |dp|m:0,0734 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:49,843 √J0m:49,576 √Mm:10,452 λ:0,24 |dp|m:0,0734 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:48,976 √J0m:48,701 √Mm:10,521 λ:0,24 |dp|m:0,0734 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:48,146 √J0m:47,855 √Mm:10,723 λ:0,24 |dp|m:0,0734 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:47,354 √J0m:47,040 √Mm:11,053 λ:0,24 |dp|m:0,0734 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:46,603 √J0m:46,257 √Mm:11,501 λ:0,24 |dp|m:0,0734 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:45,894 √J0m:45,508 √Mm:12,056 λ:0,24 |dp|m:0,0734 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:45,230 √J0m:44,794 √Mm:12,706 λ:0,24 |dp|m:0,0734 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:44,612 √J0m:44,118 √Mm:13,437 λ:0,24 |dp|m:0,0734 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:44,043 √J0m:43,480 √Mm:14,240 λ:0,24 |dp|m:0,0734 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:43,525 √J0m:42,884 √Mm:15,103 λ:0,24 |dp|m:0,0734 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:43,060 √J0m:42,330 √Mm:16,017 λ:0,24 |dp|m:0,0734 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:42,649 √J0m:41,820 √Mm:16,976 λ:0,24 |dp|m:0,0734 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:42,294 √J0m:41,355 √Mm:17,972 λ:0,24 |dp|m:0,0734 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:41,997 √J0m:40,939 √Mm:19,001 λ:0,24 |dp|m:0,0734 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:41,758 √J0m:40,571 √Mm:20,058 λ:0,24 |dp|m:0,0734 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:41,580 √J0m:40,253 √Mm:21,139 λ:0,24 |dp|m:0,0734 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:41,462 √J0m:39,986 √Mm:22,241 λ:0,24 |dp|m:0,0734 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:41,406 √J0m:39,772 √Mm:23,363 λ:0,24 |dp|m:0,0734 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -02 00 -03 -02 -02 00 07 07 -16 14 -07 -13 -06 01 02 09 -07 11
co 2 03 -07 01 00 -02 09 02 02 -01 01 03 08 -01 01 02 08 00 -01 -05
co 3 -01 -01 -01 08 -02 05 06 04 04 -07 00 -02 05 03 07 -02 -12 08 -18
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -23 00 -22 -10 17 02 95 -54 -05 08 -08 -05 09 -05 -04 19 -111 94
co 2 12 26 00 -21 -07 12 02 -23 11 -01 02 -06 44 -65 23 09 71 -10 -61
co 3 -02 -28 00 -19 -42 67 -09 92 -52 00 00 -05 -04 -07 12 -04 -23 138 -113
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,49 0,50 0,50 0,94 0,55 0,15 0,33 0,88 0,40 0,71 0,36 0,94 0,87 0,66 0,99 0,89 0,91 0,34 0,96
Esque 2 0,51 0,50 0,50 0,06 0,45 0,85 0,67 0,12 0,60 0,29 0,64 0,06 0,13 0,34 0,01 0,11 0,09 0,66 0,04
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 02 00 02 01 -03 -01 -10 11 -07 06 -02 -06 -04 01 01 02 13 -08
dpco 2 00 -07 01 03 00 03 01 04 -02 01 01 05 -07 10 -02 03 -10 01 06
dpco 3 00 04 00 07 05 -07 04 -11 10 -04 00 00 03 02 02 00 -03 -17 07
Lambdas Total x y z: 0,29 0,75 1,36 0,54

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:41,682 √J0m:39,609 √Mm:23,966 λ:0,29 |dp|m:0,0211 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:41,596 √J0m:39,611 √Mm:23,439 λ:0,29 |dp|m:0,0211 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:41,517 √J0m:39,618 √Mm:22,919 λ:0,29 |dp|m:0,0211 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:41,446 √J0m:39,629 √Mm:22,408 λ:0,29 |dp|m:0,0211 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:41,382 √J0m:39,645 √Mm:21,906 λ:0,29 |dp|m:0,0211 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:41,326 √J0m:39,665 √Mm:21,413 λ:0,29 |dp|m:0,0211 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:41,277 √J0m:39,689 √Mm:20,930 λ:0,29 |dp|m:0,0211 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:41,236 √J0m:39,719 √Mm:20,458 λ:0,29 |dp|m:0,0211 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:41,202 √J0m:39,752 √Mm:19,998 λ:0,29 |dp|m:0,0211 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:41,175 √J0m:39,790 √Mm:19,550 λ:0,29 |dp|m:0,0211 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:41,157 √J0m:39,833 √Mm:19,115 λ:0,29 |dp|m:0,0211 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:41,145 √J0m:39,880 √Mm:18,694 λ:0,29 |dp|m:0,0211 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:41,142 √J0m:39,931 √Mm:18,289 λ:0,29 |dp|m:0,0211 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -05 00 -05 -03 02 00 20 -07 -07 07 -04 -06 00 -01 00 07 -23 21
co 2 03 02 01 -04 -02 06 01 -03 02 00 02 02 08 -11 05 05 13 -02 -13
co 3 -01 -05 00 00 -08 14 01 18 -08 -03 00 -02 01 00 05 -02 -09 28 -27
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -11 02 -14 -08 15 -01 49 -03 -45 24 -04 -04 05 -02 -04 13 -82 70
co 2 21 -06 09 -13 -04 10 00 -11 08 -06 05 13 09 -32 10 23 36 -02 -49
co 3 -04 -08 -03 -13 -31 40 04 47 -11 -16 01 -07 02 -02 05 -06 -14 102 -85
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,49 0,50 0,50 0,94 0,55 0,15 0,33 0,88 0,40 0,71 0,36 0,94 0,87 0,66 0,99 0,89 0,91 0,34 0,96
Esque 2 0,51 0,50 0,50 0,06 0,45 0,85 0,67 0,12 0,60 0,29 0,64 0,06 0,13 0,34 0,01 0,11 0,09 0,66 0,04
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 01 00 01 01 -03 00 -04 -03 09 -03 -01 -02 -02 00 01 00 12 -09
dpco 2 -04 03 -02 02 00 00 01 02 -01 02 -01 -03 01 03 00 -04 -04 00 08
dpco 3 01 00 01 03 05 -04 -01 -04 -01 03 00 01 00 00 01 01 -01 -15 10
Lambdas Total x y z: 0,57 1,02 2,19 0,86

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 146 Distancia Esque. Antes y Despues Retoque:29,00 Distancias Despues con p y q: 41,00 74,00 mm


Comienzan Iteraciones para cuadro 147

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -01 -01 -59 -03 -21 -24 62 -08 03 03 -64 -110 -38 -112 06 72 -53 -06
co 2 -02 -01 -01 -31 -06 67 40 13 -04 -05 -07 20 41 -04 02 13 11 -15 10
co 3 -01 -01 -01 37 00 61 60 37 -08 -07 -04 -11 36 20 130 -09 -111 48 -73
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -05 01 11 -06 00 02 -18 -09 77 -47 00 00 28 -27 05 -03 09 -08
co 2 00 -16 05 12 -06 03 01 03 -06 11 -07 20 -28 40 -29 22 -41 -09 30
co 3 00 -02 -01 11 -13 02 12 -16 04 28 -17 -05 05 01 -02 -01 08 -09 06
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,48 0,50 0,50 0,93 0,57 0,14 0,08 0,90 0,44 0,41 0,42 0,95 0,87 0,63 0,99 0,89 0,91 0,28 0,99
Esque 2 0,52 0,50 0,50 0,07 0,43 0,86 0,92 0,10 0,56 0,59 0,58 0,05 0,13 0,37 0,01 0,11 0,09 0,72 0,01
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 00 -01 -30 -01 -11 -12 32 -03 -02 04 -32 -55 -20 -55 03 36 -27 -03
dpco 2 -01 00 -01 -16 -03 33 20 06 -02 -03 -03 09 22 -04 03 05 08 -07 04
dpco 3 00 00 00 18 00 30 29 19 -04 -05 -01 -05 18 10 65 -04 -56 25 -37
Lambdas Total x y z: 0,10 0,41 0,45 1,51

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:50,212 √J0m:50,110 √Mm:10,256 λ:0,10 |dp|m:0,0802 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:49,114 √J0m:49,012 √Mm:10,104 λ:0,10 |dp|m:0,0802 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:48,045 √J0m:47,943 √Mm:10,020 λ:0,10 |dp|m:0,0802 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:47,009 √J0m:46,905 √Mm:10,010 λ:0,10 |dp|m:0,0802 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:46,006 √J0m:45,899 √Mm:10,078 λ:0,10 |dp|m:0,0802 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:45,041 √J0m:44,927 √Mm:10,225 λ:0,10 |dp|m:0,0802 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:44,114 √J0m:43,993 √Mm:10,453 λ:0,10 |dp|m:0,0802 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:43,230 √J0m:43,099 √Mm:10,760 λ:0,10 |dp|m:0,0802 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:42,389 √J0m:42,246 √Mm:11,145 λ:0,10 |dp|m:0,0802 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:41,596 √J0m:41,438 √Mm:11,602 λ:0,10 |dp|m:0,0802 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:40,854 √J0m:40,678 √Mm:12,127 λ:0,10 |dp|m:0,0802 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:40,164 √J0m:39,967 √Mm:12,715 λ:0,10 |dp|m:0,0802 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:39,530 √J0m:39,309 √Mm:13,361 λ:0,10 |dp|m:0,0802 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:38,955 √J0m:38,706 √Mm:14,061 λ:0,10 |dp|m:0,0802 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:38,441 √J0m:38,162 √Mm:14,808 λ:0,10 |dp|m:0,0802 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:37,991 √J0m:37,677 √Mm:15,599 λ:0,10 |dp|m:0,0802 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:37,608 √J0m:37,256 √Mm:16,430 λ:0,10 |dp|m:0,0802 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:37,293 √J0m:36,900 √Mm:17,297 λ:0,10 |dp|m:0,0802 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:37,049 √J0m:36,610 √Mm:18,197 λ:0,10 |dp|m:0,0802 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:36,877 √J0m:36,389 √Mm:19,128 λ:0,10 |dp|m:0,0802 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:36,778 √J0m:36,238 √Mm:20,086 λ:0,10 |dp|m:0,0802 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:36,752 √J0m:36,158 √Mm:21,070 λ:0,10 |dp|m:0,0802 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 00 00 02 -01 00 01 -03 -01 08 -05 01 01 03 -01 00 -01 01 -01
co 2 00 -02 01 02 00 -01 00 00 -01 01 -01 02 -03 04 -03 02 -04 -01 03
co 3 00 00 00 01 -01 -01 00 -02 00 03 -02 00 00 00 -02 00 02 -01 02
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -27 00 -29 -15 26 01 91 -72 66 -34 -13 -07 90 -82 -07 19 -33 15
co 2 07 32 03 -29 -02 11 01 -22 04 09 -04 -05 41 08 -53 11 66 -45 -19
co 3 -01 -33 -01 -24 -58 72 05 87 -52 25 -13 -08 -03 -35 41 -07 -26 56 -28
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,48 0,50 0,50 0,93 0,57 0,14 0,08 0,90 0,44 0,41 0,42 0,95 0,87 0,63 0,99 0,89 0,91 0,28 0,99
Esque 2 0,52 0,50 0,50 0,07 0,43 0,86 0,92 0,10 0,56 0,59 0,58 0,05 0,13 0,37 0,01 0,11 0,09 0,72 0,01
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 03 00 04 02 -03 00 -12 08 -04 02 02 01 -09 09 01 -03 05 -02
dpco 2 -01 -05 00 04 00 -02 00 03 -01 00 00 01 -07 01 05 00 -10 05 04
dpco 3 00 04 00 03 06 -09 00 -11 06 -02 01 01 00 04 -06 01 04 -07 04
Lambdas Total x y z: 0,24 0,53 1,37 0,66

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:37,665 √J0m:36,147 √Mm:21,595 λ:0,24 |dp|m:0,0172 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:37,602 √J0m:36,149 √Mm:21,116 λ:0,24 |dp|m:0,0172 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:37,544 √J0m:36,155 √Mm:20,641 λ:0,24 |dp|m:0,0172 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:37,490 √J0m:36,163 √Mm:20,170 λ:0,24 |dp|m:0,0172 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:37,442 √J0m:36,175 √Mm:19,703 λ:0,24 |dp|m:0,0172 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:37,399 √J0m:36,190 √Mm:19,241 λ:0,24 |dp|m:0,0172 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:37,361 √J0m:36,209 √Mm:18,783 λ:0,24 |dp|m:0,0172 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:37,328 √J0m:36,230 √Mm:18,331 λ:0,24 |dp|m:0,0172 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:37,300 √J0m:36,255 √Mm:17,884 λ:0,24 |dp|m:0,0172 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:37,277 √J0m:36,283 √Mm:17,443 λ:0,24 |dp|m:0,0172 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:37,259 √J0m:36,314 √Mm:17,008 λ:0,24 |dp|m:0,0172 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:37,246 √J0m:36,349 √Mm:16,580 λ:0,24 |dp|m:0,0172 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:37,239 √J0m:36,387 √Mm:16,159 λ:0,24 |dp|m:0,0172 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:37,236 √J0m:36,428 √Mm:15,747 λ:0,24 |dp|m:0,0172 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -04 00 -04 -03 04 00 14 -12 13 -07 -02 -01 15 -13 -01 03 -05 02
co 2 01 04 01 -04 00 02 00 -03 00 02 -01 00 05 03 -09 02 09 -07 -02
co 3 00 -05 00 -04 -10 11 01 13 -08 05 -03 -01 00 -06 06 -01 -03 08 -04
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -12 02 -22 -09 16 03 44 -28 41 -26 -08 -05 66 -60 -04 12 -20 09
co 2 11 07 09 -22 01 04 05 -10 01 05 -03 09 20 09 -42 20 30 -28 -13
co 3 -02 -13 -03 -19 -40 41 16 42 -20 15 -10 -08 01 -25 30 -05 -15 35 -17
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,48 0,50 0,50 0,93 0,57 0,14 0,08 0,90 0,44 0,41 0,42 0,95 0,87 0,63 0,99 0,89 0,91 0,28 0,99
Esque 2 0,52 0,50 0,50 0,07 0,43 0,86 0,92 0,10 0,56 0,59 0,58 0,05 0,13 0,37 0,01 0,11 0,09 0,72 0,01
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 01 00 04 01 -02 -01 -06 02 -05 04 01 01 -11 10 01 -02 03 -02
dpco 2 -03 00 -02 04 00 00 -01 01 00 -01 01 -03 -03 -01 07 -05 -04 04 03
dpco 3 00 01 01 04 06 -06 -04 -05 02 -02 01 02 00 04 -05 01 02 -06 03
Lambdas Total x y z: 0,56 0,89 1,92 1,20

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 147 Distancia Esque. Antes y Despues Retoque:35,00 Distancias Despues con p y q: 46,00 76,00 mm


Comienzan Iteraciones para cuadro 148

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -01 -01 -59 -01 -25 -14 55 -08 -04 03 -59 -120 -63 -95 13 73 -26 57
co 2 -02 -01 -01 -31 -02 65 33 05 -04 04 -10 15 43 -06 -15 10 12 00 -16
co 3 00 -01 -01 40 -01 65 48 32 -08 02 -03 -10 44 39 147 -06 -113 31 -136
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -08 01 06 03 -02 02 -12 -15 76 -44 -02 00 18 -17 02 03 -22 20
co 2 12 -26 07 09 02 00 01 02 -08 18 -12 18 -25 26 -18 21 07 -09 -16
co 3 -02 -03 -02 06 03 -14 19 -10 01 29 -17 -06 05 01 -02 -04 02 18 -14
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,48 0,00 0,50 0,93 0,51 0,13 0,20 0,88 0,44 0,55 0,42 0,93 0,92 0,74 0,99 0,91 0,92 0,36 0,98
Esque 2 0,52 1,00 0,50 0,07 0,49 0,87 0,80 0,12 0,56 0,45 0,58 0,07 0,08 0,26 0,01 0,09 0,08 0,64 0,02
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 01 -01 -31 -01 -12 -08 30 -01 -19 11 -29 -60 -35 -44 06 36 -08 24
dpco 2 -04 05 -02 -17 -01 33 17 02 -01 -02 -02 04 27 -09 -04 00 04 02 -04
dpco 3 00 00 00 19 -01 36 20 18 -04 -05 02 -04 21 19 74 -02 -57 12 -65
Lambdas Total x y z: 0,43 0,53 0,83 2,58

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:51,905 √J0m:51,503 √Mm:9,794 λ:0,43 |dp|m:0,0866 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:50,680 √J0m:50,271 √Mm:9,768 λ:0,43 |dp|m:0,0866 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:49,499 √J0m:49,070 √Mm:9,881 λ:0,43 |dp|m:0,0866 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:48,362 √J0m:47,901 √Mm:10,130 λ:0,43 |dp|m:0,0866 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:47,275 √J0m:46,766 √Mm:10,509 λ:0,43 |dp|m:0,0866 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:46,240 √J0m:45,670 √Mm:11,005 λ:0,43 |dp|m:0,0866 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:45,262 √J0m:44,613 √Mm:11,605 λ:0,43 |dp|m:0,0866 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:44,344 √J0m:43,600 √Mm:12,295 λ:0,43 |dp|m:0,0866 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:43,490 √J0m:42,633 √Mm:13,062 λ:0,43 |dp|m:0,0866 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:42,705 √J0m:41,715 √Mm:13,896 λ:0,43 |dp|m:0,0866 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:41,993 √J0m:40,851 √Mm:14,785 λ:0,43 |dp|m:0,0866 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:41,356 √J0m:40,042 √Mm:15,722 λ:0,43 |dp|m:0,0866 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:40,800 √J0m:39,293 √Mm:16,699 λ:0,43 |dp|m:0,0866 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:40,328 √J0m:38,608 √Mm:17,711 λ:0,43 |dp|m:0,0866 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:39,942 √J0m:37,989 √Mm:18,752 λ:0,43 |dp|m:0,0866 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:39,645 √J0m:37,439 √Mm:19,820 λ:0,43 |dp|m:0,0866 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:39,441 √J0m:36,963 √Mm:20,910 λ:0,43 |dp|m:0,0866 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:39,329 √J0m:36,563 √Mm:22,021 λ:0,43 |dp|m:0,0866 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:39,311 √J0m:36,241 √Mm:23,149 λ:0,43 |dp|m:0,0866 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -03 00 -05 01 -04 -01 02 -07 29 -16 -08 -14 -01 -18 02 10 -12 15
co 2 04 -10 02 00 01 08 04 01 -04 07 -06 09 -04 09 -09 09 04 -03 -08
co 3 -01 -01 -01 07 01 02 13 00 -01 11 -07 -03 07 05 17 -02 -13 11 -22
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -19 -01 -34 -09 26 -01 76 -37 02 03 -13 -04 36 -31 -02 16 -105 91
co 2 04 45 -05 -33 -02 19 -03 -20 06 00 01 -19 65 -27 -28 01 69 -04 -58
co 3 00 -31 02 -29 -44 79 -12 73 -32 00 01 -05 -07 -12 19 -02 -20 131 -110
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,48 0,00 0,50 0,93 0,51 0,13 0,20 0,88 0,44 0,55 0,42 0,93 0,92 0,74 0,99 0,91 0,92 0,36 0,98
Esque 2 0,52 1,00 0,50 0,07 0,49 0,87 0,80 0,12 0,56 0,45 0,58 0,07 0,08 0,26 0,01 0,09 0,08 0,64 0,02
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 02 00 03 02 -06 00 -11 03 14 -09 -02 -07 -06 -04 02 02 11 -08
dpco 2 02 -12 02 05 01 01 03 04 -03 04 -03 08 -13 09 00 04 -09 -01 05
dpco 3 00 04 -01 08 08 -12 08 -12 05 06 -04 -01 05 05 05 -01 -03 -16 07
Lambdas Total x y z: 0,33 0,87 1,29 0,59

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:38,450 √J0m:35,974 √Mm:23,765 λ:0,33 |dp|m:0,0241 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:38,329 √J0m:35,955 √Mm:23,249 λ:0,33 |dp|m:0,0241 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:38,218 √J0m:35,942 √Mm:22,745 λ:0,33 |dp|m:0,0241 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:38,118 √J0m:35,935 √Mm:22,255 λ:0,33 |dp|m:0,0241 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:38,028 √J0m:35,935 √Mm:21,778 λ:0,33 |dp|m:0,0241 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:37,948 √J0m:35,942 √Mm:21,317 λ:0,33 |dp|m:0,0241 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:37,880 √J0m:35,955 √Mm:20,871 λ:0,33 |dp|m:0,0241 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:37,822 √J0m:35,974 √Mm:20,442 λ:0,33 |dp|m:0,0241 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:37,775 √J0m:36,000 √Mm:20,031 λ:0,33 |dp|m:0,0241 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:37,738 √J0m:36,032 √Mm:19,639 λ:0,33 |dp|m:0,0241 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:37,713 √J0m:36,071 √Mm:19,268 λ:0,33 |dp|m:0,0241 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:37,698 √J0m:36,116 √Mm:18,917 λ:0,33 |dp|m:0,0241 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:37,694 √J0m:36,168 √Mm:18,589 λ:0,33 |dp|m:0,0241 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -05 00 -09 -01 04 00 16 -10 11 -06 -06 -06 07 -13 01 07 -25 24
co 2 02 05 00 -07 00 07 01 -03 00 03 -02 -01 11 -02 -09 04 15 -02 -15
co 3 00 -07 00 -03 -09 17 03 15 -07 04 -02 -02 01 -01 10 -01 -09 30 -30
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -11 02 -21 -03 16 00 36 -29 44 -26 -07 -04 36 -33 -02 12 -78 68
co 2 23 -10 12 -19 02 06 03 -09 -01 09 -05 12 13 04 -33 17 38 -01 -47
co 3 -04 -08 -03 -20 -24 32 12 35 -19 16 -09 -10 02 -17 21 -04 -12 98 -82
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,48 0,00 0,50 0,93 0,51 0,13 0,20 0,88 0,44 0,55 0,42 0,93 0,92 0,74 0,99 0,91 0,92 0,36 0,98
Esque 2 0,52 1,00 0,50 0,07 0,49 0,87 0,80 0,12 0,56 0,45 0,58 0,07 0,08 0,26 0,01 0,09 0,08 0,64 0,02
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 01 01 -01 02 00 -03 00 -03 04 -08 05 -01 -02 -08 04 01 00 11 -09
dpco 2 -06 06 -04 02 -01 01 00 01 00 -01 01 -04 02 -02 06 -03 -04 -01 07
dpco 3 01 -01 01 05 03 -01 -02 -03 03 -03 02 02 00 05 -01 01 -01 -15 10
Lambdas Total x y z: 0,61 1,03 2,28 0,97

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 148 Distancia Esque. Antes y Despues Retoque:35,00 Distancias Despues con p y q: 41,00 81,00 mm


Comienzan Iteraciones para cuadro 149

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 -01 -01 -59 -07 -25 -16 61 -02 13 16 -83 -121 -52 -95 14 63 -16 48
co 2 -04 -01 -01 -31 -09 65 50 12 -01 -08 -16 12 43 -05 -20 11 13 00 -11
co 3 00 -01 -01 40 06 56 58 37 -04 -06 -03 -11 48 32 147 -02 -95 22 -134
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -12 01 10 -06 04 01 16 -54 91 -45 04 -01 22 -21 -02 02 -25 23
co 2 10 -21 07 12 -06 05 01 -04 -09 23 -11 33 -28 30 -23 29 02 -02 -19
co 3 -02 -09 -02 10 -16 04 15 16 -27 31 -15 -02 05 01 -01 -08 03 20 -17
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,44 0,00 0,50 0,93 0,61 0,13 0,09 0,89 0,48 0,36 0,36 0,96 0,92 0,69 0,99 0,93 0,86 0,40 0,97
Esque 2 0,56 1,00 0,50 0,07 0,39 0,87 0,91 0,11 0,52 0,64 0,64 0,04 0,08 0,31 0,01 0,07 0,14 0,60 0,03
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 01 03 -01 -32 -02 -13 -08 26 12 -16 19 -43 -60 -32 -42 08 31 -02 18
dpco 2 -05 05 -02 -19 -03 31 25 07 02 -10 -05 -02 28 -10 -04 -02 06 00 -01
dpco 3 00 02 00 18 07 27 25 14 05 -11 02 -05 23 16 74 01 -48 06 -63
Lambdas Total x y z: 0,50 0,52 0,82 2,63

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:52,498 √J0m:51,926 √Mm:10,938 λ:0,50 |dp|m:0,0852 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:51,325 √J0m:50,751 √Mm:10,833 λ:0,50 |dp|m:0,0852 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:50,193 √J0m:49,606 √Mm:10,835 λ:0,50 |dp|m:0,0852 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:49,107 √J0m:48,495 √Mm:10,945 λ:0,50 |dp|m:0,0852 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:48,069 √J0m:47,418 √Mm:11,163 λ:0,50 |dp|m:0,0852 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:47,083 √J0m:46,379 √Mm:11,483 λ:0,50 |dp|m:0,0852 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:46,153 √J0m:45,381 √Mm:11,900 λ:0,50 |dp|m:0,0852 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:45,281 √J0m:44,425 √Mm:12,404 λ:0,50 |dp|m:0,0852 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:44,473 √J0m:43,516 √Mm:12,988 λ:0,50 |dp|m:0,0852 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:43,730 √J0m:42,655 √Mm:13,643 λ:0,50 |dp|m:0,0852 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:43,058 √J0m:41,846 √Mm:14,360 λ:0,50 |dp|m:0,0852 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:42,459 √J0m:41,092 √Mm:15,132 λ:0,50 |dp|m:0,0852 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:41,938 √J0m:40,395 √Mm:15,952 λ:0,50 |dp|m:0,0852 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:41,496 √J0m:39,760 √Mm:16,813 λ:0,50 |dp|m:0,0852 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:41,138 √J0m:39,189 √Mm:17,712 λ:0,50 |dp|m:0,0852 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:40,865 √J0m:38,684 √Mm:18,643 λ:0,50 |dp|m:0,0852 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:40,679 √J0m:38,249 √Mm:19,602 λ:0,50 |dp|m:0,0852 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:40,581 √J0m:37,885 √Mm:20,587 λ:0,50 |dp|m:0,0852 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:40,573 √J0m:37,596 √Mm:21,595 λ:0,50 |dp|m:0,0852 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -06 00 -02 -03 -01 -01 14 -24 41 -18 -08 -15 03 -20 01 09 -13 16
co 2 04 -09 03 02 -04 10 06 00 -04 09 -07 16 -07 13 -12 14 02 -01 -10
co 3 -01 -04 -01 09 -06 08 13 12 -12 13 -07 -02 08 04 17 -04 -10 12 -23
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -10 -01 -36 -07 22 00 64 -18 -24 17 -23 -05 46 -39 00 13 -86 75
co 2 -08 49 -04 -37 01 10 02 -19 12 -06 03 -39 81 -27 -34 -04 65 -04 -52
co 3 02 -23 02 -32 -32 45 11 64 -25 -09 05 -06 -09 -19 25 01 -16 115 -98
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,44 0,00 0,50 0,93 0,61 0,13 0,09 0,89 0,48 0,36 0,36 0,96 0,92 0,69 0,99 0,93 0,86 0,40 0,97
Esque 2 0,56 1,00 0,50 0,07 0,39 0,87 0,91 0,11 0,52 0,64 0,64 0,04 0,08 0,31 0,01 0,07 0,14 0,60 0,03
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 -01 00 05 00 -05 -01 -04 -09 25 -12 00 -07 -06 -03 00 02 09 -05
dpco 2 04 -13 02 07 -02 03 03 03 -04 06 -04 15 -18 11 00 08 -10 00 04
dpco 3 -01 02 -01 10 02 -04 05 -05 -02 08 -04 00 06 05 04 -02 -02 -14 05
Lambdas Total x y z: 0,35 0,96 0,86 0,77

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:39,559 √J0m:37,317 √Mm:22,138 λ:0,35 |dp|m:0,0268 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:39,415 √J0m:37,260 √Mm:21,678 λ:0,35 |dp|m:0,0268 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:39,285 √J0m:37,211 √Mm:21,244 λ:0,35 |dp|m:0,0268 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:39,169 √J0m:37,169 √Mm:20,837 λ:0,35 |dp|m:0,0268 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:39,067 √J0m:37,135 √Mm:20,459 λ:0,35 |dp|m:0,0268 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:38,978 √J0m:37,109 √Mm:20,113 λ:0,35 |dp|m:0,0268 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:38,904 √J0m:37,090 √Mm:19,799 λ:0,35 |dp|m:0,0268 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:38,843 √J0m:37,079 √Mm:19,519 λ:0,35 |dp|m:0,0268 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:38,797 √J0m:37,076 √Mm:19,274 λ:0,35 |dp|m:0,0268 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:38,766 √J0m:37,080 √Mm:19,066 λ:0,35 |dp|m:0,0268 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:38,748 √J0m:37,092 √Mm:18,896 λ:0,35 |dp|m:0,0268 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:38,745 √J0m:37,112 √Mm:18,764 λ:0,35 |dp|m:0,0268 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -04 00 -08 -03 04 -01 19 -14 13 -04 -08 -07 11 -16 00 06 -23 22
co 2 00 06 00 -07 -01 06 03 -04 01 03 -02 -01 13 00 -12 05 14 -01 -15
co 3 00 -06 00 -03 -09 13 08 18 -10 04 -02 -02 02 -02 12 -01 -08 28 -30
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -18 02 -14 -13 20 00 55 -55 56 -26 -07 -05 44 -40 -05 10 -67 59
co 2 22 -07 13 -14 -03 06 04 -16 02 13 -05 14 11 11 -40 21 30 03 -44
co 3 -04 -15 -03 -13 -36 29 20 55 -38 19 -09 -09 03 -22 26 -06 -09 89 -76
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,44 0,00 0,50 0,93 0,61 0,13 0,09 0,89 0,48 0,36 0,36 0,96 0,92 0,69 0,99 0,93 0,86 0,40 0,97
Esque 2 0,56 1,00 0,50 0,07 0,39 0,87 0,91 0,11 0,52 0,64 0,64 0,04 0,08 0,31 0,01 0,07 0,14 0,60 0,03
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 01 03 -01 00 02 -04 00 -06 09 -10 05 -02 -02 -08 03 02 00 08 -06
dpco 2 -06 05 -03 01 00 01 00 03 00 -02 00 -04 03 -03 06 -03 -02 -01 05
dpco 3 01 01 01 03 06 -02 -02 -07 06 -04 02 02 00 06 -01 01 -01 -12 07
Lambdas Total x y z: 0,58 0,92 2,39 0,94

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 149 Distancia Esque. Antes y Despues Retoque:35,00 Distancias Despues con p y q: 41,00 81,00 mm


Comienzan Iteraciones para cuadro 150

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -01 -01 -57 -09 -25 -16 65 -11 03 06 -86 -125 -80 -64 15 61 -07 37
co 2 00 -01 -01 -30 -11 62 51 17 -08 -07 -12 25 48 -08 -05 15 13 00 -18
co 3 -02 -01 -01 39 06 46 60 43 -13 -06 -03 -12 54 58 118 -02 -96 11 -128
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -09 02 15 -16 12 -01 -15 -15 100 -66 05 -01 19 -18 -09 02 -21 19
co 2 00 -16 09 16 -16 12 00 02 -10 26 -18 36 -23 25 -22 33 05 -04 -17
co 3 00 -04 -02 15 -36 41 -08 -13 02 32 -21 00 04 01 -01 -15 02 17 -14
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,52 0,00 0,50 0,92 0,63 0,13 0,08 0,91 0,41 0,42 0,41 0,98 0,94 0,82 0,88 0,95 0,87 0,45 0,94
Esque 2 0,48 1,00 0,50 0,08 0,37 0,87 0,92 0,09 0,59 0,58 0,59 0,02 0,06 0,18 0,12 0,05 0,13 0,55 0,06
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 01 -01 -31 -02 -14 -08 35 -03 -13 13 -44 -62 -43 -29 09 30 -01 15
dpco 2 00 02 -02 -18 -03 29 26 08 -03 -07 -03 07 27 -08 01 03 06 01 -07
dpco 3 -01 00 00 17 08 17 31 23 -07 -08 01 -06 26 29 59 01 -48 03 -62
Lambdas Total x y z: 0,29 0,25 1,09 1,60

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:52,124 √J0m:51,707 √Mm:12,110 λ:0,29 |dp|m:0,0836 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:50,982 √J0m:50,567 √Mm:11,948 λ:0,29 |dp|m:0,0836 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:49,875 √J0m:49,457 √Mm:11,873 λ:0,29 |dp|m:0,0836 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:48,808 √J0m:48,379 √Mm:11,887 λ:0,29 |dp|m:0,0836 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:47,782 √J0m:47,336 √Mm:11,992 λ:0,29 |dp|m:0,0836 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:46,800 √J0m:46,330 √Mm:12,185 λ:0,29 |dp|m:0,0836 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:45,864 √J0m:45,362 √Mm:12,464 λ:0,29 |dp|m:0,0836 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:44,979 √J0m:44,437 √Mm:12,824 λ:0,29 |dp|m:0,0836 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:44,147 √J0m:43,556 √Mm:13,259 λ:0,29 |dp|m:0,0836 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:43,372 √J0m:42,723 √Mm:13,764 λ:0,29 |dp|m:0,0836 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:42,655 √J0m:41,939 √Mm:14,330 λ:0,29 |dp|m:0,0836 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:42,001 √J0m:41,209 √Mm:14,953 λ:0,29 |dp|m:0,0836 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:41,413 √J0m:40,534 √Mm:15,626 λ:0,29 |dp|m:0,0836 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:40,892 √J0m:39,918 √Mm:16,343 λ:0,29 |dp|m:0,0836 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:40,443 √J0m:39,363 √Mm:17,100 λ:0,29 |dp|m:0,0836 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:40,068 √J0m:38,873 √Mm:17,891 λ:0,29 |dp|m:0,0836 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:39,768 √J0m:38,448 √Mm:18,713 λ:0,29 |dp|m:0,0836 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:39,546 √J0m:38,093 √Mm:19,563 λ:0,29 |dp|m:0,0836 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:39,402 √J0m:37,808 √Mm:20,436 λ:0,29 |dp|m:0,0836 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:39,339 √J0m:37,595 √Mm:21,332 λ:0,29 |dp|m:0,0836 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -02 00 00 -05 01 -02 01 -05 27 -17 -05 -10 -01 -10 -01 05 -06 08
co 2 00 -04 02 02 -05 08 04 02 -03 06 -06 12 -03 06 -06 10 02 -01 -06
co 3 00 -01 -01 07 -09 15 02 00 00 08 -06 -01 05 05 09 -04 -07 06 -13
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -28 00 -29 -10 20 01 96 -61 35 -18 -15 -05 09 -04 -06 12 -78 68
co 2 -03 37 02 -30 -02 10 02 -25 08 08 -05 -12 65 -57 -06 05 59 02 -56
co 3 01 -36 00 -25 -36 36 20 92 -48 12 -06 -07 -07 05 02 -06 -15 109 -93
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,52 0,00 0,50 0,92 0,63 0,13 0,08 0,91 0,41 0,42 0,41 0,98 0,94 0,82 0,88 0,95 0,87 0,45 0,94
Esque 2 0,48 1,00 0,50 0,08 0,37 0,87 0,92 0,09 0,59 0,58 0,59 0,02 0,06 0,18 0,12 0,05 0,13 0,55 0,06
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 03 00 04 -01 -02 -01 -14 07 08 -06 00 -04 -02 -04 00 01 09 -06
dpco 2 00 -08 01 06 -02 02 02 05 -03 02 -02 08 -11 12 -02 04 -08 -01 06
dpco 3 00 05 00 07 01 02 -02 -14 07 02 -02 01 04 02 04 -01 -01 -14 08
Lambdas Total x y z: 0,31 0,81 1,10 0,62

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:39,339 √J0m:37,440 √Mm:21,763 λ:0,31 |dp|m:0,0210 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:39,249 √J0m:37,430 √Mm:21,290 λ:0,31 |dp|m:0,0210 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:39,167 √J0m:37,424 √Mm:20,828 λ:0,31 |dp|m:0,0210 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:39,093 √J0m:37,423 √Mm:20,377 λ:0,31 |dp|m:0,0210 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:39,027 √J0m:37,426 √Mm:19,939 λ:0,31 |dp|m:0,0210 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:38,969 √J0m:37,435 √Mm:19,514 λ:0,31 |dp|m:0,0210 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:38,918 √J0m:37,448 √Mm:19,103 λ:0,31 |dp|m:0,0210 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:38,876 √J0m:37,465 √Mm:18,707 λ:0,31 |dp|m:0,0210 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:38,842 √J0m:37,488 √Mm:18,327 λ:0,31 |dp|m:0,0210 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:38,816 √J0m:37,515 √Mm:17,965 λ:0,31 |dp|m:0,0210 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:38,798 √J0m:37,547 √Mm:17,620 λ:0,31 |dp|m:0,0210 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:38,788 √J0m:37,583 √Mm:17,294 λ:0,31 |dp|m:0,0210 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:38,787 √J0m:37,624 √Mm:16,989 λ:0,31 |dp|m:0,0210 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -06 00 -06 -04 04 00 18 -13 17 -10 -05 -05 01 -05 -02 04 -17 16
co 2 -01 05 01 -05 -02 05 02 -04 00 04 -03 02 11 -08 -04 05 12 00 -13
co 3 00 -07 00 -02 -10 12 05 17 -09 05 -03 -02 01 03 04 -03 -05 23 -23
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -13 02 -14 -18 22 01 44 -34 54 -36 -05 -05 16 -13 -09 08 -57 50
co 2 14 -02 13 -14 -08 10 01 -11 01 12 -09 20 14 -16 -19 21 32 03 -44
co 3 -02 -12 -04 -11 -47 42 15 43 -23 17 -12 -09 02 -02 07 -10 -09 80 -68
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,52 0,00 0,50 0,92 0,63 0,13 0,08 0,91 0,41 0,42 0,41 0,98 0,94 0,82 0,88 0,95 0,87 0,45 0,94
Esque 2 0,48 1,00 0,50 0,08 0,37 0,87 0,92 0,09 0,59 0,58 0,59 0,02 0,06 0,18 0,12 0,05 0,13 0,55 0,06
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 01 -01 01 04 -04 00 -04 03 -07 06 -01 -01 -04 01 02 00 08 -07
dpco 2 -05 03 -03 02 01 00 00 01 00 -02 01 -05 02 00 04 -04 -03 -01 07
dpco 3 01 00 01 02 09 -06 -02 -04 02 -02 02 02 00 02 00 02 00 -12 09
Lambdas Total x y z: 0,60 1,06 2,28 0,91

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 150 Distancia Esque. Antes y Despues Retoque:35,00 Distancias Despues con p y q: 40,00 82,00 mm


Comienzan Iteraciones para cuadro 151

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -01 -01 -57 -09 -25 -12 52 -12 -01 03 -54 -124 -76 -67 -01 69 13 11
co 2 -03 -01 -01 -30 -13 58 49 15 -12 -03 -08 49 41 -13 -08 35 12 -08 -15
co 3 00 -01 -01 39 06 42 51 38 -13 -05 -06 -06 50 55 106 -16 -112 -31 -65
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -13 02 14 -12 09 00 -11 12 37 -29 -08 00 19 -18 07 02 -23 23
co 2 -01 -09 09 15 -13 10 00 -01 -01 08 -07 -33 13 29 -21 -21 28 10 -20
co 3 01 -09 -02 13 -28 30 -03 -08 11 13 -10 -02 -02 01 -01 11 -04 18 -16
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,48 0,00 0,50 0,92 0,63 0,13 0,09 0,88 0,39 0,46 0,43 0,90 0,91 0,80 0,85 0,90 0,94 0,64 0,74
Esque 2 0,52 1,00 0,50 0,08 0,37 0,87 0,91 0,12 0,61 0,54 0,57 0,10 0,09 0,20 0,15 0,10 0,06 0,36 0,26
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 00 -01 -29 -04 -13 -06 26 -07 -02 03 -26 -62 -39 -32 -01 35 08 04
dpco 2 -01 00 -01 -16 -06 29 25 08 -06 -02 -04 26 20 -08 -03 19 05 -05 -06
dpco 3 00 00 00 19 04 20 26 20 -07 -03 -02 -03 25 28 53 -09 -56 -16 -32
Lambdas Total x y z: 0,11 0,31 0,25 1,46

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:51,436 √J0m:51,356 √Mm:8,503 λ:0,11 |dp|m:0,0767 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:50,457 √J0m:50,378 √Mm:8,404 λ:0,11 |dp|m:0,0767 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:49,509 √J0m:49,428 √Mm:8,378 λ:0,11 |dp|m:0,0767 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:48,592 √J0m:48,509 √Mm:8,425 λ:0,11 |dp|m:0,0767 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:47,708 √J0m:47,621 √Mm:8,544 λ:0,11 |dp|m:0,0767 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:46,859 √J0m:46,766 √Mm:8,731 λ:0,11 |dp|m:0,0767 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:46,046 √J0m:45,947 √Mm:8,981 λ:0,11 |dp|m:0,0767 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:45,273 √J0m:45,165 √Mm:9,290 λ:0,11 |dp|m:0,0767 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:44,541 √J0m:44,422 √Mm:9,651 λ:0,11 |dp|m:0,0767 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:43,852 √J0m:43,720 √Mm:10,059 λ:0,11 |dp|m:0,0767 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:43,208 √J0m:43,062 √Mm:10,507 λ:0,11 |dp|m:0,0767 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:42,611 √J0m:42,449 √Mm:10,991 λ:0,11 |dp|m:0,0767 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:42,063 √J0m:41,883 √Mm:11,506 λ:0,11 |dp|m:0,0767 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:41,566 √J0m:41,367 √Mm:12,048 λ:0,11 |dp|m:0,0767 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:41,121 √J0m:40,901 √Mm:12,613 λ:0,11 |dp|m:0,0767 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:40,732 √J0m:40,488 √Mm:13,199 λ:0,11 |dp|m:0,0767 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:40,399 √J0m:40,130 √Mm:13,802 λ:0,11 |dp|m:0,0767 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:40,123 √J0m:39,827 √Mm:14,421 λ:0,11 |dp|m:0,0767 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:39,906 √J0m:39,582 √Mm:15,053 λ:0,11 |dp|m:0,0767 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:39,748 √J0m:39,395 √Mm:15,697 λ:0,11 |dp|m:0,0767 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:39,652 √J0m:39,266 √Mm:16,351 λ:0,11 |dp|m:0,0767 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:39,616 √J0m:39,198 √Mm:17,015 λ:0,11 |dp|m:0,0767 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -02 00 02 -01 01 00 -02 02 04 -03 00 02 03 -01 01 -01 -03 03
co 2 00 -01 01 02 -01 00 -01 00 00 01 -01 -04 01 03 -02 -03 03 01 -02
co 3 00 -01 00 01 -03 03 -01 -01 01 02 -01 00 -01 -01 -01 01 01 02 -01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -29 01 -22 -19 25 00 96 -65 39 -20 -02 -05 15 -10 -23 09 -36 28
co 2 16 35 07 -23 -09 13 01 -19 03 08 -05 10 45 -39 -12 13 53 -21 -27
co 3 -02 -36 -02 -17 -52 55 09 87 -47 14 -07 -04 -03 02 04 -21 -12 40 -28
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,48 0,00 0,50 0,92 0,63 0,13 0,09 0,88 0,39 0,46 0,43 0,90 0,91 0,80 0,85 0,90 0,94 0,64 0,74
Esque 2 0,52 1,00 0,50 0,08 0,37 0,87 0,91 0,12 0,61 0,54 0,57 0,10 0,09 0,20 0,15 0,10 0,06 0,36 0,26
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 03 00 04 02 -02 00 -12 08 -02 01 00 01 00 01 03 -01 03 -02
dpco 2 -02 -05 00 04 00 -01 00 02 00 00 00 -03 -05 06 00 -03 -05 03 02
dpco 3 00 04 00 03 04 -05 -02 -11 06 -01 00 00 00 -01 -01 03 02 -04 03
Lambdas Total x y z: 0,23 0,58 1,06 0,60

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:40,076 √J0m:39,189 √Mm:17,301 λ:0,23 |dp|m:0,0136 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:40,039 √J0m:39,190 √Mm:16,918 λ:0,23 |dp|m:0,0136 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:40,005 √J0m:39,193 √Mm:16,538 λ:0,23 |dp|m:0,0136 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:39,974 √J0m:39,199 √Mm:16,161 λ:0,23 |dp|m:0,0136 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:39,946 √J0m:39,206 √Mm:15,788 λ:0,23 |dp|m:0,0136 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:39,920 √J0m:39,214 √Mm:15,419 λ:0,23 |dp|m:0,0136 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:39,898 √J0m:39,225 √Mm:15,054 λ:0,23 |dp|m:0,0136 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:39,879 √J0m:39,238 √Mm:14,694 λ:0,23 |dp|m:0,0136 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:39,863 √J0m:39,252 √Mm:14,338 λ:0,23 |dp|m:0,0136 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:39,850 √J0m:39,268 √Mm:13,988 λ:0,23 |dp|m:0,0136 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:39,840 √J0m:39,287 √Mm:13,644 λ:0,23 |dp|m:0,0136 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:39,832 √J0m:39,307 √Mm:13,305 λ:0,23 |dp|m:0,0136 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:39,828 √J0m:39,329 √Mm:12,973 λ:0,23 |dp|m:0,0136 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:39,827 √J0m:39,353 √Mm:12,648 λ:0,23 |dp|m:0,0136 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -05 00 -03 -03 04 00 14 -10 07 -04 00 00 03 -02 -03 01 -07 05
co 2 03 05 01 -03 -02 02 00 -03 00 02 -01 00 07 -05 -03 01 09 -03 -05
co 3 00 -06 00 -02 -09 10 01 13 -07 03 -01 -01 -01 00 00 -03 -02 07 -05
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -15 02 -16 -15 21 00 49 -23 20 -16 -03 -04 17 -13 -12 07 -29 23
co 2 10 13 12 -16 -07 10 02 -09 02 04 -04 10 28 -20 -16 09 40 -12 -24
co 3 -01 -15 -03 -13 -41 38 14 45 -18 06 -06 -04 -01 00 05 -11 -08 32 -22
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,48 0,00 0,50 0,92 0,63 0,13 0,09 0,88 0,39 0,46 0,43 0,90 0,91 0,80 0,85 0,90 0,94 0,64 0,74
Esque 2 0,52 1,00 0,50 0,08 0,37 0,87 0,91 0,12 0,61 0,54 0,57 0,10 0,09 0,20 0,15 0,10 0,06 0,36 0,26
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 02 -01 03 02 -03 00 -06 01 -02 02 01 01 -03 03 02 -01 05 -04
dpco 2 -02 -01 -03 03 01 -02 00 01 00 00 01 -03 -04 03 03 -02 -06 02 04
dpco 3 00 01 01 02 07 -06 -03 -06 02 00 01 01 00 00 -01 02 02 -05 04
Lambdas Total x y z: 0,55 1,13 1,41 0,99

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 151 Distancia Esque. Antes y Despues Retoque:34,00 Distancias Despues con p y q: 39,00 81,00 mm


Comienzan Iteraciones para cuadro 152

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -01 -01 -61 -11 -22 -16 54 -05 14 11 -59 -137 -89 -47 -08 62 00 -23
co 2 -03 -01 -01 -30 -16 58 48 16 -04 -08 -11 51 43 -19 -08 31 13 -01 -16
co 3 00 -01 -01 36 03 42 46 40 -10 -07 -05 -10 53 65 70 -17 -118 -03 -68
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -10 01 13 -18 16 -04 00 -20 79 -51 -10 00 22 -21 11 -01 07 -06
co 2 05 -11 08 13 -18 16 -02 -01 -06 17 -11 -41 18 30 -23 -21 -17 10 22
co 3 00 -06 -02 13 -39 58 -22 01 -05 25 -16 -02 -03 00 -01 13 02 -10 06
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,47 0,00 0,50 0,92 0,65 0,13 0,07 0,89 0,43 0,37 0,39 0,91 0,97 0,87 0,74 0,90 0,95 0,51 0,88
Esque 2 0,53 1,00 0,50 0,08 0,35 0,87 0,93 0,11 0,57 0,63 0,61 0,09 0,03 0,13 0,26 0,10 0,05 0,49 0,12
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 00 -01 -31 -05 -11 -08 27 -02 03 07 -29 -69 -46 -23 -05 31 00 -11
dpco 2 -02 00 -01 -16 -07 29 24 08 -02 -05 -05 27 21 -11 -03 17 07 -01 -09
dpco 3 00 00 00 17 03 19 24 20 -05 -04 -02 -05 27 32 35 -09 -59 -01 -34
Lambdas Total x y z: 0,08 0,39 0,27 0,87

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:49,742 √J0m:49,639 √Mm:11,003 λ:0,08 |dp|m:0,0769 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:48,726 √J0m:48,625 √Mm:10,827 λ:0,08 |dp|m:0,0769 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:47,739 √J0m:47,638 √Mm:10,710 λ:0,08 |dp|m:0,0769 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:46,783 √J0m:46,680 √Mm:10,654 λ:0,08 |dp|m:0,0769 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:45,860 √J0m:45,755 √Mm:10,660 λ:0,08 |dp|m:0,0769 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:44,971 √J0m:44,863 √Mm:10,728 λ:0,08 |dp|m:0,0769 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:44,120 √J0m:44,007 √Mm:10,858 λ:0,08 |dp|m:0,0769 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:43,307 √J0m:43,188 √Mm:11,046 λ:0,08 |dp|m:0,0769 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:42,536 √J0m:42,410 √Mm:11,292 λ:0,08 |dp|m:0,0769 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:41,809 √J0m:41,673 √Mm:11,590 λ:0,08 |dp|m:0,0769 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:41,128 √J0m:40,981 √Mm:11,937 λ:0,08 |dp|m:0,0769 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:40,494 √J0m:40,336 √Mm:12,330 λ:0,08 |dp|m:0,0769 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:39,912 √J0m:39,739 √Mm:12,764 λ:0,08 |dp|m:0,0769 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:39,383 √J0m:39,194 √Mm:13,236 λ:0,08 |dp|m:0,0769 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:38,908 √J0m:38,703 √Mm:13,742 λ:0,08 |dp|m:0,0769 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:38,491 √J0m:38,266 √Mm:14,279 λ:0,08 |dp|m:0,0769 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:38,132 √J0m:37,888 √Mm:14,844 λ:0,08 |dp|m:0,0769 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:37,835 √J0m:37,568 √Mm:15,434 λ:0,08 |dp|m:0,0769 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:37,599 √J0m:37,309 √Mm:16,046 λ:0,08 |dp|m:0,0769 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:37,427 √J0m:37,112 √Mm:16,679 λ:0,08 |dp|m:0,0769 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:37,319 √J0m:36,977 √Mm:17,331 λ:0,08 |dp|m:0,0769 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:37,275 √J0m:36,907 √Mm:18,000 λ:0,08 |dp|m:0,0769 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -01 00 02 -01 02 00 -01 -02 07 -04 00 02 03 -01 01 -01 01 00
co 2 00 -01 01 01 -01 01 -01 00 -01 02 -01 -04 01 03 -02 -02 -02 01 02
co 3 00 -01 00 01 -03 04 -02 00 00 02 -01 00 -01 -01 -01 01 02 -01 01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -04 -25 01 -24 -29 34 -02 97 -82 79 -42 -09 -06 00 05 -25 02 -04 02
co 2 27 35 06 -24 -13 19 -02 -21 01 16 -09 04 54 -67 09 09 26 -01 -13
co 3 -04 -33 -02 -16 -67 88 -12 94 -58 26 -14 -06 -05 07 00 -25 -06 15 -09
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,47 0,00 0,50 0,92 0,65 0,13 0,07 0,89 0,43 0,37 0,39 0,91 0,97 0,87 0,74 0,90 0,95 0,51 0,88
Esque 2 0,53 1,00 0,50 0,08 0,35 0,87 0,93 0,11 0,57 0,63 0,61 0,09 0,03 0,13 0,26 0,10 0,05 0,49 0,12
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 02 00 03 02 -03 00 -10 08 -05 02 01 01 01 -01 03 -01 01 00
dpco 2 -03 -04 00 03 01 -02 00 02 00 -01 01 -02 -05 08 -02 -02 -03 01 02
dpco 3 00 03 00 02 05 -07 00 -10 06 -02 01 01 00 -01 00 03 01 -02 02
Lambdas Total x y z: 0,21 0,50 0,98 0,50

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:37,823 √J0m:36,901 √Mm:18,275 λ:0,21 |dp|m:0,0132 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:37,786 √J0m:36,904 √Mm:17,868 λ:0,21 |dp|m:0,0132 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:37,751 √J0m:36,909 √Mm:17,463 λ:0,21 |dp|m:0,0132 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:37,720 √J0m:36,916 √Mm:17,060 λ:0,21 |dp|m:0,0132 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:37,692 √J0m:36,925 √Mm:16,659 λ:0,21 |dp|m:0,0132 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:37,666 √J0m:36,935 √Mm:16,260 λ:0,21 |dp|m:0,0132 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:37,644 √J0m:36,948 √Mm:15,864 λ:0,21 |dp|m:0,0132 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:37,624 √J0m:36,962 √Mm:15,470 λ:0,21 |dp|m:0,0132 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:37,607 √J0m:36,978 √Mm:15,079 λ:0,21 |dp|m:0,0132 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:37,593 √J0m:36,996 √Mm:14,691 λ:0,21 |dp|m:0,0132 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:37,582 √J0m:37,016 √Mm:14,307 λ:0,21 |dp|m:0,0132 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:37,574 √J0m:37,038 √Mm:13,926 λ:0,21 |dp|m:0,0132 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:37,569 √J0m:37,062 √Mm:13,548 λ:0,21 |dp|m:0,0132 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:37,567 √J0m:37,087 √Mm:13,176 λ:0,21 |dp|m:0,0132 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -04 00 -03 -04 05 00 13 -12 13 -07 -01 00 01 00 -03 00 00 00
co 2 04 04 01 -03 -02 03 -01 -03 00 03 -02 -01 08 -08 01 01 03 00 -01
co 3 -01 -05 00 -02 -10 13 -02 13 -08 04 -02 -01 -01 01 00 -03 00 02 -01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -13 02 -20 -21 26 00 57 -42 52 -33 -06 -05 06 -02 -15 02 -02 01
co 2 19 17 11 -20 -09 14 -01 -12 01 11 -07 07 34 -39 -02 05 18 01 -09
co 3 -02 -16 -03 -14 -51 63 -03 55 -30 17 -11 -06 -02 05 00 -14 -04 11 -06
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,47 0,00 0,50 0,92 0,65 0,13 0,07 0,89 0,43 0,37 0,39 0,91 0,97 0,87 0,74 0,90 0,95 0,51 0,88
Esque 2 0,53 1,00 0,50 0,08 0,35 0,87 0,93 0,11 0,57 0,63 0,61 0,09 0,03 0,13 0,26 0,10 0,05 0,49 0,12
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 01 00 03 03 -03 00 -06 04 -05 04 01 01 -01 01 02 00 00 00
dpco 2 -02 -02 -02 03 01 -02 00 01 00 -01 01 -02 -04 05 01 -01 -03 00 02
dpco 3 00 01 01 02 06 -07 -01 -06 03 -02 01 01 00 -01 00 02 01 -01 01
Lambdas Total x y z: 0,45 0,80 1,45 0,75

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 152 Distancia Esque. Antes y Despues Retoque:34,00 Distancias Despues con p y q: 39,00 79,00 mm


Comienzan Iteraciones para cuadro 153

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -01 -01 -51 -09 -20 -20 66 03 76 00 -46 -135 -88 -38 -08 66 11 15
co 2 -03 -01 -01 -25 -14 64 56 13 01 75 -07 45 38 -22 -09 31 00 -06 -15
co 3 00 -01 -01 34 02 52 43 47 07 20 -01 -12 57 67 63 -16 -112 -27 -71
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -08 01 23 -17 07 -01 -15 04 -11 24 -08 00 22 -21 08 02 -20 21
co 2 -01 -13 08 23 -17 07 00 04 -04 -12 14 -43 24 30 -23 -21 24 13 -19
co 3 01 -04 -02 23 -29 27 -08 -15 07 07 -02 -01 -04 00 -01 11 -04 16 -15
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,48 0,00 0,50 0,90 0,63 0,15 0,07 0,92 0,55 0,82 0,46 0,87 0,96 0,87 0,71 0,89 0,95 0,61 0,74
Esque 2 0,52 1,00 0,50 0,10 0,37 0,85 0,93 0,08 0,45 0,18 0,54 0,13 0,04 0,13 0,29 0,11 0,05 0,39 0,26
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 -01 00 -24 -05 -10 -10 32 02 37 02 -24 -68 -43 -20 -03 33 04 09
dpco 2 -02 -01 00 -11 -08 33 28 07 00 37 -03 20 21 -09 -06 14 02 -02 -09
dpco 3 00 -01 -01 18 -01 28 21 23 04 10 -01 -06 28 33 31 -07 -56 -12 -37
Lambdas Total x y z: -0,14 -0,16 -0,03 1,59

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:54,692 √J0m:54,784 √Mm:8,623 λ:-0,14 |dp|m:0,0798 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:53,688 √J0m:53,781 √Mm:8,580 λ:-0,14 |dp|m:0,0798 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:52,711 √J0m:52,808 √Mm:8,658 λ:-0,14 |dp|m:0,0798 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:51,763 √J0m:51,865 √Mm:8,853 λ:-0,14 |dp|m:0,0798 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:50,844 √J0m:50,955 √Mm:9,158 λ:-0,14 |dp|m:0,0798 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:49,956 √J0m:50,080 √Mm:9,561 λ:-0,14 |dp|m:0,0798 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:49,101 √J0m:49,240 √Mm:10,051 λ:-0,14 |dp|m:0,0798 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:48,281 √J0m:48,439 √Mm:10,616 λ:-0,14 |dp|m:0,0798 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:47,498 √J0m:47,678 √Mm:11,244 λ:-0,14 |dp|m:0,0798 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:46,752 √J0m:46,958 √Mm:11,926 λ:-0,14 |dp|m:0,0798 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:46,048 √J0m:46,283 √Mm:12,652 λ:-0,14 |dp|m:0,0798 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:45,385 √J0m:45,653 √Mm:13,415 λ:-0,14 |dp|m:0,0798 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:44,767 √J0m:45,071 √Mm:14,209 λ:-0,14 |dp|m:0,0798 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:44,194 √J0m:44,539 √Mm:15,029 λ:-0,14 |dp|m:0,0798 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:43,669 √J0m:44,058 √Mm:15,871 λ:-0,14 |dp|m:0,0798 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:43,194 √J0m:43,630 √Mm:16,731 λ:-0,14 |dp|m:0,0798 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:42,769 √J0m:43,257 √Mm:17,606 λ:-0,14 |dp|m:0,0798 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:42,398 √J0m:42,941 √Mm:18,494 λ:-0,14 |dp|m:0,0798 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:42,080 √J0m:42,681 √Mm:19,393 λ:-0,14 |dp|m:0,0798 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:41,818 √J0m:42,480 √Mm:20,302 λ:-0,14 |dp|m:0,0798 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:41,612 √J0m:42,339 √Mm:21,218 λ:-0,14 |dp|m:0,0798 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:41,463 √J0m:42,257 √Mm:22,140 λ:-0,14 |dp|m:0,0798 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:41,373 √J0m:42,235 √Mm:23,068 λ:-0,14 |dp|m:0,0798 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:41,340 √J0m:42,274 √Mm:24,001 λ:-0,14 |dp|m:0,0798 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 01 00 02 03 01 02 -04 -01 -06 -04 06 13 06 07 00 -07 02 -05
co 2 00 02 -01 -01 04 -08 -06 -02 00 -06 -01 02 -07 -02 04 00 -04 -01 04
co 3 00 01 00 -07 04 -09 -03 -03 -02 -03 00 01 -05 -07 -06 00 12 00 09
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -49 02 07 -50 42 -03 93 -128 161 -68 -10 -05 05 02 -21 09 -51 43
co 2 12 18 11 07 -32 21 -01 -23 -18 50 -23 -14 73 -64 03 11 48 02 -41
co 3 -01 -48 -03 16 -105 114 -23 93 -79 21 19 -03 -09 08 00 -18 -11 58 -46
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,48 0,00 0,50 0,90 0,63 0,15 0,07 0,92 0,55 0,82 0,46 0,87 0,96 0,87 0,71 0,89 0,95 0,61 0,74
Esque 2 0,52 1,00 0,50 0,10 0,37 0,85 0,93 0,08 0,45 0,18 0,54 0,13 0,04 0,13 0,29 0,11 0,05 0,39 0,26
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 04 00 00 05 -02 01 -09 09 -14 03 04 07 02 03 01 -04 05 -05
dpco 2 -01 00 -01 -01 04 -05 -03 01 01 -06 01 02 -09 03 02 -01 -05 -01 05
dpco 3 00 04 00 -05 10 -13 00 -08 05 -03 -01 01 -02 -04 -03 01 07 -04 08
Lambdas Total x y z: 0,14 0,34 1,17 0,45

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:43,338 √J0m:42,349 √Mm:24,391 λ:0,14 |dp|m:0,0182 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:43,275 √J0m:42,329 √Mm:23,846 λ:0,14 |dp|m:0,0182 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:43,216 √J0m:42,312 √Mm:23,303 λ:0,14 |dp|m:0,0182 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:43,161 √J0m:42,298 √Mm:22,762 λ:0,14 |dp|m:0,0182 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:43,110 √J0m:42,287 √Mm:22,222 λ:0,14 |dp|m:0,0182 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:43,063 √J0m:42,279 √Mm:21,685 λ:0,14 |dp|m:0,0182 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:43,021 √J0m:42,274 √Mm:21,149 λ:0,14 |dp|m:0,0182 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:42,983 √J0m:42,273 √Mm:20,616 λ:0,14 |dp|m:0,0182 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:42,949 √J0m:42,275 √Mm:20,086 λ:0,14 |dp|m:0,0182 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:42,919 √J0m:42,279 √Mm:19,558 λ:0,14 |dp|m:0,0182 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:42,893 √J0m:42,287 √Mm:19,033 λ:0,14 |dp|m:0,0182 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:42,871 √J0m:42,298 √Mm:18,511 λ:0,14 |dp|m:0,0182 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:42,854 √J0m:42,313 √Mm:17,993 λ:0,14 |dp|m:0,0182 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:42,841 √J0m:42,330 √Mm:17,479 λ:0,14 |dp|m:0,0182 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:42,832 √J0m:42,351 √Mm:16,968 λ:0,14 |dp|m:0,0182 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:42,827 √J0m:42,374 √Mm:16,463 λ:0,14 |dp|m:0,0182 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:42,827 √J0m:42,401 √Mm:15,962 λ:0,14 |dp|m:0,0182 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -05 00 01 -05 05 00 10 -15 17 -08 00 02 02 02 -02 00 -05 04
co 2 01 02 01 01 -03 01 -01 -03 -02 04 -03 -01 07 -08 01 01 05 00 -04
co 3 00 -05 00 00 -11 11 -03 10 -09 02 02 00 -02 -01 -01 -02 01 07 -03
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -23 02 -11 -23 23 00 51 -70 100 -42 -01 -05 03 01 -16 06 -33 28
co 2 11 20 10 -11 -13 13 00 -12 -13 32 -15 06 38 -43 02 14 28 01 -28
co 3 -01 -25 -03 -05 -52 58 -02 51 -40 16 09 -03 -03 05 00 -14 -06 37 -29
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,48 0,00 0,50 0,90 0,63 0,15 0,07 0,92 0,55 0,82 0,46 0,87 0,96 0,87 0,71 0,89 0,95 0,61 0,74
Esque 2 0,52 1,00 0,50 0,10 0,37 0,85 0,93 0,08 0,45 0,18 0,54 0,13 0,04 0,13 0,29 0,11 0,05 0,39 0,26
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 02 00 03 02 -02 00 -05 06 -11 04 00 02 00 01 02 -01 04 -04
dpco 2 -01 -03 -01 02 01 -02 -01 01 02 -04 01 -02 -04 04 00 -02 -03 00 04
dpco 3 00 02 00 01 05 -06 -01 -05 03 -02 -01 01 00 -01 -01 02 02 -04 04
Lambdas Total x y z: 0,39 0,59 1,32 0,87

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 153 Distancia Esque. Antes y Despues Retoque:36,00 Distancias Despues con p y q: 41,00 86,00 mm


Comienzan Iteraciones para cuadro 154

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -01 -01 -101 -43 -20 -18 63 01 01 01 -55 -133 -84 -44 -04 65 08 -04
co 2 00 -01 -01 13 -02 72 67 09 00 03 -09 47 32 -30 -13 26 00 -06 04
co 3 -01 -01 -01 40 06 58 56 42 03 01 -02 -10 63 69 75 -16 -107 -18 17
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 03 00 15 -31 23 -04 -23 -63 142 -56 -06 01 23 -22 04 03 -18 18
co 2 -07 12 00 15 -23 13 -01 05 -23 55 -34 -42 27 34 -25 -22 37 00 -14
co 3 02 02 00 17 -56 68 -22 -22 -19 29 08 01 -05 00 -01 08 -06 13 -11
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,51 0,00 0,50 0,99 0,80 0,09 0,02 0,91 0,52 0,53 0,44 0,91 0,98 0,88 0,75 0,88 0,94 0,57 0,44
Esque 2 0,49 1,00 0,50 0,01 0,20 0,91 0,98 0,09 0,48 0,47 0,56 0,09 0,02 0,12 0,25 0,12 0,06 0,43 0,56
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 -01 00 -52 -19 -12 -09 33 06 -11 05 -27 -66 -44 -20 -03 32 05 -03
dpco 2 01 -01 -01 05 01 35 33 04 02 -03 -02 27 14 -18 -04 15 -03 -03 03
dpco 3 -01 -01 -01 19 08 23 30 23 03 -02 -02 -05 32 35 37 -08 -53 -10 10
Lambdas Total x y z: 0,16 0,26 0,79 1,18

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:52,807 √J0m:52,408 √Mm:16,058 λ:0,16 |dp|m:0,0795 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:51,783 √J0m:51,392 √Mm:15,739 λ:0,16 |dp|m:0,0795 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:50,790 √J0m:50,406 √Mm:15,457 λ:0,16 |dp|m:0,0795 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:49,830 √J0m:49,451 √Mm:15,214 λ:0,16 |dp|m:0,0795 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:48,905 √J0m:48,529 √Mm:15,011 λ:0,16 |dp|m:0,0795 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:48,018 √J0m:47,642 √Mm:14,851 λ:0,16 |dp|m:0,0795 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:47,169 √J0m:46,793 √Mm:14,734 λ:0,16 |dp|m:0,0795 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:46,362 √J0m:45,983 √Mm:14,663 λ:0,16 |dp|m:0,0795 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:45,599 √J0m:45,215 √Mm:14,637 λ:0,16 |dp|m:0,0795 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:44,881 √J0m:44,490 √Mm:14,657 λ:0,16 |dp|m:0,0795 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:44,211 √J0m:43,810 √Mm:14,723 λ:0,16 |dp|m:0,0795 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:43,592 √J0m:43,179 √Mm:14,835 λ:0,16 |dp|m:0,0795 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:43,025 √J0m:42,598 √Mm:14,991 λ:0,16 |dp|m:0,0795 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:42,512 √J0m:42,068 √Mm:15,190 λ:0,16 |dp|m:0,0795 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:42,056 √J0m:41,593 √Mm:15,432 λ:0,16 |dp|m:0,0795 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:41,659 √J0m:41,174 √Mm:15,713 λ:0,16 |dp|m:0,0795 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:41,321 √J0m:40,812 √Mm:16,033 λ:0,16 |dp|m:0,0795 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:41,045 √J0m:40,509 √Mm:16,389 λ:0,16 |dp|m:0,0795 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:40,832 √J0m:40,267 √Mm:16,779 λ:0,16 |dp|m:0,0795 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:40,683 √J0m:40,087 √Mm:17,202 λ:0,16 |dp|m:0,0795 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:40,599 √J0m:39,969 √Mm:17,654 λ:0,16 |dp|m:0,0795 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:40,579 √J0m:39,914 √Mm:18,135 λ:0,16 |dp|m:0,0795 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 00 00 04 -05 04 00 -05 -10 23 -09 00 02 05 -03 01 00 -03 03
co 2 -01 02 00 02 -04 01 -01 01 -04 09 -06 -07 04 06 -04 -04 06 00 -02
co 3 00 00 00 02 -09 10 -04 -04 -03 05 01 00 -02 -01 -01 01 00 02 -02
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -33 00 -11 -41 39 -02 80 -81 88 -33 02 -06 -04 09 -20 07 01 -06
co 2 08 41 02 -11 -12 08 -01 -19 -07 30 -17 15 47 -71 14 15 38 -42 06
co 3 -02 -41 00 -01 -91 98 -09 77 -51 20 04 -03 -03 06 00 -15 -09 06 03
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,51 0,00 0,50 0,99 0,80 0,09 0,02 0,91 0,52 0,53 0,44 0,91 0,98 0,88 0,75 0,88 0,94 0,57 0,44
Esque 2 0,49 1,00 0,50 0,01 0,20 0,91 0,98 0,09 0,48 0,47 0,56 0,09 0,02 0,12 0,25 0,12 0,06 0,43 0,56
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 05 00 03 03 -03 00 -13 05 00 00 00 02 03 -03 03 -01 -02 02
dpco 2 -02 -04 00 03 00 00 00 03 -01 01 -01 -06 -04 12 -04 -04 -02 06 -02
dpco 3 00 05 00 01 07 -08 -01 -12 05 00 00 01 00 -01 00 03 01 00 -01
Lambdas Total x y z: 0,26 0,62 0,91 0,54

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:41,003 √J0m:39,921 √Mm:18,234 λ:0,26 |dp|m:0,0152 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:40,958 √J0m:39,922 √Mm:17,831 λ:0,26 |dp|m:0,0152 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:40,916 √J0m:39,926 √Mm:17,434 λ:0,26 |dp|m:0,0152 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:40,878 √J0m:39,932 √Mm:17,041 λ:0,26 |dp|m:0,0152 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:40,844 √J0m:39,940 √Mm:16,655 λ:0,26 |dp|m:0,0152 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:40,814 √J0m:39,950 √Mm:16,274 λ:0,26 |dp|m:0,0152 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:40,787 √J0m:39,963 √Mm:15,900 λ:0,26 |dp|m:0,0152 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:40,765 √J0m:39,978 √Mm:15,533 λ:0,26 |dp|m:0,0152 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:40,746 √J0m:39,995 √Mm:15,174 λ:0,26 |dp|m:0,0152 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:40,731 √J0m:40,015 √Mm:14,822 λ:0,26 |dp|m:0,0152 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:40,721 √J0m:40,037 √Mm:14,480 λ:0,26 |dp|m:0,0152 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:40,714 √J0m:40,061 √Mm:14,146 λ:0,26 |dp|m:0,0152 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:40,711 √J0m:40,088 √Mm:13,823 λ:0,26 |dp|m:0,0152 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -05 00 00 -08 08 00 11 -17 23 -09 00 00 01 00 -03 01 -01 00
co 2 01 07 00 -01 -03 02 -01 -03 -03 08 -05 00 09 -09 01 01 08 -07 00
co 3 00 -06 00 01 -18 20 -03 11 -09 05 01 00 -01 01 00 -02 -01 02 00
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -14 01 -11 -32 30 00 35 -51 82 -34 -02 -04 06 -02 -10 05 -05 01
co 2 05 22 07 -10 -09 06 00 -09 -10 29 -17 10 29 -34 -03 07 32 -27 00
co 3 -01 -17 -02 -03 -70 71 -01 34 -26 16 04 -04 -01 04 00 -08 -07 07 00
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,51 0,00 0,50 0,99 0,80 0,09 0,02 0,91 0,52 0,53 0,44 0,91 0,98 0,88 0,75 0,88 0,94 0,57 0,44
Esque 2 0,49 1,00 0,50 0,01 0,20 0,91 0,98 0,09 0,48 0,47 0,56 0,09 0,02 0,12 0,25 0,12 0,06 0,43 0,56
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 01 00 02 04 -04 00 -03 04 -09 04 01 01 -01 01 01 -01 01 00
dpco 2 -01 -02 -02 02 00 -01 00 01 01 -03 02 -03 -03 04 01 -01 -04 03 00
dpco 3 00 01 00 01 09 -08 -01 -03 02 -02 00 01 00 -01 00 01 01 -01 00
Lambdas Total x y z: 0,50 0,80 1,47 0,86

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 154 Distancia Esque. Antes y Despues Retoque:36,00 Distancias Despues con p y q: 46,00 80,00 mm


Comienzan Iteraciones para cuadro 155

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -01 -01 -91 -30 -19 -13 57 00 109 -01 -59 -136 -82 -45 -04 63 03 00
co 2 -02 -01 -01 13 -04 73 59 09 -01 82 -07 47 27 -29 -13 26 00 -03 -03
co 3 00 -01 -01 36 03 59 61 36 00 -02 -02 -10 63 67 73 -16 -105 -08 -09
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -07 01 15 -27 18 -03 -16 33 -67 57 -05 01 25 -24 02 03 -20 19
co 2 -05 11 04 17 -21 10 -01 01 00 -30 28 -44 36 27 -24 -22 40 01 -16
co 3 02 -07 -01 17 -47 54 -17 -13 26 01 -09 03 -06 02 -01 07 -06 15 -12
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,48 0,00 0,50 0,98 0,75 0,11 0,05 0,89 0,51 0,87 0,46 0,91 0,98 0,87 0,75 0,88 0,93 0,53 0,53
Esque 2 0,52 1,00 0,50 0,02 0,25 0,89 0,95 0,11 0,49 0,13 0,54 0,09 0,02 0,13 0,25 0,12 0,07 0,47 0,47
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 -01 00 -44 -17 -08 -07 27 03 49 05 -30 -68 -39 -25 -02 32 -01 02
dpco 2 -02 01 00 08 -04 37 29 04 00 38 -01 20 17 -12 -09 11 04 -01 -03
dpco 3 00 -01 -01 19 -03 34 29 17 02 -01 -02 -05 31 34 36 -07 -53 -03 -06
Lambdas Total x y z: -0,18 -0,31 0,23 1,14

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:55,286 √J0m:55,517 √Mm:11,927 λ:-0,18 |dp|m:0,0823 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:54,228 √J0m:54,456 √Mm:11,754 λ:-0,18 |dp|m:0,0823 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:53,196 √J0m:53,426 √Mm:11,665 λ:-0,18 |dp|m:0,0823 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:52,193 √J0m:52,426 √Mm:11,661 λ:-0,18 |dp|m:0,0823 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:51,219 √J0m:51,460 √Mm:11,743 λ:-0,18 |dp|m:0,0823 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:50,277 √J0m:50,530 √Mm:11,909 λ:-0,18 |dp|m:0,0823 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:49,368 √J0m:49,636 √Mm:12,156 λ:-0,18 |dp|m:0,0823 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:48,494 √J0m:48,782 √Mm:12,479 λ:-0,18 |dp|m:0,0823 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:47,658 √J0m:47,969 √Mm:12,874 λ:-0,18 |dp|m:0,0823 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:46,860 √J0m:47,199 √Mm:13,334 λ:-0,18 |dp|m:0,0823 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:46,103 √J0m:46,476 √Mm:13,853 λ:-0,18 |dp|m:0,0823 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:45,390 √J0m:45,800 √Mm:14,424 λ:-0,18 |dp|m:0,0823 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:44,722 √J0m:45,174 √Mm:15,042 λ:-0,18 |dp|m:0,0823 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:44,101 √J0m:44,600 √Mm:15,702 λ:-0,18 |dp|m:0,0823 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:43,529 √J0m:44,080 √Mm:16,398 λ:-0,18 |dp|m:0,0823 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:43,008 √J0m:43,616 √Mm:17,127 λ:-0,18 |dp|m:0,0823 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:42,540 √J0m:43,210 √Mm:17,884 λ:-0,18 |dp|m:0,0823 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:42,127 √J0m:42,864 √Mm:18,666 λ:-0,18 |dp|m:0,0823 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:41,771 √J0m:42,578 √Mm:19,470 λ:-0,18 |dp|m:0,0823 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:41,472 √J0m:42,355 √Mm:20,293 λ:-0,18 |dp|m:0,0823 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:41,233 √J0m:42,194 √Mm:21,134 λ:-0,18 |dp|m:0,0823 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:41,054 √J0m:42,098 √Mm:21,990 λ:-0,18 |dp|m:0,0823 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:40,935 √J0m:42,066 √Mm:22,859 λ:-0,18 |dp|m:0,0823 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:40,878 √J0m:42,098 √Mm:23,740 λ:-0,18 |dp|m:0,0823 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 02 00 06 08 -02 02 -03 -06 02 -11 07 14 03 09 00 -07 04 -04
co 2 01 -02 -01 -05 04 -09 -06 -01 00 -02 -05 04 -10 -03 06 02 -08 00 04
co 3 00 02 00 -07 09 -17 -03 -01 -05 00 02 00 -05 -07 -07 00 12 -02 03
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 -43 01 09 -76 63 -04 76 -97 126 -51 -14 -07 13 -05 -13 12 -36 25
co 2 -13 45 03 13 -26 08 -05 -18 -20 37 -14 -19 76 -58 -06 -07 78 -34 -21
co 3 03 -49 -01 25 -147 153 -31 74 -59 24 13 -04 -09 07 00 -11 -17 33 -16
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,48 0,00 0,50 0,98 0,75 0,11 0,05 0,89 0,51 0,87 0,46 0,91 0,98 0,87 0,75 0,88 0,93 0,53 0,53
Esque 2 0,52 1,00 0,50 0,02 0,25 0,89 0,95 0,11 0,49 0,13 0,54 0,09 0,02 0,13 0,25 0,12 0,07 0,47 0,47
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 04 00 02 09 -05 01 -07 03 -08 -02 04 07 01 05 01 -04 04 -04
dpco 2 02 -04 -01 -03 04 -05 -02 01 01 -04 -01 03 -10 03 03 01 -09 02 03
dpco 3 00 04 00 -05 15 -19 01 -06 02 -02 00 01 -02 -04 -03 01 07 -03 03
Lambdas Total x y z: 0,14 0,50 0,99 0,33

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:43,105 √J0m:42,162 √Mm:24,093 λ:0,14 |dp|m:0,0191 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:43,035 √J0m:42,133 √Mm:23,558 λ:0,14 |dp|m:0,0191 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:42,970 √J0m:42,107 √Mm:23,026 λ:0,14 |dp|m:0,0191 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:42,910 √J0m:42,085 √Mm:22,498 λ:0,14 |dp|m:0,0191 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:42,853 √J0m:42,066 √Mm:21,973 λ:0,14 |dp|m:0,0191 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:42,802 √J0m:42,051 √Mm:21,451 λ:0,14 |dp|m:0,0191 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:42,755 √J0m:42,039 √Mm:20,935 λ:0,14 |dp|m:0,0191 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:42,712 √J0m:42,031 √Mm:20,422 λ:0,14 |dp|m:0,0191 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:42,674 √J0m:42,026 √Mm:19,915 λ:0,14 |dp|m:0,0191 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:42,640 √J0m:42,024 √Mm:19,412 λ:0,14 |dp|m:0,0191 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:42,612 √J0m:42,026 √Mm:18,916 λ:0,14 |dp|m:0,0191 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:42,587 √J0m:42,032 √Mm:18,425 λ:0,14 |dp|m:0,0191 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:42,567 √J0m:42,041 √Mm:17,941 λ:0,14 |dp|m:0,0191 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:42,552 √J0m:42,053 √Mm:17,465 λ:0,14 |dp|m:0,0191 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:42,542 √J0m:42,069 √Mm:16,996 λ:0,14 |dp|m:0,0191 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:42,536 √J0m:42,088 √Mm:16,536 λ:0,14 |dp|m:0,0191 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:42,534 √J0m:42,111 √Mm:16,085 λ:0,14 |dp|m:0,0191 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -04 00 02 -07 07 00 08 -12 14 -08 00 02 02 01 -01 00 -03 02
co 2 -01 05 00 00 -02 -01 -02 -02 -02 04 -03 -01 06 -07 01 00 07 -04 -02
co 3 00 -05 00 01 -14 13 -04 08 -07 03 02 00 -02 -01 -01 -01 01 03 -01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -23 02 -09 -35 32 00 45 -66 102 -43 -03 -06 07 -01 -11 07 -21 15
co 2 00 27 09 -09 -08 04 00 -11 -16 29 -12 07 36 -40 -02 08 38 -18 -14
co 3 01 -26 -02 -01 -71 69 01 45 -38 19 10 -05 -02 05 00 -10 -09 19 -10
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,48 0,00 0,50 0,98 0,75 0,11 0,05 0,89 0,51 0,87 0,46 0,91 0,98 0,87 0,75 0,88 0,93 0,53 0,53
Esque 2 0,52 1,00 0,50 0,02 0,25 0,89 0,95 0,11 0,49 0,13 0,54 0,09 0,02 0,13 0,25 0,12 0,07 0,47 0,47
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 02 00 03 03 -03 00 -05 07 -12 04 01 02 00 01 01 -01 03 -02
dpco 2 -01 -03 -02 02 01 -01 -01 01 02 -04 01 -02 -04 04 01 -02 -04 02 02
dpco 3 00 03 00 01 06 -07 -02 -05 04 -02 -01 01 -01 -01 -01 01 02 -02 01
Lambdas Total x y z: 0,38 0,59 1,48 0,83

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 155 Distancia Esque. Antes y Despues Retoque:38,00 Distancias Despues con p y q: 45,00 87,00 mm


Comienzan Iteraciones para cuadro 156

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -01 -01 -101 -39 -16 -09 58 -06 11 07 -71 -133 -80 -55 -01 64 06 -03
co 2 -03 -01 -01 09 -09 70 60 09 -08 -14 -09 47 22 -34 -14 26 -07 -07 04
co 3 00 -01 -01 32 01 60 66 37 -11 -03 -05 -15 65 65 82 -22 -110 -19 15
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 -05 02 14 -23 15 -02 -09 -16 87 -59 -03 01 25 -24 -02 03 -19 19
co 2 -13 07 10 16 -18 09 -01 01 -07 18 -12 -42 35 30 -24 -29 49 01 -15
co 3 03 -03 -03 17 -40 44 -13 -08 -03 26 -15 04 -06 01 -01 05 -08 13 -11
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,48 0,00 0,50 0,98 0,78 0,10 0,04 0,90 0,41 0,38 0,41 0,94 0,97 0,86 0,78 0,88 0,94 0,57 0,45
Esque 2 0,52 1,00 0,50 0,02 0,22 0,90 0,96 0,10 0,59 0,62 0,59 0,06 0,03 0,14 0,22 0,12 0,06 0,43 0,55
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 00 -01 -51 -18 -09 -04 30 -02 -01 08 -35 -67 -42 -26 00 32 04 -03
dpco 2 -01 -01 -01 03 -03 34 30 04 -03 -09 -04 26 09 -19 -05 15 -07 -04 03
dpco 3 00 00 00 15 03 27 34 19 -05 -03 -01 -08 33 33 41 -12 -54 -10 08
Lambdas Total x y z: 0,15 0,33 0,37 1,41

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:53,554 √J0m:53,363 √Mm:11,838 λ:0,15 |dp|m:0,0801 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:52,528 √J0m:52,341 √Mm:11,639 λ:0,15 |dp|m:0,0801 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:51,534 √J0m:51,348 √Mm:11,494 λ:0,15 |dp|m:0,0801 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:50,573 √J0m:50,387 √Mm:11,405 λ:0,15 |dp|m:0,0801 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:49,648 √J0m:49,458 √Mm:11,373 λ:0,15 |dp|m:0,0801 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:48,759 √J0m:48,565 √Mm:11,400 λ:0,15 |dp|m:0,0801 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:47,909 √J0m:47,709 √Mm:11,485 λ:0,15 |dp|m:0,0801 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:47,101 √J0m:46,893 √Mm:11,627 λ:0,15 |dp|m:0,0801 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:46,336 √J0m:46,117 √Mm:11,824 λ:0,15 |dp|m:0,0801 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:45,617 √J0m:45,385 √Mm:12,074 λ:0,15 |dp|m:0,0801 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:44,946 √J0m:44,698 √Mm:12,373 λ:0,15 |dp|m:0,0801 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:44,324 √J0m:44,059 √Mm:12,720 λ:0,15 |dp|m:0,0801 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:43,755 √J0m:43,469 √Mm:13,109 λ:0,15 |dp|m:0,0801 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:43,240 √J0m:42,932 √Mm:13,539 λ:0,15 |dp|m:0,0801 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:42,782 √J0m:42,448 √Mm:14,005 λ:0,15 |dp|m:0,0801 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:42,381 √J0m:42,020 √Mm:14,505 λ:0,15 |dp|m:0,0801 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:42,040 √J0m:41,648 √Mm:15,035 λ:0,15 |dp|m:0,0801 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:41,761 √J0m:41,336 √Mm:15,593 λ:0,15 |dp|m:0,0801 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:41,544 √J0m:41,084 √Mm:16,176 λ:0,15 |dp|m:0,0801 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:41,390 √J0m:40,893 √Mm:16,783 λ:0,15 |dp|m:0,0801 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:41,301 √J0m:40,765 √Mm:17,410 λ:0,15 |dp|m:0,0801 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:41,276 √J0m:40,699 √Mm:18,057 λ:0,15 |dp|m:0,0801 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -01 00 03 -03 02 00 -02 -02 13 -09 00 02 05 -03 00 00 -03 03
co 2 -02 01 01 02 -03 01 -01 00 -01 03 -02 -07 05 05 -03 -05 07 00 -02
co 3 00 00 00 02 -06 06 -03 -02 00 04 -02 01 -02 -01 -01 01 00 02 -02
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -30 02 -14 -42 39 00 97 -76 69 -40 -08 -07 00 06 -26 06 -01 -04
co 2 -04 45 09 -14 -11 07 00 -17 -03 16 -10 11 40 -58 06 21 31 -33 04
co 3 01 -35 -02 -03 -90 88 00 91 -56 21 -10 -09 -02 07 00 -23 -07 06 02
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,48 0,00 0,50 0,98 0,78 0,10 0,04 0,90 0,41 0,38 0,41 0,94 0,97 0,86 0,78 0,88 0,94 0,57 0,45
Esque 2 0,52 1,00 0,50 0,02 0,22 0,90 0,96 0,10 0,59 0,62 0,59 0,06 0,03 0,14 0,22 0,12 0,06 0,43 0,55
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 03 00 03 03 -03 00 -12 08 -02 00 01 02 02 -02 03 -01 -01 02
dpco 2 00 -05 00 03 00 -01 00 02 00 00 00 -05 -02 09 -02 -05 00 04 -02
dpco 3 00 04 00 01 08 -07 -01 -11 06 -01 00 01 -01 -01 -01 03 01 00 -01
Lambdas Total x y z: 0,23 0,55 1,25 0,49

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:41,649 √J0m:40,696 √Mm:18,312 λ:0,23 |dp|m:0,0143 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:41,610 √J0m:40,698 √Mm:17,905 λ:0,23 |dp|m:0,0143 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:41,573 √J0m:40,702 √Mm:17,502 λ:0,23 |dp|m:0,0143 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:41,540 √J0m:40,708 √Mm:17,102 λ:0,23 |dp|m:0,0143 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:41,510 √J0m:40,716 √Mm:16,706 λ:0,23 |dp|m:0,0143 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:41,484 √J0m:40,726 √Mm:16,313 λ:0,23 |dp|m:0,0143 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:41,460 √J0m:40,738 √Mm:15,925 λ:0,23 |dp|m:0,0143 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:41,440 √J0m:40,752 √Mm:15,542 λ:0,23 |dp|m:0,0143 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:41,422 √J0m:40,767 √Mm:15,164 λ:0,23 |dp|m:0,0143 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:41,408 √J0m:40,785 √Mm:14,791 λ:0,23 |dp|m:0,0143 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:41,398 √J0m:40,805 √Mm:14,423 λ:0,23 |dp|m:0,0143 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:41,390 √J0m:40,827 √Mm:14,062 λ:0,23 |dp|m:0,0143 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:41,386 √J0m:40,851 √Mm:13,708 λ:0,23 |dp|m:0,0143 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:41,385 √J0m:40,877 √Mm:13,360 λ:0,23 |dp|m:0,0143 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -05 00 -01 -08 07 00 14 -12 15 -09 -01 00 02 00 -04 01 -01 00
co 2 -01 07 02 -01 -03 01 00 -03 -01 03 -02 -01 08 -07 00 02 07 -05 00
co 3 00 -06 -01 00 -16 16 -01 14 -09 05 -02 -01 -01 01 00 -03 -01 02 00
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -13 03 -12 -32 29 01 50 -36 53 -37 -06 -05 09 -04 -15 05 -06 02
co 2 -03 22 15 -12 -08 04 01 -09 -01 12 -09 08 28 -32 -05 07 33 -23 -01
co 3 01 -13 -04 -05 -68 60 08 47 -27 15 -10 -07 -01 04 00 -13 -07 07 -01
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,48 0,00 0,50 0,98 0,78 0,10 0,04 0,90 0,41 0,38 0,41 0,94 0,97 0,86 0,78 0,88 0,94 0,57 0,45
Esque 2 0,52 1,00 0,50 0,02 0,22 0,90 0,96 0,10 0,59 0,62 0,59 0,06 0,03 0,14 0,22 0,12 0,06 0,43 0,55
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 01 -01 03 04 -04 00 -05 03 -06 05 01 01 -02 01 02 -01 01 00
dpco 2 00 -02 -03 02 01 00 00 01 00 -01 01 -02 -03 04 01 -01 -05 03 00
dpco 3 00 00 01 01 09 -07 -03 -05 02 -01 01 01 00 -01 00 02 01 -01 00
Lambdas Total x y z: 0,50 0,88 1,61 0,81

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 156 Distancia Esque. Antes y Despues Retoque:36,00 Distancias Despues con p y q: 47,00 81,00 mm


Comienzan Iteraciones para cuadro 157

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 -01 -01 -101 -15 -20 -04 62 -01 -01 14 -65 -133 -79 -55 -01 65 11 03
co 2 -05 -01 -01 09 -12 75 62 12 00 -04 -13 49 23 -31 -17 30 -07 -11 -08
co 3 01 -01 -01 32 -04 72 50 41 -08 -03 06 -14 72 61 79 -23 -111 -29 -23
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 03 -05 02 09 -13 12 -03 17 -92 144 -67 -04 01 21 -20 -02 02 -17 18
co 2 -20 13 09 11 -12 08 00 -03 -18 54 -33 -47 43 21 -19 -33 44 09 -14
co 3 05 -03 -02 10 -26 45 -21 17 -48 21 10 04 -07 02 -01 06 -07 12 -11
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,46 0,00 0,50 0,99 0,67 0,09 0,13 0,90 0,43 0,46 0,37 0,93 0,98 0,85 0,78 0,88 0,94 0,61 0,57
Esque 2 0,54 1,00 0,50 0,01 0,33 0,91 0,87 0,10 0,57 0,54 0,63 0,07 0,02 0,15 0,22 0,12 0,06 0,39 0,43
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 01 00 -01 -52 -06 -11 -02 29 08 -14 13 -32 -66 -41 -26 00 32 07 00
dpco 2 -01 -02 -01 03 -05 37 31 07 02 -07 -04 29 07 -17 -07 18 -08 -06 -02
dpco 3 00 00 00 15 00 32 27 19 01 -03 02 -07 36 30 40 -12 -55 -15 -10
Lambdas Total x y z: 0,19 0,24 0,60 1,99

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:53,504 √J0m:53,083 √Mm:15,466 λ:0,19 |dp|m:0,0807 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:52,463 √J0m:52,050 √Mm:15,169 λ:0,19 |dp|m:0,0807 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:51,454 √J0m:51,048 √Mm:14,911 λ:0,19 |dp|m:0,0807 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:50,480 √J0m:50,077 √Mm:14,697 λ:0,19 |dp|m:0,0807 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:49,541 √J0m:49,140 √Mm:14,528 λ:0,19 |dp|m:0,0807 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:48,641 √J0m:48,239 √Mm:14,405 λ:0,19 |dp|m:0,0807 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:47,781 √J0m:47,376 √Mm:14,329 λ:0,19 |dp|m:0,0807 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:46,963 √J0m:46,553 √Mm:14,302 λ:0,19 |dp|m:0,0807 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:46,190 √J0m:45,772 √Mm:14,324 λ:0,19 |dp|m:0,0807 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:45,465 √J0m:45,036 √Mm:14,396 λ:0,19 |dp|m:0,0807 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:44,788 √J0m:44,346 √Mm:14,515 λ:0,19 |dp|m:0,0807 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:44,164 √J0m:43,704 √Mm:14,682 λ:0,19 |dp|m:0,0807 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:43,593 √J0m:43,114 √Mm:14,895 λ:0,19 |dp|m:0,0807 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:43,079 √J0m:42,577 √Mm:15,152 λ:0,19 |dp|m:0,0807 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:42,622 √J0m:42,094 √Mm:15,451 λ:0,19 |dp|m:0,0807 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:42,226 √J0m:41,669 √Mm:15,790 λ:0,19 |dp|m:0,0807 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:41,891 √J0m:41,302 √Mm:16,167 λ:0,19 |dp|m:0,0807 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:41,619 √J0m:40,996 √Mm:16,580 λ:0,19 |dp|m:0,0807 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:41,413 √J0m:40,752 √Mm:17,026 λ:0,19 |dp|m:0,0807 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:41,271 √J0m:40,570 √Mm:17,502 λ:0,19 |dp|m:0,0807 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:41,196 √J0m:40,452 √Mm:18,007 λ:0,19 |dp|m:0,0807 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:41,187 √J0m:40,398 √Mm:18,539 λ:0,19 |dp|m:0,0807 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -01 00 03 -02 02 -01 03 -17 27 -13 00 02 05 -03 00 00 -03 03
co 2 -04 02 02 02 -02 01 -01 -01 -03 10 -06 -10 08 04 -03 -07 08 02 -03
co 3 01 -01 00 02 -05 08 -05 03 -09 04 02 01 -02 00 -01 01 00 03 -02
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 03 -28 02 -21 -37 43 -01 99 -87 56 -20 -03 -07 -01 07 -23 04 -08 05
co 2 -17 46 09 -23 -08 16 -02 -26 05 17 -08 20 31 -57 07 21 21 -18 -03
co 3 04 -35 -03 -17 -78 119 -30 100 -70 13 01 -09 01 06 -01 -21 -05 08 -02
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,46 0,00 0,50 0,99 0,67 0,09 0,13 0,90 0,43 0,46 0,37 0,93 0,98 0,85 0,78 0,88 0,94 0,61 0,57
Esque 2 0,54 1,00 0,50 0,01 0,33 0,91 0,87 0,10 0,57 0,54 0,63 0,07 0,02 0,15 0,22 0,12 0,06 0,39 0,43
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 03 00 04 04 -05 00 -12 03 06 -04 00 02 03 -03 03 -01 -01 01
dpco 2 00 -05 00 04 00 -02 00 03 -02 03 -02 -07 00 10 -03 -06 01 03 -01
dpco 3 00 04 00 03 08 -12 02 -12 05 00 01 02 -01 -01 -01 04 01 00 -01
Lambdas Total x y z: 0,27 0,68 1,41 0,44

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:41,572 √J0m:40,406 √Mm:18,678 λ:0,27 |dp|m:0,0161 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:41,522 √J0m:40,406 √Mm:18,265 λ:0,27 |dp|m:0,0161 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:41,476 √J0m:40,408 √Mm:17,857 λ:0,27 |dp|m:0,0161 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:41,433 √J0m:40,413 √Mm:17,455 λ:0,27 |dp|m:0,0161 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:41,395 √J0m:40,420 √Mm:17,058 λ:0,27 |dp|m:0,0161 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:41,362 √J0m:40,431 √Mm:16,667 λ:0,27 |dp|m:0,0161 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:41,332 √J0m:40,443 √Mm:16,283 λ:0,27 |dp|m:0,0161 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:41,307 √J0m:40,458 √Mm:15,905 λ:0,27 |dp|m:0,0161 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:41,285 √J0m:40,476 √Mm:15,535 λ:0,27 |dp|m:0,0161 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:41,269 √J0m:40,497 √Mm:15,173 λ:0,27 |dp|m:0,0161 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:41,256 √J0m:40,520 √Mm:14,820 λ:0,27 |dp|m:0,0161 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:41,247 √J0m:40,545 √Mm:14,475 λ:0,27 |dp|m:0,0161 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:41,243 √J0m:40,573 √Mm:14,141 λ:0,27 |dp|m:0,0161 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -05 00 -02 -07 08 00 18 -21 20 -08 -01 -01 02 00 -04 01 -03 02
co 2 -04 09 02 -03 -02 03 -01 -05 00 07 -04 00 08 -08 00 01 07 -02 -02
co 3 01 -06 -01 -02 -15 23 -07 18 -15 04 01 -01 -01 01 -01 -03 -01 02 -01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 -13 03 -17 -24 30 00 58 -69 70 -33 -05 -05 09 -04 -13 03 -10 08
co 2 -12 21 15 -19 -03 10 -01 -15 -01 23 -13 09 28 -33 -04 05 28 -12 -06
co 3 03 -13 -04 -15 -52 77 -12 59 -50 13 01 -06 00 04 00 -11 -05 10 -05
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,46 0,00 0,50 0,99 0,67 0,09 0,13 0,90 0,43 0,46 0,37 0,93 0,98 0,85 0,78 0,88 0,94 0,61 0,57
Esque 2 0,54 1,00 0,50 0,01 0,33 0,91 0,87 0,10 0,57 0,54 0,63 0,07 0,02 0,15 0,22 0,12 0,06 0,39 0,43
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 01 00 03 02 -03 00 -05 06 -07 04 01 01 -01 01 01 -01 01 -01
dpco 2 01 -01 -03 03 00 -01 00 01 00 -02 01 -02 -03 04 01 -01 -04 02 01
dpco 3 00 00 01 03 05 -07 00 -05 05 -01 00 01 00 -01 00 01 01 -01 01
Lambdas Total x y z: 0,49 0,74 1,74 0,78

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 157 Distancia Esque. Antes y Despues Retoque:36,00 Distancias Despues con p y q: 46,00 81,00 mm


Comienzan Iteraciones para cuadro 158

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -01 -01 -102 -12 -24 -11 60 03 64 00 -60 -135 -76 -30 03 64 14 23
co 2 -02 -01 -01 18 -10 77 66 12 -01 74 -09 48 23 -31 -23 33 -04 -13 -52
co 3 -01 -01 -01 36 -01 78 54 40 05 -03 00 -10 73 65 -10 -22 -106 -35 -163
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 -03 02 10 -16 10 -02 -11 -24 19 19 -04 01 18 -17 -03 02 -22 22
co 2 -11 13 09 09 -14 08 -01 01 -05 -07 12 -46 44 -15 16 -33 51 07 -18
co 3 03 00 -02 11 -30 34 -09 -10 -11 27 -05 04 -07 -01 01 05 -08 15 -13
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,49 0,00 0,50 0,99 0,65 0,08 0,10 0,88 0,54 0,80 0,44 0,92 0,99 0,85 0,67 0,88 0,93 0,64 1,00
Esque 2 0,51 1,00 0,50 0,01 0,35 0,92 0,90 0,12 0,46 0,20 0,56 0,08 0,01 0,15 0,33 0,12 0,07 0,36 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 00 -01 -53 -03 -14 -05 32 06 29 -03 -29 -68 -41 -12 02 31 11 08
dpco 2 01 -03 -02 07 -02 37 33 06 00 38 -07 32 04 -13 -14 22 -11 -08 -23
dpco 3 -01 00 00 16 05 33 28 22 05 -06 01 -06 38 33 -05 -12 -51 -20 -79
Lambdas Total x y z: 0,35 0,97 0,34 2,11

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:54,922 √J0m:54,576 √Mm:10,353 λ:0,35 |dp|m:0,0916 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:53,618 √J0m:53,270 √Mm:10,258 λ:0,35 |dp|m:0,0916 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:52,353 √J0m:51,996 √Mm:10,273 λ:0,35 |dp|m:0,0916 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:51,130 √J0m:50,755 √Mm:10,396 λ:0,35 |dp|m:0,0916 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:49,953 √J0m:49,552 √Mm:10,627 λ:0,35 |dp|m:0,0916 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:48,824 √J0m:48,388 √Mm:10,959 λ:0,35 |dp|m:0,0916 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:47,748 √J0m:47,267 √Mm:11,385 λ:0,35 |dp|m:0,0916 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:46,728 √J0m:46,191 √Mm:11,895 λ:0,35 |dp|m:0,0916 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:45,768 √J0m:45,164 √Mm:12,481 λ:0,35 |dp|m:0,0916 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:44,872 √J0m:44,189 √Mm:13,133 λ:0,35 |dp|m:0,0916 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:44,044 √J0m:43,269 √Mm:13,842 λ:0,35 |dp|m:0,0916 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:43,288 √J0m:42,409 √Mm:14,601 λ:0,35 |dp|m:0,0916 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:42,607 √J0m:41,613 √Mm:15,403 λ:0,35 |dp|m:0,0916 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:42,006 √J0m:40,882 √Mm:16,242 λ:0,35 |dp|m:0,0916 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:41,488 √J0m:40,223 √Mm:17,113 λ:0,35 |dp|m:0,0916 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:41,056 √J0m:39,637 √Mm:18,013 λ:0,35 |dp|m:0,0916 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:40,713 √J0m:39,128 √Mm:18,936 λ:0,35 |dp|m:0,0916 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:40,462 √J0m:38,699 √Mm:19,880 λ:0,35 |dp|m:0,0916 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:40,303 √J0m:38,354 √Mm:20,843 λ:0,35 |dp|m:0,0916 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:40,239 √J0m:38,093 √Mm:21,822 λ:0,35 |dp|m:0,0916 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -01 00 -04 -06 01 -02 01 -08 11 06 -06 -10 00 -08 -01 06 -06 09
co 2 -04 04 03 04 -05 09 05 01 -02 03 03 -11 16 -07 04 -08 16 01 -10
co 3 01 00 -01 06 -10 17 01 00 -03 09 -02 01 03 05 -01 00 -11 02 -17
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -32 02 -18 -28 35 -01 74 -101 135 -61 07 -06 -24 29 -23 04 -54 52
co 2 -01 34 09 -20 -06 14 -02 -14 -16 40 -21 33 07 -15 -17 27 10 37 -56
co 3 01 -36 -02 -15 -63 91 -16 74 -63 16 19 -04 03 18 -13 -20 -03 82 -76
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,49 0,00 0,50 0,99 0,65 0,08 0,10 0,88 0,54 0,80 0,44 0,92 0,99 0,85 0,67 0,88 0,93 0,64 1,00
Esque 2 0,51 1,00 0,50 0,01 0,35 0,92 0,90 0,12 0,46 0,20 0,56 0,08 0,01 0,15 0,33 0,12 0,07 0,36 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 04 00 00 01 -04 -01 -10 11 -14 12 -04 -04 03 -08 03 02 05 -03
dpco 2 -02 -03 00 05 -02 02 03 03 01 -04 05 -10 07 -02 04 -08 07 -05 03
dpco 3 00 05 00 05 04 -05 03 -11 08 02 -04 01 01 00 02 03 -05 -11 03
Lambdas Total x y z: 0,29 0,49 1,77 0,65

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:39,755 √J0m:37,914 √Mm:22,317 λ:0,29 |dp|m:0,0198 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:39,675 √J0m:37,913 √Mm:21,827 λ:0,29 |dp|m:0,0198 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:39,603 √J0m:37,916 √Mm:21,344 λ:0,29 |dp|m:0,0198 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:39,537 √J0m:37,923 √Mm:20,869 λ:0,29 |dp|m:0,0198 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:39,478 √J0m:37,934 √Mm:20,403 λ:0,29 |dp|m:0,0198 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:39,426 √J0m:37,950 √Mm:19,947 λ:0,29 |dp|m:0,0198 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:39,380 √J0m:37,969 √Mm:19,501 λ:0,29 |dp|m:0,0198 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:39,342 √J0m:37,993 √Mm:19,065 λ:0,29 |dp|m:0,0198 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:39,310 √J0m:38,021 √Mm:18,641 λ:0,29 |dp|m:0,0198 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:39,286 √J0m:38,053 √Mm:18,230 λ:0,29 |dp|m:0,0198 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:39,268 √J0m:38,088 √Mm:17,832 λ:0,29 |dp|m:0,0198 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:39,258 √J0m:38,128 √Mm:17,449 λ:0,29 |dp|m:0,0198 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:39,254 √J0m:38,173 √Mm:17,080 λ:0,29 |dp|m:0,0198 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -06 01 -05 -07 07 -01 13 -21 28 -08 -01 -05 -04 02 -04 03 -12 13
co 2 -02 08 03 -02 -03 06 02 -02 -04 08 -02 01 07 -05 -02 02 08 07 -14
co 3 01 -06 -01 00 -15 23 -02 13 -12 06 03 00 02 05 -03 -04 -05 15 -20
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -15 02 -14 -26 29 00 31 -49 77 -30 -02 -06 -10 17 -13 05 -46 42
co 2 -04 19 13 -15 -06 10 -01 -07 -11 23 -11 06 39 -33 -10 04 40 15 -46
co 3 02 -16 -04 -10 -56 71 -06 31 -27 14 09 -04 -03 13 -08 -10 -07 69 -61
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,49 0,00 0,50 0,99 0,65 0,08 0,10 0,88 0,54 0,80 0,44 0,92 0,99 0,85 0,67 0,88 0,93 0,64 1,00
Esque 2 0,51 1,00 0,50 0,01 0,35 0,92 0,90 0,12 0,46 0,20 0,56 0,08 0,01 0,15 0,33 0,12 0,07 0,36 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 01 00 01 03 -05 00 -02 03 -07 04 00 -01 01 -04 01 00 07 -05
dpco 2 00 -01 -02 03 00 00 01 01 01 -02 02 -01 -07 07 02 00 -07 -01 06
dpco 3 00 01 01 03 08 -08 01 -02 01 -01 -01 01 02 -01 01 01 00 -11 07
Lambdas Total x y z: 0,55 1,00 1,58 0,87

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 158 Distancia Esque. Antes y Despues Retoque:39,00 Distancias Despues con p y q: 43,00 88,00 mm


Comienzan Iteraciones para cuadro 159

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -01 -01 -101 -15 -24 02 57 -08 17 07 -71 -141 -83 -80 -01 56 15 05
co 2 -02 -01 -01 22 -12 73 68 12 -03 44 -11 50 19 -41 -56 30 -07 -12 -11
co 3 -01 -01 -01 36 03 63 42 40 -12 10 -05 -14 78 66 -23 -23 -102 -35 -30
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 -06 01 12 -17 10 -01 -10 64 -93 44 -04 01 12 -11 -03 02 -22 22
co 2 -14 11 08 11 -14 07 01 01 09 -29 20 -51 48 -11 13 -34 53 04 -16
co 3 04 -04 -02 13 -32 38 -11 -09 36 -33 09 05 -08 -01 01 05 -09 15 -12
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,49 0,00 0,50 0,99 0,68 0,08 0,16 0,89 0,43 0,71 0,40 0,94 0,99 0,86 1,00 0,88 0,94 0,64 0,59
Esque 2 0,51 1,00 0,50 0,01 0,32 0,92 0,84 0,11 0,57 0,29 0,60 0,06 0,01 0,14 0,00 0,12 0,06 0,36 0,41
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 00 -01 -51 -07 -12 01 28 -04 08 03 -35 -70 -42 -40 00 28 08 03
dpco 2 -01 -01 -01 11 -06 37 34 06 -02 22 -06 25 10 -21 -28 15 -04 -06 -05
dpco 3 00 00 00 18 02 31 21 20 -06 05 -03 -07 39 33 -12 -11 -51 -18 -15
Lambdas Total x y z: 0,00 0,17 0,22 1,22

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:52,961 √J0m:52,960 √Mm:12,244 λ:0,00 |dp|m:0,0820 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:51,874 √J0m:51,872 √Mm:12,034 λ:0,00 |dp|m:0,0820 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:50,815 √J0m:50,814 √Mm:11,878 λ:0,00 |dp|m:0,0820 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:49,789 √J0m:49,787 √Mm:11,777 λ:0,00 |dp|m:0,0820 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:48,796 √J0m:48,794 √Mm:11,733 λ:0,00 |dp|m:0,0820 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:47,839 √J0m:47,837 √Mm:11,747 λ:0,00 |dp|m:0,0820 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:46,919 √J0m:46,917 √Mm:11,819 λ:0,00 |dp|m:0,0820 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:46,040 √J0m:46,038 √Mm:11,949 λ:0,00 |dp|m:0,0820 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:45,202 √J0m:45,201 √Mm:12,135 λ:0,00 |dp|m:0,0820 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:44,410 √J0m:44,408 √Mm:12,376 λ:0,00 |dp|m:0,0820 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:43,665 √J0m:43,663 √Mm:12,668 λ:0,00 |dp|m:0,0820 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:42,970 √J0m:42,968 √Mm:13,010 λ:0,00 |dp|m:0,0820 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:42,327 √J0m:42,325 √Mm:13,397 λ:0,00 |dp|m:0,0820 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:41,738 √J0m:41,736 √Mm:13,827 λ:0,00 |dp|m:0,0820 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:41,207 √J0m:41,204 √Mm:14,296 λ:0,00 |dp|m:0,0820 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:40,734 √J0m:40,731 √Mm:14,801 λ:0,00 |dp|m:0,0820 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:40,323 √J0m:40,320 √Mm:15,339 λ:0,00 |dp|m:0,0820 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:39,975 √J0m:39,971 √Mm:15,907 λ:0,00 |dp|m:0,0820 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:39,691 √J0m:39,688 √Mm:16,504 λ:0,00 |dp|m:0,0820 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:39,474 √J0m:39,470 √Mm:17,126 λ:0,00 |dp|m:0,0820 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:39,324 √J0m:39,320 √Mm:17,771 λ:0,00 |dp|m:0,0820 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:39,242 √J0m:39,238 √Mm:18,438 λ:0,00 |dp|m:0,0820 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:39,229 √J0m:39,224 √Mm:19,125 λ:0,00 |dp|m:0,0820 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 00 00 06 01 01 00 -03 01 -01 00 04 08 05 04 00 -03 -01 00
co 2 00 00 00 -01 01 -04 -04 -01 00 -02 01 -03 -01 02 03 -02 00 01 01
co 3 00 00 00 -02 00 -03 -02 -02 01 -01 00 01 -04 -04 01 01 06 02 02
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -37 01 -07 -45 38 03 98 -38 -27 18 -08 -10 -05 15 -30 05 -18 14
co 2 -06 41 08 -07 -16 09 02 -21 12 -07 04 05 57 -47 -17 10 47 -24 -11
co 3 02 -45 -02 02 -95 125 -33 97 -40 -08 02 -08 -03 22 -15 -24 -10 18 -08
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,49 0,00 0,50 0,99 0,68 0,08 0,16 0,89 0,43 0,71 0,40 0,94 0,99 0,86 1,00 0,88 0,94 0,64 0,59
Esque 2 0,51 1,00 0,50 0,01 0,32 0,92 0,84 0,11 0,57 0,29 0,60 0,06 0,01 0,14 0,00 0,12 0,06 0,36 0,41
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 04 00 04 05 -03 00 -11 04 02 -02 03 05 03 01 03 -02 01 -01
dpco 2 01 -04 -01 00 02 -03 -02 02 -01 -01 00 -02 -06 06 03 -02 -04 03 01
dpco 3 00 04 00 -01 09 -14 02 -10 04 00 00 01 -02 -04 02 03 04 -01 02
Lambdas Total x y z: 0,19 0,74 1,27 0,36

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:40,178 √J0m:39,271 √Mm:19,396 λ:0,19 |dp|m:0,0148 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:40,133 √J0m:39,266 √Mm:18,963 λ:0,19 |dp|m:0,0148 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:40,091 √J0m:39,262 √Mm:18,533 λ:0,19 |dp|m:0,0148 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:40,053 √J0m:39,262 √Mm:18,104 λ:0,19 |dp|m:0,0148 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:40,018 √J0m:39,263 √Mm:17,678 λ:0,19 |dp|m:0,0148 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:39,986 √J0m:39,266 √Mm:17,253 λ:0,19 |dp|m:0,0148 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:39,957 √J0m:39,272 √Mm:16,831 λ:0,19 |dp|m:0,0148 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:39,932 √J0m:39,280 √Mm:16,411 λ:0,19 |dp|m:0,0148 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:39,909 √J0m:39,291 √Mm:15,993 λ:0,19 |dp|m:0,0148 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:39,890 √J0m:39,303 √Mm:15,579 λ:0,19 |dp|m:0,0148 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:39,874 √J0m:39,318 √Mm:15,167 λ:0,19 |dp|m:0,0148 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:39,862 √J0m:39,335 √Mm:14,759 λ:0,19 |dp|m:0,0148 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:39,853 √J0m:39,354 √Mm:14,354 λ:0,19 |dp|m:0,0148 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:39,846 √J0m:39,376 √Mm:13,953 λ:0,19 |dp|m:0,0148 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:39,844 √J0m:39,400 √Mm:13,556 λ:0,19 |dp|m:0,0148 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -05 00 01 -06 06 00 12 -05 -04 02 00 01 01 03 -04 00 -03 02
co 2 -01 06 01 -01 -02 00 -01 -03 02 -02 01 00 07 -06 -01 01 07 -03 -01
co 3 00 -06 00 00 -13 16 -05 12 -05 -01 00 -01 -02 02 -02 -03 00 03 -01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -17 02 -12 -25 25 02 56 -12 -26 13 -03 -08 -06 13 -20 04 -14 11
co 2 -02 22 12 -12 -06 07 01 -12 10 -07 03 12 37 -32 -16 07 33 -14 -09
co 3 01 -20 -03 -08 -55 73 -12 56 -18 -09 02 -06 -01 17 -12 -16 -07 13 -06
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,49 0,00 0,50 0,99 0,68 0,08 0,16 0,89 0,43 0,71 0,40 0,94 0,99 0,86 1,00 0,88 0,94 0,64 0,59
Esque 2 0,51 1,00 0,50 0,01 0,32 0,92 0,84 0,11 0,57 0,29 0,60 0,06 0,01 0,14 0,00 0,12 0,06 0,36 0,41
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 02 00 03 03 -03 00 -07 00 04 -02 01 02 02 -01 03 -01 02 -02
dpco 2 00 -02 -02 02 00 -02 -01 01 -01 01 00 -03 -05 05 03 -01 -04 02 02
dpco 3 00 02 01 02 06 -09 00 -07 02 02 00 01 -01 -03 02 02 02 -02 01
Lambdas Total x y z: 0,47 1,12 1,42 0,72

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 159 Distancia Esque. Antes y Despues Retoque:37,00 Distancias Despues con p y q: 45,00 83,00 mm


Comienzan Iteraciones para cuadro 160

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -01 -01 -97 -09 -24 -11 53 -08 19 06 -65 -139 -74 -48 03 60 10 73
co 2 -02 -01 -01 22 -12 72 52 11 -07 45 -10 49 19 -37 -35 27 -07 -09 -25
co 3 -01 -01 -01 41 02 62 47 34 -11 07 -06 -10 77 63 -16 -20 -102 -23 -137
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 -01 00 09 -17 14 -04 -14 59 -76 35 -04 01 15 -14 -03 03 -05 03
co 2 -10 18 03 08 -14 11 -03 02 08 -25 15 -50 52 -21 18 -37 60 -10 -05
co 3 03 -02 -01 10 -34 52 -23 -13 34 -26 07 05 -08 -01 01 06 -10 06 -03
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,49 0,00 0,50 0,99 0,64 0,09 0,12 0,86 0,43 0,71 0,40 0,93 0,99 0,85 0,83 0,90 0,94 0,59 0,92
Esque 2 0,51 1,00 0,50 0,01 0,36 0,91 0,88 0,14 0,57 0,29 0,60 0,07 0,01 0,15 0,17 0,10 0,06 0,41 0,08
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 00 -01 -49 -04 -12 -05 27 -05 11 02 -33 -69 -37 -24 01 30 05 37
dpco 2 -01 -01 -01 11 -06 36 26 06 -03 23 -05 25 09 -18 -18 14 -05 -04 -13
dpco 3 00 00 00 20 02 30 24 17 -06 04 -03 -05 39 32 -08 -10 -51 -12 -69
Lambdas Total x y z: 0,03 0,18 0,21 1,07

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:52,393 √J0m:52,351 √Mm:11,542 λ:0,03 |dp|m:0,0858 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:51,187 √J0m:51,146 √Mm:11,373 λ:0,03 |dp|m:0,0858 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:50,012 √J0m:49,970 √Mm:11,276 λ:0,03 |dp|m:0,0858 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:48,869 √J0m:48,826 √Mm:11,255 λ:0,03 |dp|m:0,0858 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:47,761 √J0m:47,717 √Mm:11,311 λ:0,03 |dp|m:0,0858 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:46,691 √J0m:46,645 √Mm:11,444 λ:0,03 |dp|m:0,0858 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:45,661 √J0m:45,611 √Mm:11,654 λ:0,03 |dp|m:0,0858 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:44,673 √J0m:44,620 √Mm:11,936 λ:0,03 |dp|m:0,0858 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:43,732 √J0m:43,675 √Mm:12,287 λ:0,03 |dp|m:0,0858 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:42,839 √J0m:42,777 √Mm:12,703 λ:0,03 |dp|m:0,0858 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:41,998 √J0m:41,930 √Mm:13,178 λ:0,03 |dp|m:0,0858 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:41,212 √J0m:41,137 √Mm:13,707 λ:0,03 |dp|m:0,0858 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:40,485 √J0m:40,402 √Mm:14,285 λ:0,03 |dp|m:0,0858 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:39,819 √J0m:39,727 √Mm:14,907 λ:0,03 |dp|m:0,0858 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:39,218 √J0m:39,116 √Mm:15,570 λ:0,03 |dp|m:0,0858 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:38,685 √J0m:38,572 √Mm:16,267 λ:0,03 |dp|m:0,0858 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:38,223 √J0m:38,097 √Mm:16,997 λ:0,03 |dp|m:0,0858 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:37,833 √J0m:37,695 √Mm:17,755 λ:0,03 |dp|m:0,0858 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:37,519 √J0m:37,367 √Mm:18,539 λ:0,03 |dp|m:0,0858 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:37,283 √J0m:37,116 √Mm:19,347 λ:0,03 |dp|m:0,0858 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:37,125 √J0m:36,943 √Mm:20,176 λ:0,03 |dp|m:0,0858 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:37,047 √J0m:36,850 √Mm:21,023 λ:0,03 |dp|m:0,0858 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 00 00 01 00 01 00 -01 02 -03 01 01 02 01 00 00 -01 00 -01
co 2 00 01 00 00 00 00 -01 00 00 -01 01 -02 02 00 01 -02 02 00 00
co 3 00 00 00 00 -01 01 -01 -01 01 -01 00 00 -01 -01 00 00 01 00 02
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -30 01 -06 -43 43 -03 81 -41 01 02 -04 -10 -03 13 -23 06 -63 58
co 2 -02 41 03 -05 -14 18 -08 -20 08 00 00 07 53 -49 -11 03 53 28 -63
co 3 01 -38 -01 03 -89 122 -36 81 -40 01 00 -06 -03 16 -09 -21 -11 88 -77
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,49 0,00 0,50 0,99 0,64 0,09 0,12 0,86 0,43 0,71 0,40 0,93 0,99 0,85 0,83 0,90 0,94 0,59 0,92
Esque 2 0,51 1,00 0,50 0,01 0,36 0,91 0,88 0,14 0,57 0,29 0,60 0,07 0,01 0,15 0,17 0,10 0,06 0,41 0,08
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 03 00 01 05 -04 00 -09 06 -02 00 01 02 01 -01 02 -01 07 -07
dpco 2 00 -04 00 01 01 -02 01 02 -01 -01 00 -02 -05 05 02 -01 -05 -03 07
dpco 3 00 04 00 00 09 -13 03 -09 05 -01 00 01 00 -02 01 02 02 -09 09
Lambdas Total x y z: 0,22 0,86 1,18 0,39

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:38,180 √J0m:36,836 √Mm:21,410 λ:0,22 |dp|m:0,0160 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:38,125 √J0m:36,840 √Mm:20,933 λ:0,22 |dp|m:0,0160 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:38,075 √J0m:36,847 √Mm:20,458 λ:0,22 |dp|m:0,0160 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:38,028 √J0m:36,856 √Mm:19,985 λ:0,22 |dp|m:0,0160 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:37,986 √J0m:36,868 √Mm:19,515 λ:0,22 |dp|m:0,0160 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:37,948 √J0m:36,883 √Mm:19,047 λ:0,22 |dp|m:0,0160 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:37,915 √J0m:36,900 √Mm:18,581 λ:0,22 |dp|m:0,0160 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:37,885 √J0m:36,921 √Mm:18,119 λ:0,22 |dp|m:0,0160 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:37,860 √J0m:36,944 √Mm:17,659 λ:0,22 |dp|m:0,0160 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:37,839 √J0m:36,970 √Mm:17,203 λ:0,22 |dp|m:0,0160 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:37,823 √J0m:36,998 √Mm:16,750 λ:0,22 |dp|m:0,0160 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:37,810 √J0m:37,030 √Mm:16,302 λ:0,22 |dp|m:0,0160 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:37,802 √J0m:37,064 √Mm:15,857 λ:0,22 |dp|m:0,0160 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:37,799 √J0m:37,101 √Mm:15,417 λ:0,22 |dp|m:0,0160 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -04 00 00 -06 07 00 11 -05 -01 01 00 -01 00 02 -03 01 -09 08
co 2 00 06 01 -01 -02 02 -01 -03 01 00 00 00 08 -07 -01 00 08 04 -09
co 3 00 -06 00 00 -13 18 -06 12 -05 00 00 -01 -01 02 -01 -03 -01 13 -11
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -13 01 -10 -25 27 -01 44 -12 -11 05 -02 -08 -04 12 -16 05 -45 41
co 2 00 23 09 -11 -05 10 -04 -10 07 -04 01 12 36 -35 -11 02 42 18 -46
co 3 01 -16 -02 -06 -52 72 -15 44 -16 -04 01 -05 -01 13 -08 -14 -08 62 -54
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,49 0,00 0,50 0,99 0,64 0,09 0,12 0,86 0,43 0,71 0,40 0,93 0,99 0,85 0,83 0,90 0,94 0,59 0,92
Esque 2 0,51 1,00 0,50 0,01 0,36 0,91 0,88 0,14 0,57 0,29 0,60 0,07 0,01 0,15 0,17 0,10 0,06 0,41 0,08
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 01 00 02 03 -03 00 -05 00 02 -01 00 02 01 -02 02 -01 06 -06
dpco 2 00 -02 -02 02 00 -01 00 01 -01 01 00 -03 -05 05 02 -01 -06 -02 07
dpco 3 00 01 01 02 06 -08 01 -05 01 01 00 01 00 -02 01 02 01 -09 08
Lambdas Total x y z: 0,48 1,29 1,28 0,72

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 160 Distancia Esque. Antes y Despues Retoque:38,00 Distancias Despues con p y q: 41,00 85,00 mm


Comienzan Iteraciones para cuadro 161

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 -01 -01 -97 -14 -24 -16 53 -05 22 05 -65 -139 -81 -30 03 60 16 72
co 2 -06 -01 -01 22 -05 73 53 11 -04 50 -10 49 19 -45 -23 31 -07 -16 -25
co 3 01 -01 -01 41 -01 63 55 34 -07 06 -05 -10 81 69 -12 -20 -98 -39 -134
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 -02 01 10 -17 12 -04 -12 52 -80 43 -04 01 08 -07 -04 02 -05 04
co 2 -11 18 04 07 -16 13 -02 02 07 -26 19 -49 38 00 10 -33 52 -04 -07
co 3 03 -01 -01 11 -34 44 -15 -11 31 -26 06 05 -07 -02 01 03 -09 06 -04
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,45 0,00 0,50 0,99 0,67 0,08 0,06 0,86 0,46 0,72 0,41 0,93 0,99 0,90 0,74 0,90 0,94 0,66 0,91
Esque 2 0,55 1,00 0,50 0,01 0,33 0,92 0,94 0,14 0,54 0,28 0,59 0,07 0,01 0,10 0,26 0,10 0,06 0,34 0,09
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 01 00 -01 -49 -07 -12 -08 27 -03 11 02 -33 -69 -41 -15 01 30 08 36
dpco 2 -03 -01 -01 11 -02 37 27 06 -02 25 -05 25 09 -23 -12 16 -04 -08 -12
dpco 3 01 00 00 20 -01 31 28 17 -03 03 -03 -05 41 35 -06 -10 -49 -20 -67
Lambdas Total x y z: 0,00 0,14 0,17 1,28

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:51,963 √J0m:51,957 √Mm:11,127 λ:0,00 |dp|m:0,0866 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:50,724 √J0m:50,719 √Mm:10,967 λ:0,00 |dp|m:0,0866 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:49,516 √J0m:49,511 √Mm:10,878 λ:0,00 |dp|m:0,0866 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:48,339 √J0m:48,334 √Mm:10,863 λ:0,00 |dp|m:0,0866 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:47,197 √J0m:47,191 √Mm:10,924 λ:0,00 |dp|m:0,0866 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:46,091 √J0m:46,085 √Mm:11,061 λ:0,00 |dp|m:0,0866 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:45,025 √J0m:45,019 √Mm:11,271 λ:0,00 |dp|m:0,0866 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:44,001 √J0m:43,994 √Mm:11,553 λ:0,00 |dp|m:0,0866 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:43,023 √J0m:43,015 √Mm:11,902 λ:0,00 |dp|m:0,0866 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:42,093 √J0m:42,085 √Mm:12,313 λ:0,00 |dp|m:0,0866 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:41,215 √J0m:41,206 √Mm:12,782 λ:0,00 |dp|m:0,0866 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:40,392 √J0m:40,383 √Mm:13,304 λ:0,00 |dp|m:0,0866 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:39,628 √J0m:39,618 √Mm:13,873 λ:0,00 |dp|m:0,0866 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:38,926 √J0m:38,914 √Mm:14,486 λ:0,00 |dp|m:0,0866 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:38,290 √J0m:38,277 √Mm:15,137 λ:0,00 |dp|m:0,0866 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:37,722 √J0m:37,708 √Mm:15,823 λ:0,00 |dp|m:0,0866 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:37,227 √J0m:37,211 √Mm:16,540 λ:0,00 |dp|m:0,0866 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:36,806 √J0m:36,789 √Mm:17,285 λ:0,00 |dp|m:0,0866 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:36,463 √J0m:36,444 √Mm:18,055 λ:0,00 |dp|m:0,0866 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:36,200 √J0m:36,179 √Mm:18,848 λ:0,00 |dp|m:0,0866 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:36,018 √J0m:35,995 √Mm:19,662 λ:0,00 |dp|m:0,0866 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:35,919 √J0m:35,894 √Mm:20,495 λ:0,00 |dp|m:0,0866 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:35,904 √J0m:35,877 √Mm:21,346 λ:0,00 |dp|m:0,0866 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 00 00 05 01 01 01 -03 01 -02 00 04 08 05 02 00 -03 -01 -04
co 2 00 00 00 -01 00 -04 -03 -01 00 -03 01 -03 -01 03 01 -02 01 01 01
co 3 00 00 00 -02 00 -03 -03 -02 01 00 00 01 -05 -04 01 01 05 02 08
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 03 -32 01 -06 -47 46 -04 82 -39 -06 08 -06 -10 -18 28 -27 06 -54 49
co 2 -13 48 04 -06 -28 29 -06 -19 08 -01 02 08 52 -43 -17 09 47 20 -56
co 3 03 -40 -01 04 -107 126 -24 83 -39 -01 01 -07 -03 25 -18 -24 -10 74 -64
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,45 0,00 0,50 0,99 0,67 0,08 0,06 0,86 0,46 0,72 0,41 0,93 0,99 0,90 0,74 0,90 0,94 0,66 0,91
Esque 2 0,55 1,00 0,50 0,01 0,33 0,92 0,94 0,14 0,54 0,28 0,59 0,07 0,01 0,10 0,26 0,10 0,06 0,34 0,09
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 03 00 03 05 -04 01 -10 04 00 -01 02 05 04 -02 03 -02 05 -07
dpco 2 01 -05 00 00 03 -05 -01 02 -01 -01 00 -02 -06 06 02 -02 -04 -02 06
dpco 3 00 04 00 -02 11 -14 01 -09 04 00 00 01 -02 -04 02 03 04 -06 10
Lambdas Total x y z: 0,20 0,86 1,23 0,37

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:37,233 √J0m:35,932 √Mm:21,726 λ:0,20 |dp|m:0,0170 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:37,170 √J0m:35,925 √Mm:21,242 λ:0,20 |dp|m:0,0170 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:37,111 √J0m:35,921 √Mm:20,760 λ:0,20 |dp|m:0,0170 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:37,057 √J0m:35,921 √Mm:20,280 λ:0,20 |dp|m:0,0170 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:37,007 √J0m:35,923 √Mm:19,802 λ:0,20 |dp|m:0,0170 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:36,962 √J0m:35,929 √Mm:19,327 λ:0,20 |dp|m:0,0170 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:36,922 √J0m:35,938 √Mm:18,855 λ:0,20 |dp|m:0,0170 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:36,886 √J0m:35,950 √Mm:18,385 λ:0,20 |dp|m:0,0170 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:36,854 √J0m:35,965 √Mm:17,919 λ:0,20 |dp|m:0,0170 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:36,828 √J0m:35,984 √Mm:17,456 λ:0,20 |dp|m:0,0170 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:36,806 √J0m:36,006 √Mm:16,997 λ:0,20 |dp|m:0,0170 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:36,788 √J0m:36,031 √Mm:16,542 λ:0,20 |dp|m:0,0170 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:36,775 √J0m:36,059 √Mm:16,090 λ:0,20 |dp|m:0,0170 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:36,767 √J0m:36,090 √Mm:15,644 λ:0,20 |dp|m:0,0170 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:36,764 √J0m:36,125 √Mm:15,202 λ:0,20 |dp|m:0,0170 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -04 00 01 -06 07 00 11 -05 -01 01 00 01 -01 05 -04 00 -08 06
co 2 -02 07 01 -01 -04 03 -02 -03 01 -01 00 00 07 -05 -02 01 07 03 -08
co 3 00 -06 00 00 -15 17 -04 11 -05 00 00 -01 -02 02 -02 -03 00 11 -07
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 -14 02 -12 -24 27 00 44 -12 -12 08 -01 -08 -14 22 -18 04 -37 34
co 2 -05 25 10 -12 -13 16 -01 -10 06 -04 02 14 33 -30 -14 07 36 13 -40
co 3 02 -17 -03 -08 -59 69 -02 44 -16 -04 01 -06 00 18 -13 -16 -07 51 -43
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,45 0,00 0,50 0,99 0,67 0,08 0,06 0,86 0,46 0,72 0,41 0,93 0,99 0,90 0,74 0,90 0,94 0,66 0,91
Esque 2 0,55 1,00 0,50 0,01 0,33 0,92 0,94 0,14 0,54 0,28 0,59 0,07 0,01 0,10 0,26 0,10 0,06 0,34 0,09
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 01 00 03 03 -03 00 -05 00 02 -01 00 02 03 -03 02 -01 05 -05
dpco 2 00 -03 -02 02 01 -02 -01 01 -01 00 00 -03 -05 05 03 -01 -05 -02 06
dpco 3 00 01 01 02 07 -09 -02 -05 01 01 00 01 -01 -03 02 02 02 -07 07
Lambdas Total x y z: 0,49 1,31 1,41 0,76

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:37,586 √J0m:36,190 √Mm:14,444 λ:0,49 |dp|m:0,0123 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:37,555 √J0m:36,220 √Mm:14,122 λ:0,49 |dp|m:0,0123 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:37,527 √J0m:36,252 √Mm:13,802 λ:0,49 |dp|m:0,0123 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:37,502 √J0m:36,285 √Mm:13,483 λ:0,49 |dp|m:0,0123 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:37,480 √J0m:36,320 √Mm:13,166 λ:0,49 |dp|m:0,0123 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:37,461 √J0m:36,357 √Mm:12,849 λ:0,49 |dp|m:0,0123 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:37,445 √J0m:36,395 √Mm:12,534 λ:0,49 |dp|m:0,0123 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:37,433 √J0m:36,435 √Mm:12,221 λ:0,49 |dp|m:0,0123 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:37,424 √J0m:36,476 √Mm:11,909 λ:0,49 |dp|m:0,0123 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:37,417 √J0m:36,519 √Mm:11,598 λ:0,49 |dp|m:0,0123 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:37,415 √J0m:36,564 √Mm:11,290 λ:0,49 |dp|m:0,0123 mm
Acabado Optimizado (izq). Cuadro 161 Distancia Esque. Antes y Despues Retoque:38,00 Distancias Despues con p y q: 40,00 85,00 mm


Comienzan Iteraciones para cuadro 162

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 -01 -01 -102 -12 -24 -15 59 -08 32 02 -65 -139 -55 97 03 61 16 33
co 2 -06 -01 -01 26 -06 78 58 12 -07 48 -09 49 19 -25 42 31 -08 -18 -13
co 3 01 -01 -01 36 02 71 53 39 -08 11 -04 -10 81 34 -31 -20 -100 -43 -69
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 -06 01 01 -01 02 -01 -05 51 -80 41 -04 01 -25 26 -02 02 -05 05
co 2 -11 19 04 02 -01 02 -01 00 04 -25 20 -49 45 21 -18 -44 61 -03 -08
co 3 03 -06 -01 01 -03 11 -05 -04 31 -27 05 05 -08 16 -15 08 -10 07 -05
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,45 0,00 0,50 0,99 0,66 0,08 0,08 0,88 0,44 0,75 0,42 0,93 0,99 0,74 0,11 0,90 0,94 0,67 0,71
Esque 2 0,55 1,00 0,50 0,01 0,34 0,92 0,92 0,12 0,56 0,25 0,58 0,07 0,01 0,26 0,89 0,10 0,06 0,33 0,29
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 01 00 -01 -51 -06 -12 -08 30 -06 18 00 -33 -69 -27 48 01 30 08 16
dpco 2 -03 -01 -01 13 -03 39 29 06 -04 25 -05 26 08 -13 22 17 -06 -09 -06
dpco 3 00 00 00 18 01 35 27 20 -05 06 -02 -05 41 17 -15 -10 -50 -22 -34
Lambdas Total x y z: 0,07 0,52 -0,02 2,37

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:54,527 √J0m:54,448 √Mm:11,375 λ:0,07 |dp|m:0,0830 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:53,443 √J0m:53,365 √Mm:11,250 λ:0,07 |dp|m:0,0830 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:52,392 √J0m:52,312 √Mm:11,230 λ:0,07 |dp|m:0,0830 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:51,374 √J0m:51,291 √Mm:11,319 λ:0,07 |dp|m:0,0830 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:50,392 √J0m:50,305 √Mm:11,516 λ:0,07 |dp|m:0,0830 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:49,447 √J0m:49,354 √Mm:11,817 λ:0,07 |dp|m:0,0830 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:48,543 √J0m:48,441 √Mm:12,216 λ:0,07 |dp|m:0,0830 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:47,681 √J0m:47,569 √Mm:12,706 λ:0,07 |dp|m:0,0830 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:46,864 √J0m:46,740 √Mm:13,278 λ:0,07 |dp|m:0,0830 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:46,095 √J0m:45,956 √Mm:13,923 λ:0,07 |dp|m:0,0830 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:45,375 √J0m:45,219 √Mm:14,633 λ:0,07 |dp|m:0,0830 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:44,707 √J0m:44,532 √Mm:15,400 λ:0,07 |dp|m:0,0830 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:44,094 √J0m:43,896 √Mm:16,217 λ:0,07 |dp|m:0,0830 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:43,537 √J0m:43,316 √Mm:17,078 λ:0,07 |dp|m:0,0830 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:43,040 √J0m:42,791 √Mm:17,976 λ:0,07 |dp|m:0,0830 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:42,603 √J0m:42,325 √Mm:18,908 λ:0,07 |dp|m:0,0830 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:42,230 √J0m:41,920 √Mm:19,869 λ:0,07 |dp|m:0,0830 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:41,921 √J0m:41,578 √Mm:20,857 λ:0,07 |dp|m:0,0830 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:41,679 √J0m:41,299 √Mm:21,867 λ:0,07 |dp|m:0,0830 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:41,504 √J0m:41,085 √Mm:22,898 λ:0,07 |dp|m:0,0830 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:41,397 √J0m:40,938 √Mm:23,947 λ:0,07 |dp|m:0,0830 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:41,360 √J0m:40,857 √Mm:25,013 λ:0,07 |dp|m:0,0830 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 00 00 01 00 00 00 -01 04 -06 03 01 02 -01 01 00 -01 -01 00
co 2 -01 01 00 00 00 -01 -01 00 00 -02 01 -04 03 02 -02 -03 04 00 00
co 3 00 00 00 00 00 00 -01 -01 02 -02 00 00 -01 01 -01 01 01 01 01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 -40 01 -14 -29 36 -02 101 -65 28 -12 -03 -11 -140 152 -24 05 -18 13
co 2 -10 45 05 -14 -09 18 -05 -22 05 07 -04 13 34 -29 -16 05 47 -13 -19
co 3 03 -47 -01 -11 -67 101 -23 101 -57 08 -01 -07 01 81 -77 -21 -09 23 -14
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,45 0,00 0,50 0,99 0,66 0,08 0,08 0,88 0,44 0,75 0,42 0,93 0,99 0,74 0,11 0,90 0,94 0,67 0,71
Esque 2 0,55 1,00 0,50 0,01 0,34 0,92 0,92 0,12 0,56 0,25 0,58 0,07 0,01 0,26 0,89 0,10 0,06 0,33 0,29
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 04 00 02 03 -04 00 -12 09 -06 03 01 02 15 -17 03 -01 02 -01
dpco 2 01 -05 00 02 01 -02 00 02 00 -02 01 -03 -02 04 01 -02 -03 02 02
dpco 3 00 05 00 01 08 -12 02 -12 08 -02 00 01 -01 -09 08 03 01 -02 02
Lambdas Total x y z: 0,23 0,42 3,02 0,60

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:42,624 √J0m:40,844 √Mm:25,522 λ:0,23 |dp|m:0,0196 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:42,551 √J0m:40,848 √Mm:24,953 λ:0,23 |dp|m:0,0196 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:42,483 √J0m:40,855 √Mm:24,388 λ:0,23 |dp|m:0,0196 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:42,421 √J0m:40,866 √Mm:23,825 λ:0,23 |dp|m:0,0196 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:42,364 √J0m:40,881 √Mm:23,267 λ:0,23 |dp|m:0,0196 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:42,313 √J0m:40,900 √Mm:22,712 λ:0,23 |dp|m:0,0196 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:42,269 √J0m:40,922 √Mm:22,161 λ:0,23 |dp|m:0,0196 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:42,229 √J0m:40,948 √Mm:21,615 λ:0,23 |dp|m:0,0196 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:42,196 √J0m:40,978 √Mm:21,073 λ:0,23 |dp|m:0,0196 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:42,168 √J0m:41,012 √Mm:20,537 λ:0,23 |dp|m:0,0196 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:42,146 √J0m:41,049 √Mm:20,006 λ:0,23 |dp|m:0,0196 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:42,130 √J0m:41,090 √Mm:19,480 λ:0,23 |dp|m:0,0196 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:42,120 √J0m:41,135 √Mm:18,962 λ:0,23 |dp|m:0,0196 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:42,116 √J0m:41,183 √Mm:18,450 λ:0,23 |dp|m:0,0196 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -06 00 -02 -04 06 00 15 -09 02 -01 00 -01 -21 23 -04 01 -03 02
co 2 -02 07 01 -02 -01 02 -01 -03 01 00 00 01 06 -04 -03 00 09 -02 -03
co 3 01 -07 00 -02 -10 15 -04 15 -08 01 00 -01 00 12 -12 -03 -01 04 -02
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 -18 02 -16 -15 22 00 52 -18 -04 00 -02 -11 -98 109 -15 04 -14 10
co 2 -04 23 11 -16 -01 10 -01 -11 06 -01 00 12 30 -25 -15 01 39 -09 -15
co 3 02 -21 -03 -16 -38 58 -04 52 -20 -03 00 -05 02 58 -55 -13 -07 18 -11
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,45 0,00 0,50 0,99 0,66 0,08 0,08 0,88 0,44 0,75 0,42 0,93 0,99 0,74 0,11 0,90 0,94 0,67 0,71
Esque 2 0,55 1,00 0,50 0,01 0,34 0,92 0,92 0,12 0,56 0,25 0,58 0,07 0,01 0,26 0,89 0,10 0,06 0,33 0,29
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 02 00 03 02 -03 00 -06 00 02 00 00 02 14 -16 02 -01 02 -02
dpco 2 00 -02 -02 03 00 -01 00 01 -01 01 00 -03 -05 04 02 00 -05 01 02
dpco 3 00 02 01 03 04 -07 -01 -05 01 01 00 01 -01 -08 08 02 01 -03 02
Lambdas Total x y z: 0,50 0,71 2,72 1,06

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:43,102 √J0m:41,275 √Mm:17,552 λ:0,50 |dp|m:0,0147 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:43,063 √J0m:41,316 √Mm:17,160 λ:0,50 |dp|m:0,0147 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:43,027 √J0m:41,360 √Mm:16,769 λ:0,50 |dp|m:0,0147 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:42,996 √J0m:41,405 √Mm:16,379 λ:0,50 |dp|m:0,0147 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:42,968 √J0m:41,453 √Mm:15,990 λ:0,50 |dp|m:0,0147 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:42,945 √J0m:41,503 √Mm:15,601 λ:0,50 |dp|m:0,0147 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:42,925 √J0m:41,554 √Mm:15,214 λ:0,50 |dp|m:0,0147 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:42,910 √J0m:41,608 √Mm:14,829 λ:0,50 |dp|m:0,0147 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:42,898 √J0m:41,664 √Mm:14,444 λ:0,50 |dp|m:0,0147 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:42,890 √J0m:41,721 √Mm:14,061 λ:0,50 |dp|m:0,0147 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:42,887 √J0m:41,781 √Mm:13,679 λ:0,50 |dp|m:0,0147 mm
Acabado Optimizado (izq). Cuadro 162 Distancia Esque. Antes y Despues Retoque:35,00 Distancias Despues con p y q: 51,00 79,00 mm


Comienzan Iteraciones para cuadro 163

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 -01 -01 -107 -22 -24 -21 59 -08 83 02 -66 -141 -62 210 03 57 16 31
co 2 -05 -01 -01 22 -15 91 68 08 -07 59 -12 46 15 -34 67 27 -15 -19 -14
co 3 02 -01 -01 28 -01 65 58 32 -08 29 -02 -14 78 36 -108 -23 -104 -44 -67
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 -01 00 05 -04 -01 00 -11 03 01 10 -05 02 08 -09 -03 02 -05 05
co 2 -14 25 02 04 -03 00 00 01 -02 -06 08 -51 40 -34 43 -38 53 01 -08
co 3 03 -03 00 06 -03 -01 02 -10 05 05 00 05 -07 01 -03 06 -09 07 -05
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,45 0,00 0,50 0,99 0,72 0,07 0,04 0,88 0,44 0,83 0,42 0,93 0,99 0,78 0,06 0,90 0,94 0,67 0,69
Esque 2 0,55 1,00 0,50 0,01 0,28 0,93 0,96 0,12 0,56 0,17 0,58 0,07 0,01 0,22 0,94 0,10 0,06 0,33 0,31
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 01 00 -01 -54 -11 -12 -10 30 -04 41 01 -33 -70 -31 106 01 28 08 16
dpco 2 -02 -02 -01 11 -08 45 34 04 -03 30 -06 25 05 -16 31 16 -10 -10 -07
dpco 3 01 00 00 14 -01 32 29 17 -04 14 -01 -07 39 18 -54 -12 -51 -22 -33
Lambdas Total x y z: 0,10 0,79 0,31 7,68

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:61,957 √J0m:61,889 √Mm:9,275 λ:0,10 |dp|m:0,1028 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:60,489 √J0m:60,423 √Mm:9,075 λ:0,10 |dp|m:0,1028 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:59,058 √J0m:58,992 √Mm:8,902 λ:0,10 |dp|m:0,1028 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:57,664 √J0m:57,599 √Mm:8,780 λ:0,10 |dp|m:0,1028 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:56,313 √J0m:56,247 √Mm:8,745 λ:0,10 |dp|m:0,1028 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:55,007 √J0m:54,938 √Mm:8,838 λ:0,10 |dp|m:0,1028 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:53,751 √J0m:53,676 √Mm:9,092 λ:0,10 |dp|m:0,1028 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:52,549 √J0m:52,464 √Mm:9,532 λ:0,10 |dp|m:0,1028 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:51,404 √J0m:51,307 √Mm:10,163 λ:0,10 |dp|m:0,1028 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:50,323 √J0m:50,206 √Mm:10,975 λ:0,10 |dp|m:0,1028 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:49,308 √J0m:49,167 √Mm:11,950 λ:0,10 |dp|m:0,1028 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:48,366 √J0m:48,194 √Mm:13,065 λ:0,10 |dp|m:0,1028 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:47,499 √J0m:47,289 √Mm:14,297 λ:0,10 |dp|m:0,1028 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:46,714 √J0m:46,459 √Mm:15,628 λ:0,10 |dp|m:0,1028 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:46,013 √J0m:45,705 √Mm:17,039 λ:0,10 |dp|m:0,1028 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:45,402 √J0m:45,033 √Mm:18,517 λ:0,10 |dp|m:0,1028 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:44,884 √J0m:44,446 √Mm:20,050 λ:0,10 |dp|m:0,1028 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:44,463 √J0m:43,948 √Mm:21,629 λ:0,10 |dp|m:0,1028 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:44,140 √J0m:43,541 √Mm:23,246 λ:0,10 |dp|m:0,1028 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:43,920 √J0m:43,228 √Mm:24,896 λ:0,10 |dp|m:0,1028 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:43,802 √J0m:43,011 √Mm:26,573 λ:0,10 |dp|m:0,1028 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:43,789 √J0m:42,891 √Mm:28,274 λ:0,10 |dp|m:0,1028 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 00 00 02 00 00 00 -02 00 -01 01 00 02 02 -03 00 -01 -01 00
co 2 -01 02 00 00 00 -01 -01 00 00 -01 01 -06 04 -03 03 -04 05 00 -01
co 3 00 00 00 00 00 -01 00 -01 01 00 00 01 -02 00 01 01 00 01 00
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 03 -29 01 -14 -31 31 -02 88 -146 180 -75 -07 -10 -146 156 -21 04 -14 11
co 2 -18 54 04 -15 -06 07 -02 -19 -14 71 -50 12 25 -29 -10 16 26 -05 -16
co 3 04 -37 -01 -06 -74 83 -07 87 -96 30 22 -10 02 75 -71 -19 -06 19 -12
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,45 0,00 0,50 0,99 0,72 0,07 0,04 0,88 0,44 0,83 0,42 0,93 0,99 0,78 0,06 0,90 0,94 0,67 0,69
Esque 2 0,55 1,00 0,50 0,01 0,28 0,93 0,96 0,12 0,56 0,17 0,58 0,07 0,01 0,22 0,94 0,10 0,06 0,33 0,31
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 03 00 02 03 -03 00 -10 15 -18 08 01 02 15 -17 02 -01 01 -01
dpco 2 01 -04 00 02 01 -01 00 02 01 -08 05 -04 -01 01 03 -04 00 01 01
dpco 3 00 04 00 01 07 -09 00 -09 10 -03 -02 01 -01 -08 07 02 01 -01 01
Lambdas Total x y z: 0,20 0,30 2,45 0,80

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:44,789 √J0m:42,867 √Mm:29,337 λ:0,20 |dp|m:0,0212 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:44,707 √J0m:42,868 √Mm:28,681 λ:0,20 |dp|m:0,0212 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:44,630 √J0m:42,874 √Mm:28,027 λ:0,20 |dp|m:0,0212 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:44,560 √J0m:42,883 √Mm:27,375 λ:0,20 |dp|m:0,0212 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:44,496 √J0m:42,897 √Mm:26,727 λ:0,20 |dp|m:0,0212 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:44,438 √J0m:42,915 √Mm:26,081 λ:0,20 |dp|m:0,0212 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:44,387 √J0m:42,937 √Mm:25,438 λ:0,20 |dp|m:0,0212 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:44,341 √J0m:42,963 √Mm:24,799 λ:0,20 |dp|m:0,0212 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:44,302 √J0m:42,993 √Mm:24,163 λ:0,20 |dp|m:0,0212 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:44,269 √J0m:43,028 √Mm:23,531 λ:0,20 |dp|m:0,0212 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:44,242 √J0m:43,067 √Mm:22,904 λ:0,20 |dp|m:0,0212 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:44,222 √J0m:43,110 √Mm:22,281 λ:0,20 |dp|m:0,0212 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:44,208 √J0m:43,157 √Mm:21,664 λ:0,20 |dp|m:0,0212 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:44,200 √J0m:43,208 √Mm:21,051 λ:0,20 |dp|m:0,0212 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:44,198 √J0m:43,263 √Mm:20,445 λ:0,20 |dp|m:0,0212 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -04 00 -01 -04 04 00 12 -20 25 -10 -01 -01 -20 21 -03 00 -02 02
co 2 -03 08 01 -02 -01 01 -01 -03 -02 09 -07 00 05 -05 00 01 05 -01 -02
co 3 01 -05 00 -01 -10 11 -01 12 -13 04 03 -01 00 10 -09 -02 -01 03 -02
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 -13 02 -15 -19 20 01 40 -72 105 -45 -07 -11 -99 111 -13 03 -12 09
co 2 -11 32 09 -16 -01 02 01 -09 -09 40 -28 07 31 -33 -08 05 30 -06 -14
co 3 03 -16 -03 -10 -47 49 05 40 -44 21 09 -08 01 54 -50 -12 -06 16 -10
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,45 0,00 0,50 0,99 0,72 0,07 0,04 0,88 0,44 0,83 0,42 0,93 0,99 0,78 0,06 0,90 0,94 0,67 0,69
Esque 2 0,55 1,00 0,50 0,01 0,28 0,93 0,96 0,12 0,56 0,17 0,58 0,07 0,01 0,22 0,94 0,10 0,06 0,33 0,31
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 01 00 03 02 -02 00 -03 06 -12 05 01 02 13 -15 02 -01 02 -01
dpco 2 01 -03 -02 02 00 00 -01 01 01 -04 03 -02 -05 05 02 -01 -04 01 02
dpco 3 00 01 01 02 05 -05 -02 -03 03 -03 -01 01 00 -07 07 01 01 -02 01
Lambdas Total x y z: 0,45 0,57 2,35 1,25

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 163 Distancia Esque. Antes y Despues Retoque:44,00 Distancias Despues con p y q: 74,00 83,00 mm


Comienzan Iteraciones para cuadro 164

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -01 -01 -103 -18 -24 -21 60 -10 75 03 -67 -136 -66 194 02 59 16 65
co 2 -02 -01 -01 18 -21 97 73 05 -08 56 -14 43 10 -35 67 22 -19 -19 -36
co 3 -01 -01 -01 32 -05 64 59 37 -10 33 -03 -11 82 42 -108 -18 -98 -40 -132
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 -06 01 23 -25 06 00 -10 -02 14 03 -04 01 08 -08 -01 02 -05 04
co 2 -08 11 05 19 -19 07 00 01 -02 00 02 -51 51 -27 27 -40 58 -06 -06
co 3 02 -05 -01 27 -42 22 01 -08 03 08 00 05 -08 01 -01 07 -09 06 -03
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,49 0,00 0,50 0,99 0,70 0,07 0,04 0,86 0,43 0,81 0,41 0,94 0,99 0,81 0,06 0,86 0,93 0,67 0,92
Esque 2 0,51 1,00 0,50 0,01 0,30 0,93 0,96 0,14 0,57 0,19 0,59 0,06 0,01 0,19 0,94 0,14 0,07 0,33 0,08
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 00 -01 -54 -06 -13 -10 31 -05 36 01 -33 -68 -34 98 01 29 08 32
dpco 2 00 -02 -01 07 -08 48 36 02 -04 28 -07 28 -01 -14 30 16 -17 -09 -18
dpco 3 -01 00 00 13 03 29 29 20 -06 15 -02 -06 42 21 -54 -10 -48 -21 -66
Lambdas Total x y z: 0,25 0,46 0,37 1,92

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:60,622 √J0m:60,435 √Mm:9,564 λ:0,25 |dp|m:0,1058 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:59,037 √J0m:58,849 √Mm:9,454 λ:0,25 |dp|m:0,1058 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:57,491 √J0m:57,298 √Mm:9,441 λ:0,25 |dp|m:0,1058 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:55,987 √J0m:55,785 √Mm:9,544 λ:0,25 |dp|m:0,1058 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:54,529 √J0m:54,311 √Mm:9,783 λ:0,25 |dp|m:0,1058 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:53,123 √J0m:52,881 √Mm:10,173 λ:0,25 |dp|m:0,1058 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:51,774 √J0m:51,498 √Mm:10,721 λ:0,25 |dp|m:0,1058 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:50,487 √J0m:50,166 √Mm:11,427 λ:0,25 |dp|m:0,1058 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:49,270 √J0m:48,889 √Mm:12,281 λ:0,25 |dp|m:0,1058 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:48,128 √J0m:47,672 √Mm:13,271 λ:0,25 |dp|m:0,1058 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:47,067 √J0m:46,520 √Mm:14,380 λ:0,25 |dp|m:0,1058 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:46,095 √J0m:45,436 √Mm:15,593 λ:0,25 |dp|m:0,1058 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:45,217 √J0m:44,427 √Mm:16,894 λ:0,25 |dp|m:0,1058 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:44,439 √J0m:43,498 √Mm:18,271 λ:0,25 |dp|m:0,1058 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:43,768 √J0m:42,653 √Mm:19,713 λ:0,25 |dp|m:0,1058 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:43,209 √J0m:41,898 √Mm:21,209 λ:0,25 |dp|m:0,1058 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:42,766 √J0m:41,238 √Mm:22,752 λ:0,25 |dp|m:0,1058 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:42,444 √J0m:40,678 √Mm:24,336 λ:0,25 |dp|m:0,1058 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:42,245 √J0m:40,221 √Mm:25,953 λ:0,25 |dp|m:0,1058 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:42,172 √J0m:39,871 √Mm:27,601 λ:0,25 |dp|m:0,1058 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -01 00 -03 -07 00 -02 02 -01 09 01 -06 -10 -03 13 00 05 00 06
co 2 -02 03 01 06 -06 09 06 01 -01 04 -01 -08 13 -09 11 -07 12 -03 -04
co 3 00 -01 00 09 -10 10 05 01 00 04 00 00 04 03 -08 00 -10 -02 -11
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -31 01 -07 -34 30 -01 90 -140 164 -68 -01 -07 -132 139 -16 03 -45 44
co 2 -03 39 07 -09 -11 06 -01 -19 -12 59 -41 24 05 -05 -23 21 07 39 -50
co 3 01 -37 -02 02 -86 83 -02 89 -94 32 18 -08 04 70 -67 -15 -02 57 -53
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,49 0,00 0,50 0,99 0,70 0,07 0,04 0,86 0,43 0,81 0,41 0,94 0,99 0,81 0,06 0,86 0,93 0,67 0,92
Esque 2 0,51 1,00 0,50 0,01 0,30 0,93 0,96 0,14 0,57 0,19 0,59 0,06 0,01 0,19 0,94 0,14 0,07 0,33 0,08
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 03 00 00 01 -04 -01 -10 17 -16 09 -03 -04 15 -11 02 02 06 -03
dpco 2 -01 -04 00 04 -02 04 03 03 01 -05 05 -07 06 -04 08 -06 05 -06 04
dpco 3 00 04 00 04 06 -06 02 -11 12 -02 -02 01 02 -07 04 02 -05 -08 01
Lambdas Total x y z: 0,25 0,37 2,55 0,75

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:42,172 √J0m:39,634 √Mm:28,632 λ:0,25 |dp|m:0,0229 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:42,072 √J0m:39,642 √Mm:27,997 λ:0,25 |dp|m:0,0229 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:41,980 √J0m:39,656 √Mm:27,367 λ:0,25 |dp|m:0,0229 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:41,896 √J0m:39,674 √Mm:26,744 λ:0,25 |dp|m:0,0229 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:41,820 √J0m:39,699 √Mm:26,127 λ:0,25 |dp|m:0,0229 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:41,752 √J0m:39,728 √Mm:25,518 λ:0,25 |dp|m:0,0229 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:41,693 √J0m:39,762 √Mm:24,916 λ:0,25 |dp|m:0,0229 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:41,642 √J0m:39,802 √Mm:24,323 λ:0,25 |dp|m:0,0229 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:41,600 √J0m:39,847 √Mm:23,739 λ:0,25 |dp|m:0,0229 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:41,566 √J0m:39,897 √Mm:23,165 λ:0,25 |dp|m:0,0229 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:41,541 √J0m:39,953 √Mm:22,601 λ:0,25 |dp|m:0,0229 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:41,524 √J0m:40,013 √Mm:22,048 λ:0,25 |dp|m:0,0229 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:41,515 √J0m:40,079 √Mm:21,508 λ:0,25 |dp|m:0,0229 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -05 00 -02 -08 04 -01 15 -22 29 -10 -02 -05 -22 27 -03 02 -07 09
co 2 -01 07 01 01 -04 04 02 -03 -02 11 -07 01 06 -04 01 00 06 05 -09
co 3 00 -06 00 04 -17 17 01 14 -15 07 03 -01 02 12 -14 -02 -04 08 -12
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -16 02 -05 -29 22 02 41 -69 99 -42 -06 -10 -96 106 -08 04 -37 34
co 2 -02 21 11 -06 -09 02 02 -09 -09 34 -23 06 34 -29 -13 02 33 15 -38
co 3 01 -18 -03 04 -72 59 08 41 -44 21 09 -07 00 56 -51 -07 -06 47 -40
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,49 0,00 0,50 0,99 0,70 0,07 0,04 0,86 0,43 0,81 0,41 0,94 0,99 0,81 0,06 0,86 0,93 0,67 0,92
Esque 2 0,51 1,00 0,50 0,01 0,30 0,93 0,96 0,14 0,57 0,19 0,59 0,06 0,01 0,19 0,94 0,14 0,07 0,33 0,08
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 01 00 00 03 -03 -01 -03 06 -10 05 00 00 13 -13 01 00 06 -04
dpco 2 00 -02 -02 02 00 02 01 01 01 -03 03 -01 -06 05 04 00 -06 -01 05
dpco 3 00 01 01 01 10 -07 -01 -03 04 -02 -01 01 01 -08 06 01 -01 -08 04
Lambdas Total x y z: 0,50 0,68 2,55 1,02

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 164 Distancia Esque. Antes y Despues Retoque:44,00 Distancias Despues con p y q: 70,00 84,00 mm


Comienzan Iteraciones para cuadro 165

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -01 -01 -93 -07 -27 -14 60 -08 00 01 -62 -132 -69 194 02 59 22 71
co 2 -02 -01 -01 09 -11 92 72 05 -03 00 -12 42 24 -36 63 22 -19 -23 -40
co 3 -01 -01 -01 37 06 56 32 37 -08 00 -04 -10 91 47 -108 -18 -98 -55 -141
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 -06 01 -02 13 -05 -01 -12 -70 154 -67 -04 01 08 -08 00 02 -06 05
co 2 -12 10 05 04 12 -08 01 02 -23 75 -54 -41 32 -19 25 -41 53 00 -07
co 3 03 -06 -01 -02 31 -12 -08 -11 -24 48 -12 02 -05 00 -01 09 -09 07 -05
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,49 0,00 0,50 0,99 0,62 0,08 0,11 0,86 0,45 0,51 0,42 0,93 0,99 0,84 0,06 0,86 0,93 0,73 0,96
Esque 2 0,51 1,00 0,50 0,01 0,38 0,92 0,89 0,14 0,55 0,49 0,58 0,07 0,01 0,16 0,94 0,14 0,07 0,27 0,04
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 00 -01 -46 -05 -13 -07 31 01 -12 06 -31 -66 -35 98 01 30 11 35
dpco 2 00 -01 -01 04 -07 47 36 02 00 -06 -02 24 09 -16 29 14 -14 -12 -19
dpco 3 -01 00 00 18 01 29 17 20 -02 -04 -01 -05 46 24 -54 -10 -48 -28 -70
Lambdas Total x y z: 0,15 0,28 0,60 2,31

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:57,709 √J0m:57,353 √Mm:16,314 λ:0,15 |dp|m:0,1029 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:56,129 √J0m:55,778 √Mm:15,957 λ:0,15 |dp|m:0,1029 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:54,582 √J0m:54,236 √Mm:15,621 λ:0,15 |dp|m:0,1029 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:53,071 √J0m:52,730 √Mm:15,319 λ:0,15 |dp|m:0,1029 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:51,601 √J0m:51,261 √Mm:15,071 λ:0,15 |dp|m:0,1029 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:50,177 √J0m:49,835 √Mm:14,896 λ:0,15 |dp|m:0,1029 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:48,802 √J0m:48,454 √Mm:14,816 λ:0,15 |dp|m:0,1029 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:47,481 √J0m:47,123 √Mm:14,848 λ:0,15 |dp|m:0,1029 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:46,222 √J0m:45,845 √Mm:15,008 λ:0,15 |dp|m:0,1029 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:45,028 √J0m:44,626 √Mm:15,304 λ:0,15 |dp|m:0,1029 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:43,907 √J0m:43,470 √Mm:15,741 λ:0,15 |dp|m:0,1029 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:42,864 √J0m:42,383 √Mm:16,316 λ:0,15 |dp|m:0,1029 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:41,905 √J0m:41,370 √Mm:17,022 λ:0,15 |dp|m:0,1029 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:41,038 √J0m:40,436 √Mm:17,851 λ:0,15 |dp|m:0,1029 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:40,268 √J0m:39,587 √Mm:18,791 λ:0,15 |dp|m:0,1029 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:39,602 √J0m:38,830 √Mm:19,830 λ:0,15 |dp|m:0,1029 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:39,044 √J0m:38,168 √Mm:20,957 λ:0,15 |dp|m:0,1029 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:38,600 √J0m:37,608 √Mm:22,161 λ:0,15 |dp|m:0,1029 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:38,274 √J0m:37,153 √Mm:23,433 λ:0,15 |dp|m:0,1029 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:38,069 √J0m:36,808 √Mm:24,762 λ:0,15 |dp|m:0,1029 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:37,988 √J0m:36,576 √Mm:26,143 λ:0,15 |dp|m:0,1029 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -01 00 -03 02 -02 -01 00 -11 23 -10 -03 -04 -01 05 00 02 00 03
co 2 -02 01 01 01 01 02 02 01 -04 11 -08 -05 06 -04 06 -05 07 -01 -02
co 3 00 -01 00 01 05 00 00 00 -04 07 -02 00 02 01 -04 01 -04 -01 -05
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -37 01 -17 -07 17 -01 82 -96 107 -44 -02 -09 -148 157 -14 03 -48 47
co 2 -07 37 06 -18 03 08 -02 -22 -06 44 -30 15 31 -23 -20 14 17 36 -50
co 3 02 -43 -02 -19 -24 74 -31 82 -61 35 -08 -06 00 82 -77 -13 -03 64 -59
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,49 0,00 0,50 0,99 0,62 0,08 0,11 0,86 0,45 0,51 0,42 0,93 0,99 0,84 0,06 0,86 0,93 0,73 0,96
Esque 2 0,51 1,00 0,50 0,01 0,38 0,92 0,89 0,14 0,55 0,49 0,58 0,07 0,01 0,16 0,94 0,14 0,07 0,27 0,04
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 05 00 01 02 -03 00 -11 08 -03 01 -01 -01 20 -19 02 01 07 -05
dpco 2 00 -04 00 03 00 00 02 03 -01 00 00 -04 -01 01 06 -05 01 -05 06
dpco 3 00 05 00 03 06 -10 04 -11 06 -01 00 01 01 -11 09 02 -02 -09 05
Lambdas Total x y z: 0,28 0,43 2,67 0,76

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:39,120 √J0m:36,470 √Mm:26,965 λ:0,28 |dp|m:0,0217 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:39,022 √J0m:36,487 √Mm:26,364 λ:0,28 |dp|m:0,0217 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:38,933 √J0m:36,509 √Mm:25,767 λ:0,28 |dp|m:0,0217 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:38,851 √J0m:36,536 √Mm:25,173 λ:0,28 |dp|m:0,0217 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:38,777 √J0m:36,568 √Mm:24,582 λ:0,28 |dp|m:0,0217 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:38,711 √J0m:36,605 √Mm:23,996 λ:0,28 |dp|m:0,0217 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:38,652 √J0m:36,647 √Mm:23,414 λ:0,28 |dp|m:0,0217 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:38,602 √J0m:36,695 √Mm:22,837 λ:0,28 |dp|m:0,0217 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:38,560 √J0m:36,747 √Mm:22,265 λ:0,28 |dp|m:0,0217 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:38,526 √J0m:36,804 √Mm:21,699 λ:0,28 |dp|m:0,0217 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:38,500 √J0m:36,867 √Mm:21,138 λ:0,28 |dp|m:0,0217 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:38,482 √J0m:36,934 √Mm:20,584 λ:0,28 |dp|m:0,0217 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:38,472 √J0m:37,007 √Mm:20,037 λ:0,28 |dp|m:0,0217 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:38,470 √J0m:37,084 √Mm:19,498 λ:0,28 |dp|m:0,0217 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -07 00 -04 -01 03 00 15 -21 27 -11 -01 -03 -27 30 -03 01 -09 10
co 2 -02 07 01 -03 01 02 00 -04 -02 12 -08 01 07 -06 -02 01 06 06 -10
co 3 00 -08 00 -03 -03 13 -06 15 -12 09 -02 -01 01 15 -15 -02 -02 11 -12
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -17 02 -17 02 08 00 35 -55 88 -40 -04 -10 -95 106 -06 03 -34 32
co 2 -03 15 12 -17 07 03 -01 -09 -08 37 -26 09 34 -30 -14 00 31 15 -35
co 3 01 -17 -04 -20 -02 34 -12 36 -30 27 -07 -06 00 56 -51 -06 -05 45 -40
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,49 0,00 0,50 0,99 0,62 0,08 0,11 0,86 0,45 0,51 0,42 0,93 0,99 0,84 0,06 0,86 0,93 0,73 0,96
Esque 2 0,51 1,00 0,50 0,01 0,38 0,92 0,89 0,14 0,55 0,49 0,58 0,07 0,01 0,16 0,94 0,14 0,07 0,27 0,04
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 01 00 02 -01 -01 00 -02 05 -10 05 00 01 12 -14 00 00 05 -04
dpco 2 00 00 -02 03 -01 00 00 01 01 -04 03 -02 -06 05 03 00 -06 -01 04
dpco 3 00 01 01 04 -01 -03 00 -02 02 -03 01 01 00 -07 06 00 00 -07 05
Lambdas Total x y z: 0,54 0,69 2,14 1,30

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 165 Distancia Esque. Antes y Despues Retoque:43,00 Distancias Despues con p y q: 68,00 80,00 mm


Comienzan Iteraciones para cuadro 166

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -01 -01 -98 -16 -27 -07 64 -02 77 02 -67 -133 -69 119 -01 56 22 -19
co 2 -01 -01 -01 04 -08 97 104 05 -01 62 -12 35 11 -39 54 15 -19 -05 -08
co 3 -01 -01 -01 36 08 46 53 40 -02 31 -02 05 87 53 -43 -12 -99 -54 -139
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -07 00 04 11 -08 00 -07 -03 05 10 -04 01 -25 26 02 -02 -01 03
co 2 -09 05 01 11 11 -10 00 02 -03 -04 07 -32 22 26 -18 -32 02 13 22
co 3 02 -09 00 05 30 -24 00 -07 02 07 00 02 -04 13 -13 09 -04 -08 06
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,51 0,00 0,50 0,99 0,68 0,07 0,08 0,89 0,49 0,81 0,42 0,94 1,00 0,84 0,00 0,87 0,94 0,67 0,99
Esque 2 0,49 1,00 0,50 0,01 0,32 0,93 0,92 0,11 0,51 0,19 0,58 0,06 0,00 0,16 1,00 0,13 0,06 0,33 0,01
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 01 -01 -49 -09 -12 -04 33 00 38 -01 -33 -66 -31 56 -01 28 11 -10
dpco 2 01 -01 -01 01 -06 50 52 02 00 32 -07 23 02 -23 30 13 -10 -05 -07
dpco 3 -01 01 -01 17 -01 27 27 21 -01 14 -01 02 44 24 -20 -07 -49 -26 -70
Lambdas Total x y z: 0,31 4,29 -0,36 1,47

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:54,661 √J0m:54,442 √Mm:8,738 λ:0,31 |dp|m:0,0955 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:53,235 √J0m:53,008 √Mm:8,780 λ:0,31 |dp|m:0,0955 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:51,850 √J0m:51,605 √Mm:9,004 λ:0,31 |dp|m:0,0955 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:50,510 √J0m:50,235 √Mm:9,403 λ:0,31 |dp|m:0,0955 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:49,218 √J0m:48,902 √Mm:9,962 λ:0,31 |dp|m:0,0955 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:47,980 √J0m:47,608 √Mm:10,660 λ:0,31 |dp|m:0,0955 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:46,799 √J0m:46,356 √Mm:11,477 λ:0,31 |dp|m:0,0955 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:45,680 √J0m:45,151 √Mm:12,392 λ:0,31 |dp|m:0,0955 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:44,629 √J0m:43,996 √Mm:13,388 λ:0,31 |dp|m:0,0955 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:43,650 √J0m:42,895 √Mm:14,452 λ:0,31 |dp|m:0,0955 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:42,749 √J0m:41,852 √Mm:15,572 λ:0,31 |dp|m:0,0955 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:41,931 √J0m:40,872 √Mm:16,739 λ:0,31 |dp|m:0,0955 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:41,201 √J0m:39,959 √Mm:17,945 λ:0,31 |dp|m:0,0955 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:40,564 √J0m:39,119 √Mm:19,184 λ:0,31 |dp|m:0,0955 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:40,025 √J0m:38,355 √Mm:20,451 λ:0,31 |dp|m:0,0955 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:39,588 √J0m:37,672 √Mm:21,743 λ:0,31 |dp|m:0,0955 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:39,256 √J0m:37,076 √Mm:23,057 λ:0,31 |dp|m:0,0955 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:39,033 √J0m:36,570 √Mm:24,388 λ:0,31 |dp|m:0,0955 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:38,920 √J0m:36,158 √Mm:25,736 λ:0,31 |dp|m:0,0955 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:38,918 √J0m:35,843 √Mm:27,099 λ:0,31 |dp|m:0,0955 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -02 00 -06 02 -04 -01 03 -01 07 03 -06 -10 -12 17 00 04 01 -01
co 2 -03 01 00 03 03 05 08 01 -01 04 01 -07 07 05 -01 -08 -01 03 06
co 3 01 -03 00 04 09 -03 04 01 00 04 00 01 06 08 -07 02 -09 -06 -09
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -34 00 -16 -07 13 00 86 -126 162 -74 -01 -10 -152 162 -10 -05 14 -09
co 2 01 35 02 -17 -01 05 01 -23 -11 56 -35 27 15 -36 -04 08 -30 56 -21
co 3 00 -41 00 -16 -25 41 -02 88 -86 31 14 -09 04 88 -83 -10 05 14 -18
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,51 0,00 0,50 0,99 0,68 0,07 0,08 0,89 0,49 0,81 0,42 0,94 1,00 0,84 0,00 0,87 0,94 0,67 0,99
Esque 2 0,49 1,00 0,50 0,01 0,32 0,93 0,92 0,11 0,51 0,19 0,58 0,06 0,00 0,16 1,00 0,13 0,06 0,33 0,01
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 03 00 -01 02 -04 00 -10 15 -17 11 -03 -04 13 -12 02 02 -01 01
dpco 2 -01 -04 00 04 01 02 04 03 01 -05 05 -07 02 07 00 -05 03 -05 06
dpco 3 00 04 00 04 08 -07 02 -11 11 -02 -02 02 02 -07 07 02 -05 -05 -02
Lambdas Total x y z: 0,25 0,36 2,39 0,93

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:38,292 √J0m:35,634 √Mm:27,849 λ:0,25 |dp|m:0,0220 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:38,190 √J0m:35,645 √Mm:27,230 λ:0,25 |dp|m:0,0220 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:38,096 √J0m:35,662 √Mm:26,615 λ:0,25 |dp|m:0,0220 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:38,010 √J0m:35,685 √Mm:26,005 λ:0,25 |dp|m:0,0220 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:37,932 √J0m:35,712 √Mm:25,401 λ:0,25 |dp|m:0,0220 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:37,863 √J0m:35,746 √Mm:24,802 λ:0,25 |dp|m:0,0220 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:37,802 √J0m:35,784 √Mm:24,210 λ:0,25 |dp|m:0,0220 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:37,750 √J0m:35,828 √Mm:23,624 λ:0,25 |dp|m:0,0220 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:37,706 √J0m:35,877 √Mm:23,046 λ:0,25 |dp|m:0,0220 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:37,671 √J0m:35,932 √Mm:22,475 λ:0,25 |dp|m:0,0220 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:37,644 √J0m:35,991 √Mm:21,913 λ:0,25 |dp|m:0,0220 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:37,625 √J0m:36,056 √Mm:21,360 λ:0,25 |dp|m:0,0220 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:37,616 √J0m:36,127 √Mm:20,816 λ:0,25 |dp|m:0,0220 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:37,614 √J0m:36,202 √Mm:20,283 λ:0,25 |dp|m:0,0220 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -06 00 -05 -01 01 00 15 -21 29 -11 -02 -05 -30 33 -02 01 03 -02
co 2 -01 06 00 -02 01 02 03 -04 -02 11 -06 02 05 -05 -01 -01 -05 11 -02
co 3 00 -08 00 -01 -01 06 01 15 -14 07 02 -01 03 17 -16 -01 -02 00 -06
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -18 01 -16 02 07 -01 38 -55 88 -40 -07 -10 -118 128 -03 -03 08 -05
co 2 -01 17 07 -16 04 06 -03 -10 -09 30 -18 11 22 -29 -08 -08 -06 34 -11
co 3 01 -20 -02 -18 -02 14 06 39 -35 19 06 -09 03 69 -65 -03 02 08 -10
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,51 0,00 0,50 0,99 0,68 0,07 0,08 0,89 0,49 0,81 0,42 0,94 1,00 0,84 0,00 0,87 0,94 0,67 0,99
Esque 2 0,49 1,00 0,50 0,01 0,32 0,93 0,92 0,11 0,51 0,19 0,58 0,06 0,00 0,16 1,00 0,13 0,06 0,33 0,01
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 02 00 02 -01 -02 00 -02 04 -08 05 01 00 16 -17 00 01 -01 00
dpco 2 00 -01 -02 03 -01 00 02 01 01 -03 02 -02 -03 05 02 02 -01 -04 02
dpco 3 00 02 00 04 00 -01 -01 -03 02 -02 00 02 01 -10 09 00 -02 -02 00
Lambdas Total x y z: 0,53 0,63 3,39 1,45

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 166 Distancia Esque. Antes y Despues Retoque:40,00 Distancias Despues con p y q: 55,00 82,00 mm


Comienzan Iteraciones para cuadro 167

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -01 -01 -83 -56 -30 -09 64 -09 72 00 -63 -133 -70 55 02 55 89 39
co 2 -01 -01 -01 00 -11 99 132 05 -06 58 -11 23 06 -39 26 09 -19 08 25
co 3 -01 -01 -01 40 02 52 72 40 -08 30 -02 05 92 53 -24 -06 -97 -49 -69
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 -05 00 18 -11 -01 00 -14 13 03 03 -04 00 -28 30 01 02 -08 06
co 2 -14 06 00 15 -05 -01 00 02 -03 -01 02 -25 20 23 -20 -21 -16 13 29
co 3 03 -07 00 22 -10 -04 02 -12 12 02 00 00 -03 16 -16 05 04 -21 13
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,51 0,00 0,50 0,98 0,98 0,08 0,00 0,89 0,44 0,81 0,44 0,94 1,00 0,84 0,26 0,87 0,93 0,82 0,96
Esque 2 0,49 1,00 0,50 0,02 0,02 0,92 1,00 0,11 0,56 0,19 0,56 0,06 0,00 0,16 0,74 0,13 0,07 0,18 0,04
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 01 00 -46 -25 -15 -04 36 -08 35 -01 -30 -67 -27 20 01 27 46 18
dpco 2 03 -02 00 -04 -04 50 66 02 -02 29 -06 18 -02 -26 18 10 -05 01 05
dpco 3 -01 01 -01 14 04 27 36 23 -07 14 -01 02 47 22 -08 -04 -50 -19 -38
Lambdas Total x y z: 0,53 1,85 0,48 1,91

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:53,620 √J0m:53,245 √Mm:8,721 λ:0,53 |dp|m:0,0915 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:52,292 √J0m:51,906 √Mm:8,736 λ:0,53 |dp|m:0,0915 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:51,011 √J0m:50,599 √Mm:8,908 λ:0,53 |dp|m:0,0915 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:49,778 √J0m:49,325 √Mm:9,229 λ:0,53 |dp|m:0,0915 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:48,598 √J0m:48,087 √Mm:9,686 λ:0,53 |dp|m:0,0915 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:47,476 √J0m:46,887 √Mm:10,263 λ:0,53 |dp|m:0,0915 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:46,414 √J0m:45,730 √Mm:10,942 λ:0,53 |dp|m:0,0915 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:45,419 √J0m:44,617 √Mm:11,708 λ:0,53 |dp|m:0,0915 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:44,495 √J0m:43,553 √Mm:12,545 λ:0,53 |dp|m:0,0915 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:43,646 √J0m:42,541 √Mm:13,441 λ:0,53 |dp|m:0,0915 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:42,876 √J0m:41,585 √Mm:14,386 λ:0,53 |dp|m:0,0915 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:42,191 √J0m:40,688 √Mm:15,372 λ:0,53 |dp|m:0,0915 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:41,595 √J0m:39,856 √Mm:16,393 λ:0,53 |dp|m:0,0915 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:41,092 √J0m:39,092 √Mm:17,443 λ:0,53 |dp|m:0,0915 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:40,685 √J0m:38,400 √Mm:18,517 λ:0,53 |dp|m:0,0915 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:40,378 √J0m:37,783 √Mm:19,613 λ:0,53 |dp|m:0,0915 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:40,172 √J0m:37,247 √Mm:20,728 λ:0,53 |dp|m:0,0915 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:40,070 √J0m:36,794 √Mm:21,858 λ:0,53 |dp|m:0,0915 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -02 00 -06 -14 -05 -01 04 04 13 01 -12 -22 -24 22 01 10 11 09
co 2 -06 02 00 07 -04 16 22 02 -02 09 -01 -07 10 04 -05 -08 -10 07 17
co 3 01 -03 00 16 -04 07 13 01 04 06 00 01 14 16 -11 01 -14 -17 -05
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -28 00 -05 -22 14 01 91 -125 150 -69 00 -09 -82 90 -07 03 -06 03
co 2 08 30 03 -11 -17 08 04 -23 -06 50 -34 29 11 -25 -13 00 -23 30 05
co 3 -01 -35 00 04 -68 63 -03 90 -88 37 07 -09 04 56 -51 -07 09 -13 04
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,51 0,00 0,50 0,98 0,98 0,08 0,00 0,89 0,44 0,81 0,44 0,94 1,00 0,84 0,26 0,87 0,93 0,82 0,96
Esque 2 0,49 1,00 0,50 0,02 0,02 0,92 1,00 0,11 0,56 0,19 0,56 0,06 0,00 0,16 0,74 0,13 0,07 0,18 0,04
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 03 00 -02 -04 -05 -01 -11 20 -14 10 -06 -10 -01 -01 01 05 06 04
dpco 2 -04 -03 00 05 00 07 10 04 00 -02 04 -08 03 05 -01 -04 -02 -01 08
dpco 3 01 03 00 08 07 -05 07 -12 14 -02 -01 02 06 00 02 02 -08 -07 -03
Lambdas Total x y z: 0,28 0,40 2,47 0,71

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:38,275 √J0m:36,383 √Mm:22,501 λ:0,28 |dp|m:0,0233 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:38,158 √J0m:36,344 √Mm:22,008 λ:0,28 |dp|m:0,0233 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:38,050 √J0m:36,311 √Mm:21,525 λ:0,28 |dp|m:0,0233 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:37,951 √J0m:36,284 √Mm:21,053 λ:0,28 |dp|m:0,0233 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:37,860 √J0m:36,264 √Mm:20,592 λ:0,28 |dp|m:0,0233 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:37,779 √J0m:36,249 √Mm:20,144 λ:0,28 |dp|m:0,0233 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:37,706 √J0m:36,240 √Mm:19,708 λ:0,28 |dp|m:0,0233 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:37,642 √J0m:36,237 √Mm:19,286 λ:0,28 |dp|m:0,0233 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:37,588 √J0m:36,241 √Mm:18,879 λ:0,28 |dp|m:0,0233 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:37,542 √J0m:36,250 √Mm:18,488 λ:0,28 |dp|m:0,0233 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:37,506 √J0m:36,265 √Mm:18,113 λ:0,28 |dp|m:0,0233 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:37,479 √J0m:36,286 √Mm:17,757 λ:0,28 |dp|m:0,0233 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:37,461 √J0m:36,313 √Mm:17,419 λ:0,28 |dp|m:0,0233 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:37,453 √J0m:36,347 √Mm:17,102 λ:0,28 |dp|m:0,0233 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -06 00 -03 -09 01 00 18 -21 32 -12 -04 -09 -23 24 -01 04 03 04
co 2 -01 06 00 00 -04 07 08 -04 -02 12 -07 03 05 -03 -04 -03 -08 08 07
co 3 00 -08 00 06 -14 14 04 17 -15 09 01 -01 05 16 -13 -01 -03 -08 -01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -13 01 00 -20 11 00 34 -44 78 -40 -10 -09 -80 89 -01 03 -11 08
co 2 -05 17 06 -05 -14 09 00 -09 -06 26 -18 07 21 -21 -16 -09 -20 25 11
co 3 01 -16 -02 09 -57 44 01 34 -28 18 03 -10 02 54 -50 00 09 -18 08
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,51 0,00 0,50 0,98 0,98 0,08 0,00 0,89 0,44 0,81 0,44 0,94 1,00 0,84 0,26 0,87 0,93 0,82 0,96
Esque 2 0,49 1,00 0,50 0,02 0,02 0,92 1,00 0,11 0,56 0,19 0,56 0,06 0,00 0,16 0,74 0,13 0,07 0,18 0,04
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 01 00 -01 01 -03 00 -01 02 -07 06 01 -02 12 -14 00 01 05 00
dpco 2 01 -02 -02 02 02 01 04 01 01 -01 02 -01 -04 04 03 01 02 -03 00
dpco 3 00 01 00 01 10 -06 01 -02 01 -01 00 02 02 -08 08 00 -04 01 -03
Lambdas Total x y z: 0,58 0,77 2,79 1,13

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 167 Distancia Esque. Antes y Despues Retoque:37,00 Distancias Despues con p y q: 54,00 78,00 mm


Comienzan Iteraciones para cuadro 168

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -01 -01 -83 -09 -39 -47 71 -02 42 07 -60 -134 -61 97 02 63 -12 61
co 2 00 -01 -01 00 -05 98 80 06 -01 46 -15 19 10 -33 47 06 -11 03 -18
co 3 -02 -01 -01 40 06 38 31 42 -05 13 00 05 85 48 -42 -05 -97 16 -106
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -03 00 00 13 -03 -05 19 -36 08 14 -03 00 -29 30 03 05 -15 11
co 2 01 -05 00 06 13 -13 04 -06 03 -03 07 -14 09 23 -20 -20 52 -19 -12
co 3 00 -04 00 01 36 -03 -23 20 -28 09 02 -01 -01 18 -18 08 -07 14 -09
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,53 0,00 0,50 0,98 0,64 0,07 0,02 0,91 0,46 0,76 0,39 0,94 0,99 0,81 0,06 0,86 0,93 0,43 0,85
Esque 2 0,47 1,00 0,50 0,02 0,36 0,93 0,98 0,09 0,54 0,24 0,61 0,06 0,01 0,19 0,94 0,14 0,07 0,57 0,15
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 01 00 -42 -10 -18 -22 28 14 18 -02 -29 -67 -18 36 00 30 00 26
dpco 2 -01 02 00 -02 -08 55 39 05 -02 24 -11 15 01 -26 32 11 -27 09 -04
dpco 3 -01 01 -01 20 -12 20 25 13 09 03 -01 03 43 17 -14 -06 -46 02 -49
Lambdas Total x y z: 0,82 2,68 -0,07 1,75

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:51,622 √J0m:50,957 √Mm:9,098 λ:0,82 |dp|m:0,0843 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:50,467 √J0m:49,789 √Mm:9,074 λ:0,82 |dp|m:0,0843 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:49,362 √J0m:48,653 √Mm:9,182 λ:0,82 |dp|m:0,0843 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:48,312 √J0m:47,548 √Mm:9,420 λ:0,82 |dp|m:0,0843 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:47,320 √J0m:46,479 √Mm:9,782 λ:0,82 |dp|m:0,0843 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:46,391 √J0m:45,446 √Mm:10,255 λ:0,82 |dp|m:0,0843 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:45,528 √J0m:44,454 √Mm:10,828 λ:0,82 |dp|m:0,0843 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:44,737 √J0m:43,504 √Mm:11,486 λ:0,82 |dp|m:0,0843 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:44,021 √J0m:42,600 √Mm:12,218 λ:0,82 |dp|m:0,0843 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:43,385 √J0m:41,745 √Mm:13,013 λ:0,82 |dp|m:0,0843 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:42,832 √J0m:40,940 √Mm:13,862 λ:0,82 |dp|m:0,0843 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:42,365 √J0m:40,191 √Mm:14,755 λ:0,82 |dp|m:0,0843 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:41,989 √J0m:39,499 √Mm:15,687 λ:0,82 |dp|m:0,0843 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:41,705 √J0m:38,868 √Mm:16,652 λ:0,82 |dp|m:0,0843 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:41,517 √J0m:38,300 √Mm:17,645 λ:0,82 |dp|m:0,0843 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:41,425 √J0m:37,800 √Mm:18,662 λ:0,82 |dp|m:0,0843 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -02 00 -21 05 -12 -15 29 -23 16 10 -17 -34 -33 43 03 19 -12 22
co 2 01 -03 00 04 07 16 22 -02 01 10 01 -04 08 06 -01 -11 29 -11 -12
co 3 00 -03 00 10 23 08 -07 23 -19 09 01 01 21 24 -22 03 -29 12 -32
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -15 -01 -05 -12 14 -04 52 -53 61 -31 02 -09 -82 92 -09 01 -52 53
co 2 10 26 -02 -08 -06 05 00 -20 03 19 -11 26 19 -35 -06 39 -25 52 -52
co 3 -01 -21 01 -01 -32 49 -16 57 -42 17 -03 -06 03 58 -53 -13 03 63 -61
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,53 0,00 0,50 0,98 0,64 0,07 0,02 0,91 0,46 0,76 0,39 0,94 0,99 0,81 0,06 0,86 0,93 0,43 0,85
Esque 2 0,47 1,00 0,50 0,02 0,36 0,93 0,98 0,09 0,54 0,24 0,61 0,06 0,01 0,19 0,94 0,14 0,07 0,57 0,15
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 03 00 -09 06 -09 -06 02 02 -08 13 -09 -14 04 -01 04 09 07 -02
dpco 2 -02 -08 00 04 05 07 11 04 00 00 03 -08 00 12 01 -15 21 -18 07
dpco 3 00 04 00 05 20 -08 01 -03 01 00 01 02 10 -03 03 05 -15 -10 -01
Lambdas Total x y z: 0,50 0,87 1,21 0,96

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:39,693 √J0m:37,277 √Mm:19,280 λ:0,50 |dp|m:0,0293 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:39,520 √J0m:37,195 √Mm:18,883 λ:0,50 |dp|m:0,0293 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:39,364 √J0m:37,122 √Mm:18,513 λ:0,50 |dp|m:0,0293 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:39,224 √J0m:37,058 √Mm:18,172 λ:0,50 |dp|m:0,0293 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:39,100 √J0m:37,003 √Mm:17,861 λ:0,50 |dp|m:0,0293 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:38,994 √J0m:36,958 √Mm:17,582 λ:0,50 |dp|m:0,0293 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:38,904 √J0m:36,922 √Mm:17,335 λ:0,50 |dp|m:0,0293 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:38,832 √J0m:36,895 √Mm:17,124 λ:0,50 |dp|m:0,0293 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:38,776 √J0m:36,877 √Mm:16,948 λ:0,50 |dp|m:0,0293 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:38,738 √J0m:36,869 √Mm:16,810 λ:0,50 |dp|m:0,0293 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:38,717 √J0m:36,870 √Mm:16,709 λ:0,50 |dp|m:0,0293 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:38,714 √J0m:36,880 √Mm:16,647 λ:0,50 |dp|m:0,0293 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -05 00 -10 -01 -01 -07 28 -25 24 -05 -07 -17 -38 45 -01 09 -20 25
co 2 03 06 -01 -01 01 08 10 -07 01 10 -03 06 09 -07 -02 06 05 10 -20
co 3 -01 -07 00 04 01 17 -07 26 -20 09 -01 -01 10 27 -24 -02 -11 23 -31
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -11 01 -15 10 01 -01 43 -41 31 -09 -08 -09 -77 86 06 09 -48 39
co 2 06 04 07 -14 07 -01 00 -16 05 09 -03 08 14 -20 -10 -18 60 -09 -33
co 3 -01 -11 -02 -17 18 05 -06 47 -35 11 -01 -09 03 52 -49 08 -12 58 -46
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,53 0,00 0,50 0,98 0,64 0,07 0,02 0,91 0,46 0,76 0,39 0,94 0,99 0,81 0,06 0,86 0,93 0,43 0,85
Esque 2 0,47 1,00 0,50 0,02 0,36 0,93 0,98 0,09 0,54 0,24 0,61 0,06 0,01 0,19 0,94 0,14 0,07 0,57 0,15
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 01 -01 00 -04 -01 -03 -02 02 01 01 00 -06 09 -08 -03 01 07 -02
dpco 2 00 02 -03 05 -02 04 05 02 -01 02 00 00 -01 03 03 10 -19 09 02
dpco 3 00 00 01 08 -06 07 -02 -04 03 00 00 03 04 -05 05 -04 -01 -09 01
Lambdas Total x y z: 0,72 1,04 1,73 1,23

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 168 Distancia Esque. Antes y Despues Retoque:31,00 Distancias Despues con p y q: 51,00 71,00 mm


Comienzan Iteraciones para cuadro 169

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -01 -01 -68 -18 -25 -04 64 -02 40 08 -59 -134 -56 45 02 63 -13 -63
co 2 -01 -01 -01 -04 -38 93 141 05 -02 71 -17 19 10 -29 08 02 -11 -04 -33
co 3 -01 -01 -01 39 24 52 89 36 -08 -14 -01 05 81 42 -41 -02 -97 04 36
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -02 00 01 07 -04 00 22 -53 05 30 -03 00 -14 16 01 00 -04 03
co 2 02 -06 02 05 08 -09 04 -07 06 -22 24 -13 08 09 -06 -11 -08 09 16
co 3 00 -02 00 02 21 -11 -04 22 -42 26 -03 -01 -01 05 -05 04 02 -09 04
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,50 0,00 0,50 0,97 0,99 0,11 0,00 0,89 0,43 0,76 0,38 0,93 0,98 0,77 0,27 0,86 0,93 0,47 0,23
Esque 2 0,50 1,00 0,50 0,03 0,01 0,89 1,00 0,11 0,57 0,24 0,62 0,07 0,02 0,23 0,73 0,14 0,07 0,53 0,77
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 00 -01 -34 -10 -12 -02 29 07 19 00 -29 -67 -26 20 01 32 -06 -32
dpco 2 -01 00 -01 -03 -20 48 70 04 -02 39 -12 11 04 -16 05 03 -04 -03 -19
dpco 3 00 00 00 19 09 28 45 15 02 -11 00 03 41 20 -20 -02 -49 03 17
Lambdas Total x y z: 0,29 1,31 -0,36 0,95

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:55,896 √J0m:55,714 √Mm:8,318 λ:0,29 |dp|m:0,0852 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:54,784 √J0m:54,602 √Mm:8,258 λ:0,29 |dp|m:0,0852 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:53,709 √J0m:53,521 √Mm:8,302 λ:0,29 |dp|m:0,0852 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:52,672 √J0m:52,473 √Mm:8,448 λ:0,29 |dp|m:0,0852 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:51,675 √J0m:51,460 √Mm:8,694 λ:0,29 |dp|m:0,0852 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:50,721 √J0m:50,485 √Mm:9,030 λ:0,29 |dp|m:0,0852 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:49,812 √J0m:49,549 √Mm:9,449 λ:0,29 |dp|m:0,0852 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:48,951 √J0m:48,654 √Mm:9,941 λ:0,29 |dp|m:0,0852 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:48,140 √J0m:47,804 √Mm:10,495 λ:0,29 |dp|m:0,0852 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:47,383 √J0m:47,001 √Mm:11,103 λ:0,29 |dp|m:0,0852 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:46,681 √J0m:46,246 √Mm:11,757 λ:0,29 |dp|m:0,0852 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:46,038 √J0m:45,542 √Mm:12,450 λ:0,29 |dp|m:0,0852 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:45,455 √J0m:44,893 √Mm:13,176 λ:0,29 |dp|m:0,0852 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:44,936 √J0m:44,299 √Mm:13,930 λ:0,29 |dp|m:0,0852 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:44,481 √J0m:43,764 √Mm:14,708 λ:0,29 |dp|m:0,0852 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:44,095 √J0m:43,289 √Mm:15,506 λ:0,29 |dp|m:0,0852 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:43,777 √J0m:42,877 √Mm:16,321 λ:0,29 |dp|m:0,0852 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:43,530 √J0m:42,530 √Mm:17,152 λ:0,29 |dp|m:0,0852 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:43,355 √J0m:42,248 √Mm:17,995 λ:0,29 |dp|m:0,0852 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:43,253 √J0m:42,033 √Mm:18,850 λ:0,29 |dp|m:0,0852 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:43,224 √J0m:41,887 √Mm:19,714 λ:0,29 |dp|m:0,0852 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -01 00 -02 01 -02 00 08 -15 03 09 -03 -04 -06 06 00 02 -01 -01
co 2 01 -02 01 01 01 00 06 -02 02 -04 06 -03 03 02 -02 -03 -03 02 03
co 3 00 -01 00 02 07 -02 02 07 -12 07 -01 00 02 03 -03 01 -02 -02 02
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -28 00 -10 -09 09 02 87 -96 94 -43 -05 -10 -95 105 -04 00 10 -10
co 2 07 27 00 -11 -02 -10 15 -33 10 29 -18 18 19 -29 -11 -05 20 16 -21
co 3 -01 -33 00 -08 -38 52 -08 92 -79 27 01 -09 03 58 -54 -04 -04 04 -01
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,50 0,00 0,50 0,97 0,99 0,11 0,00 0,89 0,43 0,76 0,38 0,93 0,98 0,77 0,27 0,86 0,93 0,47 0,23
Esque 2 0,50 1,00 0,50 0,03 0,01 0,89 1,00 0,11 0,57 0,24 0,62 0,07 0,02 0,23 0,73 0,14 0,07 0,53 0,77
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 03 00 00 02 -02 00 -07 05 -11 10 -01 -01 10 -11 01 01 -02 01
dpco 2 -01 -04 00 02 01 01 01 03 00 -06 06 -04 -01 05 01 -01 -04 -01 04
dpco 3 00 04 00 02 08 -08 02 -08 04 00 -01 01 01 -06 06 01 -01 -02 01
Lambdas Total x y z: 0,26 0,41 2,64 0,69

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:43,074 √J0m:41,815 √Mm:20,135 λ:0,26 |dp|m:0,0159 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:43,027 √J0m:41,823 √Mm:19,687 λ:0,26 |dp|m:0,0159 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:42,983 √J0m:41,832 √Mm:19,241 λ:0,26 |dp|m:0,0159 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:42,943 √J0m:41,844 √Mm:18,797 λ:0,26 |dp|m:0,0159 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:42,907 √J0m:41,859 √Mm:18,356 λ:0,26 |dp|m:0,0159 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:42,874 √J0m:41,876 √Mm:17,919 λ:0,26 |dp|m:0,0159 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:42,846 √J0m:41,895 √Mm:17,484 λ:0,26 |dp|m:0,0159 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:42,821 √J0m:41,917 √Mm:17,053 λ:0,26 |dp|m:0,0159 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:42,801 √J0m:41,941 √Mm:16,625 λ:0,26 |dp|m:0,0159 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:42,784 √J0m:41,967 √Mm:16,201 λ:0,26 |dp|m:0,0159 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:42,771 √J0m:41,996 √Mm:15,782 λ:0,26 |dp|m:0,0159 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:42,762 √J0m:42,028 √Mm:15,367 λ:0,26 |dp|m:0,0159 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:42,757 √J0m:42,061 √Mm:14,957 λ:0,26 |dp|m:0,0159 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:42,755 √J0m:42,097 √Mm:14,553 λ:0,26 |dp|m:0,0159 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -05 00 -02 -01 01 00 18 -22 17 -04 -02 -03 -18 20 -01 01 01 -02
co 2 01 04 00 -02 00 -02 05 -06 02 04 -01 02 04 -04 -02 -02 03 04 -02
co 3 00 -06 00 -01 -04 09 -01 19 -18 07 00 -02 01 11 -10 00 -01 00 01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -14 01 -12 00 04 02 56 -61 46 -14 -08 -10 -68 78 -01 00 06 -06
co 2 10 07 06 -12 03 -07 10 -20 07 13 -06 12 17 -24 -11 -04 13 12 -13
co 3 -01 -14 -02 -12 -12 27 -04 59 -52 17 00 -09 03 42 -39 -01 -02 02 -01
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,50 0,00 0,50 0,97 0,99 0,11 0,00 0,89 0,43 0,76 0,38 0,93 0,98 0,77 0,27 0,86 0,93 0,47 0,23
Esque 2 0,50 1,00 0,50 0,03 0,01 0,89 1,00 0,11 0,57 0,24 0,62 0,07 0,02 0,23 0,73 0,14 0,07 0,53 0,77
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 01 00 02 -01 -01 00 -06 05 -03 01 01 01 09 -10 00 00 -01 01
dpco 2 -02 00 -02 02 -01 01 00 02 -01 -02 01 -02 -02 04 02 00 -02 -01 02
dpco 3 00 01 00 03 01 -03 01 -06 05 -01 00 02 00 -06 05 00 00 -01 00
Lambdas Total x y z: 0,53 0,69 3,05 1,02

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 169 Distancia Esque. Antes y Despues Retoque:37,00 Distancias Despues con p y q: 66,00 71,00 mm


Comienzan Iteraciones para cuadro 170

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -05 -01 -01 -67 -27 -25 -04 67 -02 59 06 -59 -129 -53 78 02 67 -21 -21
co 2 02 -01 -01 -04 -47 100 137 06 -02 76 -15 19 14 -26 11 02 -07 -07 -14
co 3 -03 -01 -01 39 33 52 85 38 -03 -05 00 05 75 44 -73 -02 -105 07 20
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -02 00 02 04 -03 01 18 -47 04 30 -03 00 -18 19 01 00 03 -03
co 2 03 -05 00 05 04 -07 04 -05 05 -24 25 -09 03 12 -08 -07 -09 28 -07
co 3 00 -02 00 02 12 -02 -05 18 -38 26 -04 -02 00 06 -06 03 02 -01 -03
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,58 0,00 0,50 0,96 0,99 0,11 0,00 0,91 0,48 0,79 0,40 0,93 0,95 0,77 0,10 0,86 0,93 0,45 0,38
Esque 2 0,42 1,00 0,50 0,04 0,01 0,89 1,00 0,09 0,52 0,21 0,60 0,07 0,05 0,23 0,90 0,14 0,07 0,55 0,62
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -03 00 00 -34 -14 -12 -02 30 10 29 -04 -29 -65 -23 35 01 34 -11 -10
dpco 2 00 01 -01 -03 -24 51 68 04 -02 43 -13 11 06 -16 07 03 -02 -10 -06
dpco 3 -01 00 -01 19 14 27 44 15 07 -08 01 03 38 21 -35 -02 -53 04 11
Lambdas Total x y z: 0,45 1,53 -0,30 1,24

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:56,724 √J0m:56,498 √Mm:7,580 λ:0,45 |dp|m:0,0873 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:55,582 √J0m:55,350 √Mm:7,603 λ:0,45 |dp|m:0,0873 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:54,481 √J0m:54,234 √Mm:7,777 λ:0,45 |dp|m:0,0873 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:53,425 √J0m:53,151 √Mm:8,095 λ:0,45 |dp|m:0,0873 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:52,415 √J0m:52,104 √Mm:8,541 λ:0,45 |dp|m:0,0873 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:51,455 √J0m:51,096 √Mm:9,099 λ:0,45 |dp|m:0,0873 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:50,548 √J0m:50,128 √Mm:9,751 λ:0,45 |dp|m:0,0873 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:49,697 √J0m:49,203 √Mm:10,479 λ:0,45 |dp|m:0,0873 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:48,905 √J0m:48,323 √Mm:11,271 λ:0,45 |dp|m:0,0873 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:48,174 √J0m:47,491 √Mm:12,113 λ:0,45 |dp|m:0,0873 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:47,508 √J0m:46,709 √Mm:12,997 λ:0,45 |dp|m:0,0873 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:46,909 √J0m:45,981 √Mm:13,915 λ:0,45 |dp|m:0,0873 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:46,380 √J0m:45,308 √Mm:14,861 λ:0,45 |dp|m:0,0873 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:45,924 √J0m:44,693 √Mm:15,830 λ:0,45 |dp|m:0,0873 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:45,542 √J0m:44,138 √Mm:16,819 λ:0,45 |dp|m:0,0873 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:45,237 √J0m:43,646 √Mm:17,823 λ:0,45 |dp|m:0,0873 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:45,010 √J0m:43,220 √Mm:18,841 λ:0,45 |dp|m:0,0873 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:44,863 √J0m:42,860 √Mm:19,870 λ:0,45 |dp|m:0,0873 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:44,796 √J0m:42,568 √Mm:20,909 λ:0,45 |dp|m:0,0873 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -01 00 -07 -01 -04 00 15 -19 08 13 -08 -15 -13 17 01 08 -01 -03
co 2 01 -02 00 01 -04 09 18 -01 02 00 08 -01 03 02 -02 -02 -05 10 -04
co 3 00 -01 00 06 09 05 08 12 -15 10 -02 00 09 08 -11 01 -12 01 01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -26 00 -08 -09 09 01 74 -86 110 -58 -04 -08 -115 124 -04 02 -04 01
co 2 13 23 -01 -10 -01 -02 06 -25 05 36 -27 15 22 -26 -12 -07 39 -24 03
co 3 -02 -31 01 -06 -35 44 -04 77 -67 24 04 -07 02 74 -70 -03 -10 08 01
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,58 0,00 0,50 0,96 0,99 0,11 0,00 0,91 0,48 0,79 0,40 0,93 0,95 0,77 0,10 0,86 0,93 0,45 0,38
Esque 2 0,42 1,00 0,50 0,04 0,01 0,89 1,00 0,09 0,52 0,21 0,60 0,07 0,05 0,23 0,90 0,14 0,07 0,55 0,62
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 04 00 -02 01 -03 00 -04 04 -13 15 -03 -06 12 -11 01 04 00 -02
dpco 2 -01 -05 00 02 -02 05 08 03 00 -06 08 -03 -02 05 01 00 -08 09 -03
dpco 3 00 04 00 04 10 -04 05 -07 03 01 -01 01 04 -08 06 01 -04 -01 01
Lambdas Total x y z: 0,32 0,45 2,59 0,88

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:44,046 √J0m:42,343 √Mm:21,475 λ:0,32 |dp|m:0,0198 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:43,973 √J0m:42,344 √Mm:20,997 λ:0,32 |dp|m:0,0198 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:43,905 √J0m:42,348 √Mm:20,524 λ:0,32 |dp|m:0,0198 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:43,844 √J0m:42,356 √Mm:20,055 λ:0,32 |dp|m:0,0198 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:43,788 √J0m:42,367 √Mm:19,591 λ:0,32 |dp|m:0,0198 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:43,738 √J0m:42,382 √Mm:19,132 λ:0,32 |dp|m:0,0198 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:43,694 √J0m:42,401 √Mm:18,679 λ:0,32 |dp|m:0,0198 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:43,656 √J0m:42,424 √Mm:18,231 λ:0,32 |dp|m:0,0198 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:43,623 √J0m:42,450 √Mm:17,789 λ:0,32 |dp|m:0,0198 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:43,597 √J0m:42,480 √Mm:17,354 λ:0,32 |dp|m:0,0198 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:43,576 √J0m:42,514 √Mm:16,927 λ:0,32 |dp|m:0,0198 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:43,561 √J0m:42,552 √Mm:16,506 λ:0,32 |dp|m:0,0198 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:43,552 √J0m:42,593 √Mm:16,095 λ:0,32 |dp|m:0,0198 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:43,549 √J0m:42,638 √Mm:15,692 λ:0,32 |dp|m:0,0198 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -06 00 -04 -02 01 00 21 -25 26 -08 -04 -07 -29 32 -01 03 -01 -01
co 2 03 04 00 -02 -02 03 07 -06 02 07 -03 03 06 -05 -03 -02 07 -02 -01
co 3 -01 -07 00 01 -04 11 02 20 -19 08 00 -02 03 18 -18 00 -06 02 01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -14 01 -11 -01 04 01 49 -55 52 -19 -08 -09 -85 94 -01 01 03 -04
co 2 13 05 05 -11 03 -02 04 -16 04 15 -09 11 16 -20 -12 00 10 06 -10
co 3 -02 -14 -01 -10 -12 23 -02 51 -45 17 02 -09 03 55 -52 -01 -02 05 -03
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,58 0,00 0,50 0,96 0,99 0,11 0,00 0,91 0,48 0,79 0,40 0,93 0,95 0,77 0,10 0,86 0,93 0,45 0,38
Esque 2 0,42 1,00 0,50 0,04 0,01 0,89 1,00 0,09 0,52 0,21 0,60 0,07 0,05 0,23 0,90 0,14 0,07 0,55 0,62
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 02 00 01 -01 -01 00 -05 05 -03 02 01 -01 12 -13 00 01 -02 01
dpco 2 -02 01 -02 03 -02 02 02 02 00 -01 01 -02 -02 04 02 -01 00 -03 03
dpco 3 00 01 01 03 01 -02 02 -06 04 -01 00 02 01 -08 07 00 -02 -01 01
Lambdas Total x y z: 0,61 0,75 4,60 1,17

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 170 Distancia Esque. Antes y Despues Retoque:36,00 Distancias Despues con p y q: 65,00 72,00 mm


Comienzan Iteraciones para cuadro 171

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -05 -01 -01 -72 -35 -21 -04 67 -02 -08 -01 -59 -132 -50 -25 02 67 -44 33
co 2 02 -01 -01 00 -50 96 137 06 -02 -16 -01 19 17 -23 03 06 -07 -09 08
co 3 -03 -01 -01 39 32 39 72 38 -03 -18 -01 05 78 40 16 -02 -97 40 -35
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -02 01 04 00 -01 00 18 -06 -16 09 -03 00 17 -16 02 03 -07 05
co 2 03 -06 03 06 01 01 -02 -05 06 -04 03 -12 10 -13 14 -15 38 -14 -07
co 3 00 -01 -01 06 04 -07 05 18 -11 -07 03 -01 -01 02 -02 05 -06 08 -04
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,58 0,50 0,50 0,97 0,98 0,11 0,00 0,91 0,48 0,33 0,50 0,93 0,95 0,73 0,77 0,86 0,93 0,32 0,61
Esque 2 0,42 0,50 0,50 0,03 0,02 0,89 1,00 0,09 0,52 0,67 0,50 0,07 0,05 0,27 0,23 0,14 0,07 0,68 0,39
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -03 00 -01 -38 -18 -10 -02 26 02 03 -05 -28 -66 -33 -05 00 32 -19 14
dpco 2 00 02 -02 -02 -25 48 69 05 -04 -06 -02 15 04 -05 -05 09 -21 01 07
dpco 3 -01 00 00 17 14 22 34 11 04 -06 -02 03 40 19 09 -04 -46 16 -16
Lambdas Total x y z: 0,88 1,85 0,31 4,28

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:54,084 √J0m:53,854 √Mm:5,296 λ:0,88 |dp|m:0,0796 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:53,088 √J0m:52,855 √Mm:5,284 λ:0,88 |dp|m:0,0796 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:52,130 √J0m:51,886 √Mm:5,356 λ:0,88 |dp|m:0,0796 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:51,211 √J0m:50,948 √Mm:5,509 λ:0,88 |dp|m:0,0796 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:50,334 √J0m:50,044 √Mm:5,738 λ:0,88 |dp|m:0,0796 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:49,501 √J0m:49,174 √Mm:6,034 λ:0,88 |dp|m:0,0796 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:48,713 √J0m:48,341 √Mm:6,389 λ:0,88 |dp|m:0,0796 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:47,974 √J0m:47,547 √Mm:6,793 λ:0,88 |dp|m:0,0796 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:47,286 √J0m:46,793 √Mm:7,238 λ:0,88 |dp|m:0,0796 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:46,651 √J0m:46,083 √Mm:7,719 λ:0,88 |dp|m:0,0796 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:46,071 √J0m:45,416 √Mm:8,229 λ:0,88 |dp|m:0,0796 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:45,549 √J0m:44,797 √Mm:8,763 λ:0,88 |dp|m:0,0796 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:45,086 √J0m:44,226 √Mm:9,319 λ:0,88 |dp|m:0,0796 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:44,686 √J0m:43,706 √Mm:9,892 λ:0,88 |dp|m:0,0796 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:44,348 √J0m:43,238 √Mm:10,482 λ:0,88 |dp|m:0,0796 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:44,075 √J0m:42,824 √Mm:11,085 λ:0,88 |dp|m:0,0796 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:43,869 √J0m:42,466 √Mm:11,700 λ:0,88 |dp|m:0,0796 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:43,731 √J0m:42,165 √Mm:12,327 λ:0,88 |dp|m:0,0796 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:43,660 √J0m:41,923 √Mm:12,963 λ:0,88 |dp|m:0,0796 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:43,659 √J0m:41,740 √Mm:13,609 λ:0,88 |dp|m:0,0796 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -02 00 -02 -02 -03 00 20 -05 -14 07 -07 -10 10 -15 02 07 -09 06
co 2 02 -05 02 05 -03 08 09 -03 05 -04 02 -08 09 -13 12 -12 31 -12 -05
co 3 00 -01 -01 08 06 -03 09 18 -10 -07 02 00 05 05 -01 04 -12 10 -06
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -16 -01 -11 -09 07 01 71 -23 -15 02 03 -06 -12 17 -12 08 -48 42
co 2 15 35 -04 -15 00 -05 06 -25 17 -02 01 29 -05 -11 -09 41 -03 12 -35
co 3 -02 -24 02 -06 -31 37 -04 76 -35 -08 01 -07 06 02 00 -15 -05 51 -41
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,58 0,50 0,50 0,97 0,98 0,11 0,00 0,91 0,48 0,33 0,50 0,93 0,95 0,73 0,77 0,86 0,93 0,32 0,61
Esque 2 0,42 0,50 0,50 0,03 0,02 0,89 1,00 0,09 0,52 0,67 0,50 0,07 0,05 0,27 0,23 0,14 0,07 0,68 0,39
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 02 00 01 00 -03 00 -02 01 -04 03 -04 -04 07 -11 03 02 04 -04
dpco 2 -01 -09 02 05 -01 05 03 03 00 -02 01 -09 06 -04 08 -13 16 -08 04
dpco 3 00 04 -01 05 08 -08 05 -04 01 -02 01 01 01 02 00 05 -05 -04 04
Lambdas Total x y z: 0,34 0,92 0,95 0,70

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:42,366 √J0m:41,574 √Mm:13,960 λ:0,34 |dp|m:0,0192 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:42,297 √J0m:41,536 √Mm:13,678 λ:0,34 |dp|m:0,0192 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:42,234 √J0m:41,501 √Mm:13,417 λ:0,34 |dp|m:0,0192 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:42,178 √J0m:41,469 √Mm:13,181 λ:0,34 |dp|m:0,0192 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:42,128 √J0m:41,441 √Mm:12,969 λ:0,34 |dp|m:0,0192 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:42,084 √J0m:41,417 √Mm:12,784 λ:0,34 |dp|m:0,0192 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:42,047 √J0m:41,396 √Mm:12,627 λ:0,34 |dp|m:0,0192 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:42,017 √J0m:41,378 √Mm:12,498 λ:0,34 |dp|m:0,0192 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:41,993 √J0m:41,364 √Mm:12,399 λ:0,34 |dp|m:0,0192 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:41,976 √J0m:41,354 √Mm:12,331 λ:0,34 |dp|m:0,0192 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:41,966 √J0m:41,347 √Mm:12,293 λ:0,34 |dp|m:0,0192 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:41,962 √J0m:41,344 √Mm:12,287 λ:0,34 |dp|m:0,0192 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -04 00 -03 -03 00 00 22 -07 -09 04 -02 -05 02 -03 -02 05 -13 11
co 2 04 05 00 -01 -01 03 05 -06 05 -02 01 02 03 -08 03 03 13 -03 -09
co 3 -01 -05 00 02 -04 06 03 22 -11 -04 01 -02 03 02 00 -01 -06 14 -11
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -15 01 -05 -04 04 -01 57 -11 -30 11 -08 -08 12 -04 02 13 -43 32
co 2 12 03 08 -07 00 03 -02 -20 16 -06 04 04 24 -36 03 -04 54 -21 -25
co 3 -02 -14 -02 -02 -13 13 02 62 -27 -14 04 -07 02 02 00 02 -16 48 -31
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,58 0,50 0,50 0,97 0,98 0,11 0,00 0,91 0,48 0,33 0,50 0,93 0,95 0,73 0,77 0,86 0,93 0,32 0,61
Esque 2 0,42 0,50 0,50 0,03 0,02 0,89 1,00 0,09 0,52 0,67 0,50 0,07 0,05 0,27 0,23 0,14 0,07 0,68 0,39
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 02 00 00 00 -01 00 -05 00 04 -01 01 -01 -02 00 -01 -01 06 -04
dpco 2 -01 01 -02 01 -01 01 03 02 -02 01 -01 00 -05 06 01 03 -09 05 03
dpco 3 00 01 01 02 02 -01 01 -06 02 02 -01 01 01 01 00 -01 01 -07 03
Lambdas Total x y z: 0,56 1,09 1,09 1,03

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 171 Distancia Esque. Antes y Despues Retoque:34,00 Distancias Despues con p y q: 58,00 72,00 mm


Comienzan Iteraciones para cuadro 172

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -05 -01 -01 -72 -13 -26 01 74 -02 -09 -01 -64 -133 -50 -11 05 67 -45 -52
co 2 02 -01 -01 00 -25 93 124 06 -02 -08 -02 19 22 -20 -01 06 -07 -08 -15
co 3 -03 -01 -01 39 20 51 72 44 -04 -07 -01 05 82 38 04 -05 -97 41 88
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -02 01 01 06 -04 00 15 -51 66 -25 -01 00 17 -15 01 02 -02 01
co 2 07 -06 03 04 07 -01 -04 -04 01 20 -16 -03 06 -10 10 -14 34 -23 09
co 3 -01 -01 -01 01 26 -30 11 14 -32 25 -05 00 -01 02 -02 04 -05 01 01
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,58 0,00 0,50 0,97 1,00 0,09 0,00 0,92 0,47 0,44 0,49 0,94 0,97 0,73 0,59 0,86 0,93 0,31 0,05
Esque 2 0,42 1,00 0,50 0,03 0,00 0,91 1,00 0,08 0,53 0,56 0,51 0,06 0,03 0,27 0,41 0,14 0,07 0,69 0,95
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -03 00 -01 -36 -07 -12 00 36 04 -10 02 -32 -67 -26 -04 03 33 -22 -26
dpco 2 00 00 -01 00 -13 47 62 03 -01 -06 01 10 11 -09 -02 04 -07 -02 -08
dpco 3 -01 00 00 19 08 28 35 21 01 -06 00 02 41 19 02 -03 -48 20 44
Lambdas Total x y z: 0,18 0,32 0,50 0,94

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:49,399 √J0m:49,290 √Mm:7,671 λ:0,18 |dp|m:0,0819 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:48,233 √J0m:48,123 √Mm:7,576 λ:0,18 |dp|m:0,0819 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:47,096 √J0m:46,985 √Mm:7,546 λ:0,18 |dp|m:0,0819 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:45,991 √J0m:45,876 √Mm:7,582 λ:0,18 |dp|m:0,0819 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:44,921 √J0m:44,801 √Mm:7,685 λ:0,18 |dp|m:0,0819 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:43,889 √J0m:43,760 √Mm:7,852 λ:0,18 |dp|m:0,0819 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:42,896 √J0m:42,756 √Mm:8,080 λ:0,18 |dp|m:0,0819 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:41,946 √J0m:41,793 √Mm:8,364 λ:0,18 |dp|m:0,0819 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:41,042 √J0m:40,873 √Mm:8,701 λ:0,18 |dp|m:0,0819 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:40,187 √J0m:39,998 √Mm:9,084 λ:0,18 |dp|m:0,0819 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:39,384 √J0m:39,173 √Mm:9,509 λ:0,18 |dp|m:0,0819 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:38,637 √J0m:38,400 √Mm:9,972 λ:0,18 |dp|m:0,0819 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:37,948 √J0m:37,682 √Mm:10,468 λ:0,18 |dp|m:0,0819 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:37,321 √J0m:37,023 √Mm:10,993 λ:0,18 |dp|m:0,0819 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:36,759 √J0m:36,425 √Mm:11,545 λ:0,18 |dp|m:0,0819 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:36,266 √J0m:35,893 √Mm:12,120 λ:0,18 |dp|m:0,0819 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:35,844 √J0m:35,428 √Mm:12,715 λ:0,18 |dp|m:0,0819 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:35,496 √J0m:35,034 √Mm:13,330 λ:0,18 |dp|m:0,0819 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:35,224 √J0m:34,713 √Mm:13,962 λ:0,18 |dp|m:0,0819 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:35,030 √J0m:34,466 √Mm:14,610 λ:0,18 |dp|m:0,0819 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:34,915 √J0m:34,296 √Mm:15,271 λ:0,18 |dp|m:0,0819 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:34,880 √J0m:34,204 √Mm:15,946 λ:0,18 |dp|m:0,0819 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 00 00 01 01 00 00 02 -09 12 -05 01 02 04 -03 00 00 00 01
co 2 01 -01 01 01 02 -01 -02 -01 00 04 -03 -01 01 -02 02 -03 06 -04 02
co 3 00 00 00 00 05 -06 01 02 -06 05 -01 00 -01 00 00 01 00 00 -01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -42 00 -14 00 07 -01 112 -68 12 00 -09 -11 -04 15 -03 16 -15 00
co 2 12 26 01 -14 05 03 -03 -41 23 02 00 07 33 -41 -05 00 61 -50 -03
co 3 -02 -47 00 -13 -18 25 05 117 -66 06 00 -09 02 04 -02 -03 -20 19 00
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,58 0,00 0,50 0,97 1,00 0,09 0,00 0,92 0,47 0,44 0,49 0,94 0,97 0,73 0,59 0,86 0,93 0,31 0,05
Esque 2 0,42 1,00 0,50 0,03 0,00 0,91 1,00 0,08 0,53 0,56 0,51 0,06 0,03 0,27 0,41 0,14 0,07 0,69 0,95
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 05 00 02 01 -01 00 -12 03 05 -02 01 02 02 -03 00 -02 02 00
dpco 2 -01 -04 00 02 00 -01 -01 04 -03 02 -01 -01 -03 04 02 -01 -04 04 01
dpco 3 00 06 00 01 04 -06 00 -13 05 02 00 01 -01 -01 00 01 02 -02 00
Lambdas Total x y z: 0,24 0,58 0,96 0,51

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:35,095 √J0m:34,191 √Mm:16,270 λ:0,24 |dp|m:0,0127 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:35,058 √J0m:34,193 √Mm:15,908 λ:0,24 |dp|m:0,0127 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:35,024 √J0m:34,197 √Mm:15,549 λ:0,24 |dp|m:0,0127 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:34,992 √J0m:34,203 √Mm:15,192 λ:0,24 |dp|m:0,0127 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:34,964 √J0m:34,211 √Mm:14,839 λ:0,24 |dp|m:0,0127 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:34,939 √J0m:34,220 √Mm:14,488 λ:0,24 |dp|m:0,0127 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:34,916 √J0m:34,232 √Mm:14,140 λ:0,24 |dp|m:0,0127 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:34,897 √J0m:34,245 √Mm:13,795 λ:0,24 |dp|m:0,0127 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:34,880 √J0m:34,261 √Mm:13,455 λ:0,24 |dp|m:0,0127 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:34,867 √J0m:34,278 √Mm:13,118 λ:0,24 |dp|m:0,0127 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:34,856 √J0m:34,297 √Mm:12,785 λ:0,24 |dp|m:0,0127 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:34,849 √J0m:34,318 √Mm:12,457 λ:0,24 |dp|m:0,0127 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:34,844 √J0m:34,341 √Mm:12,134 λ:0,24 |dp|m:0,0127 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:34,843 √J0m:34,365 √Mm:11,816 λ:0,24 |dp|m:0,0127 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -07 00 -02 00 01 00 18 -14 06 -02 -01 -01 01 01 00 02 -02 00
co 2 02 04 00 -02 01 00 -01 -07 04 02 -01 01 05 -07 00 -01 12 -09 00
co 3 00 -07 00 -02 -01 02 01 19 -12 03 00 -01 00 01 00 00 -03 03 00
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -20 01 -14 04 05 -02 67 -47 21 -09 -07 -09 00 10 -01 12 -11 -01
co 2 16 06 07 -13 05 07 -07 -24 14 07 -06 11 21 -33 -03 02 46 -34 -07
co 3 -02 -20 -02 -14 -03 07 09 70 -44 08 -02 -08 03 03 -01 -01 -15 15 01
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,58 0,00 0,50 0,97 1,00 0,09 0,00 0,92 0,47 0,44 0,49 0,94 0,97 0,73 0,59 0,86 0,93 0,31 0,05
Esque 2 0,42 1,00 0,50 0,03 0,00 0,91 1,00 0,08 0,53 0,56 0,51 0,06 0,03 0,27 0,41 0,14 0,07 0,69 0,95
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 01 00 03 -01 -01 00 -07 04 -02 01 01 02 00 -02 00 -02 02 00
dpco 2 -03 00 -01 02 -01 -02 01 03 -02 -01 01 -02 -02 05 01 -01 -05 04 02
dpco 3 00 01 00 02 00 -01 -02 -08 04 -01 00 01 -01 00 00 00 02 -02 00
Lambdas Total x y z: 0,49 0,90 1,04 0,91

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 172 Distancia Esque. Antes y Despues Retoque:37,00 Distancias Despues con p y q: 61,00 66,00 mm


Comienzan Iteraciones para cuadro 173

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -05 -01 -01 -72 -10 -26 -24 74 -02 -11 -02 -64 -136 -56 -42 14 64 -43 22
co 2 02 -01 -01 00 -14 86 83 06 -02 -13 00 20 27 -24 50 11 -07 -08 05
co 3 -03 -01 -01 39 12 55 44 44 -04 -09 00 05 88 47 -39 -02 -99 38 -38
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -02 01 01 04 00 -02 10 04 -31 21 03 00 38 -40 -03 02 -02 01
co 2 07 -02 03 04 04 -04 02 -03 03 -09 10 09 -02 38 -37 -13 37 -23 09
co 3 -01 -02 -01 02 14 05 -13 10 -02 -12 06 03 01 76 -76 00 -06 01 01
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,58 0,50 0,50 0,97 0,65 0,09 0,03 0,92 0,47 0,40 0,51 0,94 0,98 0,77 0,90 0,93 0,94 0,32 0,69
Esque 2 0,42 0,50 0,50 0,03 0,35 0,91 0,97 0,08 0,53 0,60 0,49 0,06 0,02 0,23 0,10 0,07 0,06 0,68 0,31
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -02 00 -01 -36 -06 -13 -12 35 -02 02 -06 -33 -68 -37 -11 08 32 -21 11
dpco 2 -01 00 -01 -01 -08 44 41 04 -02 -04 -02 08 14 -21 34 08 -13 02 00
dpco 3 -01 00 00 19 02 26 25 20 -02 -02 -02 02 44 06 -02 -01 -48 19 -20
Lambdas Total x y z: 0,47 1,27 0,44 1,06

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:49,189 √J0m:48,569 √Mm:11,301 λ:0,47 |dp|m:0,0773 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:48,147 √J0m:47,541 √Mm:11,053 λ:0,47 |dp|m:0,0773 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:47,136 √J0m:46,542 √Mm:10,828 λ:0,47 |dp|m:0,0773 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:46,159 √J0m:45,574 √Mm:10,635 λ:0,47 |dp|m:0,0773 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:45,218 √J0m:44,638 √Mm:10,482 λ:0,47 |dp|m:0,0773 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:44,317 √J0m:43,737 √Mm:10,377 λ:0,47 |dp|m:0,0773 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:43,459 √J0m:42,873 √Mm:10,327 λ:0,47 |dp|m:0,0773 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:42,646 √J0m:42,047 √Mm:10,337 λ:0,47 |dp|m:0,0773 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:41,882 √J0m:41,264 √Mm:10,412 λ:0,47 |dp|m:0,0773 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:41,171 √J0m:40,524 √Mm:10,554 λ:0,47 |dp|m:0,0773 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:40,515 √J0m:39,830 √Mm:10,764 λ:0,47 |dp|m:0,0773 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:39,917 √J0m:39,185 √Mm:11,042 λ:0,47 |dp|m:0,0773 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:39,381 √J0m:38,592 √Mm:11,386 λ:0,47 |dp|m:0,0773 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:38,909 √J0m:38,052 √Mm:11,792 λ:0,47 |dp|m:0,0773 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:38,505 √J0m:37,567 √Mm:12,256 λ:0,47 |dp|m:0,0773 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:38,170 √J0m:37,142 √Mm:12,774 λ:0,47 |dp|m:0,0773 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:37,907 √J0m:36,776 √Mm:13,343 λ:0,47 |dp|m:0,0773 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:37,718 √J0m:36,472 √Mm:13,956 λ:0,47 |dp|m:0,0773 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:37,604 √J0m:36,231 √Mm:14,611 λ:0,47 |dp|m:0,0773 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:37,566 √J0m:36,056 √Mm:15,304 λ:0,47 |dp|m:0,0773 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -01 00 -05 01 -02 -03 10 01 -14 09 -04 -10 12 -21 00 06 -04 02
co 2 03 -01 01 02 01 05 07 -01 01 -05 04 05 01 15 -12 -05 16 -11 04
co 3 -01 -01 00 04 07 06 -02 08 -01 -06 03 02 07 37 -36 00 -10 03 -02
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -36 00 -10 -09 13 -02 100 -47 -17 12 -07 -11 13 -03 -05 10 -15 07
co 2 06 29 01 -11 -01 01 01 -37 22 -05 06 03 55 -57 -04 14 28 -11 -21
co 3 -01 -41 00 -08 -36 58 -15 107 -55 -07 03 -06 02 02 -02 -06 -11 26 -13
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,58 0,50 0,50 0,97 0,65 0,09 0,03 0,92 0,47 0,40 0,51 0,94 0,98 0,77 0,90 0,93 0,94 0,32 0,69
Esque 2 0,42 0,50 0,50 0,03 0,35 0,91 0,97 0,08 0,53 0,60 0,49 0,06 0,02 0,23 0,10 0,07 0,06 0,68 0,31
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 04 00 -01 02 -03 -01 -09 07 -05 03 -01 -04 04 -10 01 02 00 00
dpco 2 01 -04 00 02 00 02 03 05 -03 -02 01 02 -07 15 -06 -04 04 -04 05
dpco 3 00 05 00 03 09 -05 01 -11 07 -02 01 02 03 18 -18 01 -04 -02 01
Lambdas Total x y z: 0,28 0,80 0,94 0,53

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:36,823 √J0m:35,881 √Mm:15,685 λ:0,28 |dp|m:0,0209 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:36,726 √J0m:35,822 √Mm:15,355 λ:0,28 |dp|m:0,0209 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:36,637 √J0m:35,767 √Mm:15,042 λ:0,28 |dp|m:0,0209 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:36,554 √J0m:35,717 √Mm:14,745 λ:0,28 |dp|m:0,0209 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:36,479 √J0m:35,671 √Mm:14,466 λ:0,28 |dp|m:0,0209 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:36,411 √J0m:35,631 √Mm:14,205 λ:0,28 |dp|m:0,0209 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:36,350 √J0m:35,595 √Mm:13,963 λ:0,28 |dp|m:0,0209 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:36,296 √J0m:35,565 √Mm:13,740 λ:0,28 |dp|m:0,0209 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:36,249 √J0m:35,539 √Mm:13,536 λ:0,28 |dp|m:0,0209 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:36,210 √J0m:35,518 √Mm:13,352 λ:0,28 |dp|m:0,0209 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:36,178 √J0m:35,502 √Mm:13,188 λ:0,28 |dp|m:0,0209 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:36,152 √J0m:35,491 √Mm:13,044 λ:0,28 |dp|m:0,0209 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:36,134 √J0m:35,485 √Mm:12,920 λ:0,28 |dp|m:0,0209 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:36,122 √J0m:35,484 √Mm:12,817 λ:0,28 |dp|m:0,0209 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:36,118 √J0m:35,487 √Mm:12,732 λ:0,28 |dp|m:0,0209 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -07 00 -03 -01 02 -01 23 -09 -07 05 -02 -05 06 -07 -01 04 -04 02
co 2 02 05 01 -02 00 02 02 -07 05 -03 02 02 11 -07 -04 01 10 -05 -03
co 3 00 -08 00 00 -05 13 -04 23 -11 -03 01 -01 03 11 -11 -01 -05 06 -03
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -15 01 -13 00 07 -01 56 -05 -46 23 -01 -09 30 -23 -02 12 -15 04
co 2 20 04 08 -12 03 00 01 -20 13 -11 11 21 13 08 -40 00 51 -32 -11
co 3 -03 -15 -02 -14 -10 31 -06 60 -19 -20 07 -07 05 -02 03 -02 -15 23 -07
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,58 0,50 0,50 0,97 0,65 0,09 0,03 0,92 0,47 0,40 0,51 0,94 0,98 0,77 0,90 0,93 0,94 0,32 0,69
Esque 2 0,42 0,50 0,50 0,03 0,35 0,91 0,97 0,08 0,53 0,60 0,49 0,06 0,02 0,23 0,10 0,07 0,06 0,68 0,31
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 01 00 02 -01 -01 00 -05 -03 09 -04 -01 00 -05 03 00 -02 02 00
dpco 2 -05 01 -02 03 -01 01 01 02 -01 02 -02 -05 02 -06 09 01 -09 06 02
dpco 3 01 00 01 04 00 -02 00 -05 00 04 -01 02 00 06 -06 00 02 -04 00
Lambdas Total x y z: 0,57 1,08 1,04 1,29

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 173 Distancia Esque. Antes y Despues Retoque:33,00 Distancias Despues con p y q: 48,00 71,00 mm


Comienzan Iteraciones para cuadro 174

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -05 -01 -01 -72 -04 -26 -32 67 -03 -10 -02 -71 -131 -50 -43 15 66 -40 23
co 2 02 -01 -01 04 -08 83 89 06 -01 -11 01 20 48 -10 52 11 01 -10 08
co 3 -02 -01 -01 39 05 51 42 38 -05 -07 00 05 95 40 -48 -02 -100 33 -35
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -09 01 00 09 -01 -03 -01 47 -58 23 04 -01 36 -38 -05 02 -02 01
co 2 05 -01 03 06 07 -10 04 00 -01 -10 10 31 -20 45 -45 -02 29 -22 09
co 3 00 -10 -01 01 28 -05 -14 00 29 -26 06 00 04 62 -62 -04 -04 01 01
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,58 0,50 0,50 0,97 0,58 0,09 0,04 0,91 0,48 0,42 0,52 0,96 0,97 0,73 0,92 0,94 0,93 0,34 0,69
Esque 2 0,42 0,50 0,50 0,03 0,42 0,91 0,96 0,09 0,52 0,58 0,48 0,04 0,03 0,27 0,08 0,06 0,07 0,66 0,31
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -03 01 -01 -36 -03 -13 -15 34 -09 05 -05 -36 -65 -31 -16 08 33 -20 11
dpco 2 00 00 -01 01 -05 43 44 03 00 -04 -01 05 27 -12 33 06 -04 -02 03
dpco 3 -01 01 00 19 -02 26 23 19 -07 01 -01 03 47 10 -14 00 -50 16 -18
Lambdas Total x y z: 0,32 0,68 0,40 1,10

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:49,789 √J0m:49,326 √Mm:11,932 λ:0,32 |dp|m:0,0777 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:48,750 √J0m:48,297 √Mm:11,689 λ:0,32 |dp|m:0,0777 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:47,743 √J0m:47,297 √Mm:11,479 λ:0,32 |dp|m:0,0777 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:46,769 √J0m:46,327 √Mm:11,307 λ:0,32 |dp|m:0,0777 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:45,831 √J0m:45,390 √Mm:11,179 λ:0,32 |dp|m:0,0777 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:44,930 √J0m:44,487 √Mm:11,101 λ:0,32 |dp|m:0,0777 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:44,071 √J0m:43,621 √Mm:11,076 λ:0,32 |dp|m:0,0777 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:43,255 √J0m:42,793 √Mm:11,108 λ:0,32 |dp|m:0,0777 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:42,485 √J0m:42,007 √Mm:11,202 λ:0,32 |dp|m:0,0777 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:41,765 √J0m:41,265 √Mm:11,358 λ:0,32 |dp|m:0,0777 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:41,096 √J0m:40,568 √Mm:11,577 λ:0,32 |dp|m:0,0777 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:40,482 √J0m:39,920 √Mm:11,858 λ:0,32 |dp|m:0,0777 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:39,926 √J0m:39,322 √Mm:12,201 λ:0,32 |dp|m:0,0777 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:39,431 √J0m:38,777 √Mm:12,602 λ:0,32 |dp|m:0,0777 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:38,998 √J0m:38,288 √Mm:13,058 λ:0,32 |dp|m:0,0777 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:38,631 √J0m:37,856 √Mm:13,566 λ:0,32 |dp|m:0,0777 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:38,330 √J0m:37,484 √Mm:14,122 λ:0,32 |dp|m:0,0777 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:38,100 √J0m:37,173 √Mm:14,723 λ:0,32 |dp|m:0,0777 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:37,939 √J0m:36,924 √Mm:15,364 λ:0,32 |dp|m:0,0777 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:37,851 √J0m:36,740 √Mm:16,043 λ:0,32 |dp|m:0,0777 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:37,835 √J0m:36,621 √Mm:16,757 λ:0,32 |dp|m:0,0777 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -03 00 -02 03 -01 -02 02 14 -19 07 -01 -04 10 -13 -01 03 -02 01
co 2 02 00 01 02 02 00 04 00 00 -04 03 10 -05 14 -12 00 09 -07 03
co 3 00 -03 00 01 09 00 -03 01 09 -08 02 00 04 21 -21 -01 -04 01 -01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -43 00 -07 -09 16 -05 101 -38 -18 09 -11 -13 21 -08 -07 13 -17 04
co 2 13 26 02 -08 -01 -04 06 -38 20 -04 04 -08 76 -58 -15 07 56 -38 -12
co 3 -01 -47 00 -06 -34 62 -21 110 -50 -08 02 -05 -02 04 -01 -08 -17 25 -08
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,58 0,50 0,50 0,97 0,58 0,09 0,04 0,91 0,48 0,42 0,52 0,96 0,97 0,73 0,92 0,94 0,93 0,34 0,69
Esque 2 0,42 0,50 0,50 0,03 0,42 0,91 0,96 0,09 0,52 0,58 0,48 0,04 0,03 0,27 0,08 0,06 0,07 0,66 0,31
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 03 00 00 02 -02 00 -10 11 -07 02 01 -01 02 -06 00 00 01 00
dpco 2 -01 -03 00 02 01 00 01 04 -02 -01 01 06 -11 13 -04 -01 -02 01 03
dpco 3 00 04 00 01 08 -07 01 -12 10 -03 01 01 02 10 -10 00 00 -02 01
Lambdas Total x y z: 0,22 0,80 0,71 0,51

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:37,405 √J0m:36,528 √Mm:17,123 λ:0,22 |dp|m:0,0181 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:37,333 √J0m:36,493 √Mm:16,757 λ:0,22 |dp|m:0,0181 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:37,267 √J0m:36,461 √Mm:16,405 λ:0,22 |dp|m:0,0181 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:37,207 √J0m:36,432 √Mm:16,068 λ:0,22 |dp|m:0,0181 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:37,152 √J0m:36,407 √Mm:15,746 λ:0,22 |dp|m:0,0181 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:37,103 √J0m:36,386 √Mm:15,439 λ:0,22 |dp|m:0,0181 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:37,059 √J0m:36,368 √Mm:15,150 λ:0,22 |dp|m:0,0181 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:37,021 √J0m:36,354 √Mm:14,878 λ:0,22 |dp|m:0,0181 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:36,989 √J0m:36,344 √Mm:14,625 λ:0,22 |dp|m:0,0181 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:36,962 √J0m:36,337 √Mm:14,392 λ:0,22 |dp|m:0,0181 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:36,940 √J0m:36,334 √Mm:14,178 λ:0,22 |dp|m:0,0181 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:36,924 √J0m:36,334 √Mm:13,985 λ:0,22 |dp|m:0,0181 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:36,914 √J0m:36,338 √Mm:13,815 λ:0,22 |dp|m:0,0181 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:36,909 √J0m:36,346 √Mm:13,666 λ:0,22 |dp|m:0,0181 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -07 00 -02 00 02 -01 15 -01 -09 04 -02 -03 06 -06 -01 03 -03 01
co 2 02 04 01 -01 01 -01 02 -05 03 -02 02 02 09 -04 -06 01 11 -08 -01
co 3 00 -08 00 00 -02 09 -04 16 -04 -04 01 -01 01 08 -07 -02 -04 04 -01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -24 01 -11 01 09 -03 56 15 -57 21 -01 -11 28 -19 -06 12 -15 03
co 2 19 10 07 -10 03 -03 04 -20 10 -10 10 21 25 -07 -37 07 51 -38 -08
co 3 -02 -24 -02 -13 -07 33 -12 60 -06 -26 06 -08 04 -04 06 -07 -15 22 -05
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,58 0,50 0,50 0,97 0,58 0,09 0,04 0,91 0,48 0,42 0,52 0,96 0,97 0,73 0,92 0,94 0,93 0,34 0,69
Esque 2 0,42 0,50 0,50 0,03 0,42 0,91 0,96 0,09 0,52 0,58 0,48 0,04 0,03 0,27 0,08 0,06 0,07 0,66 0,31
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 03 00 02 00 -01 00 -07 -04 10 -04 -01 01 -04 02 01 -02 02 00
dpco 2 -04 -01 -01 02 00 00 00 02 -01 02 -02 -04 -02 00 06 -01 -08 06 02
dpco 3 00 02 00 03 01 -04 01 -07 -01 05 -01 02 00 05 -05 01 02 -03 01
Lambdas Total x y z: 0,51 0,97 1,11 1,22

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 174 Distancia Esque. Antes y Despues Retoque:34,00 Distancias Despues con p y q: 49,00 72,00 mm


Comienzan Iteraciones para cuadro 175

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -05 -01 -01 -72 -23 -21 -03 67 -08 14 -01 -69 -136 -63 -39 10 66 -39 17
co 2 02 -01 -01 04 -55 81 115 06 -02 46 -02 20 40 -22 48 07 01 -10 06
co 3 -02 -01 -01 39 41 54 64 38 -13 13 -01 01 104 69 -29 -02 -100 32 -26
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -03 00 -06 14 -06 00 -02 65 -87 30 04 00 47 -48 -02 01 -01 00
co 2 07 00 02 00 09 -03 -02 01 12 -22 08 23 -18 36 -29 -01 16 -09 04
co 3 -01 -03 00 -07 36 -28 05 -02 39 -42 09 02 03 70 -71 -02 -02 00 01
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,58 0,50 0,50 0,97 0,99 0,10 0,00 0,91 0,42 0,69 0,50 0,95 0,97 0,82 0,91 0,92 0,93 0,34 0,63
Esque 2 0,42 0,50 0,50 0,03 0,01 0,90 1,00 0,09 0,58 0,31 0,50 0,05 0,03 0,18 0,09 0,08 0,07 0,66 0,37
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -03 00 -01 -36 -13 -10 -02 34 -10 15 -03 -35 -68 -36 -15 05 33 -19 09
dpco 2 01 -01 -01 02 -29 41 58 03 -02 25 -02 08 22 -14 27 03 -01 -04 03
dpco 3 -01 00 00 20 17 29 31 19 -10 10 -01 00 52 28 -08 -01 -50 16 -13
Lambdas Total x y z: 0,19 0,27 0,79 0,91

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:52,932 √J0m:52,610 √Mm:13,536 λ:0,19 |dp|m:0,0844 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:51,774 √J0m:51,459 √Mm:13,245 λ:0,19 |dp|m:0,0844 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:50,648 √J0m:50,338 √Mm:12,978 λ:0,19 |dp|m:0,0844 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:49,555 √J0m:49,250 √Mm:12,735 λ:0,19 |dp|m:0,0844 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:48,497 √J0m:48,196 √Mm:12,523 λ:0,19 |dp|m:0,0844 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:47,478 √J0m:47,179 √Mm:12,344 λ:0,19 |dp|m:0,0844 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:46,500 √J0m:46,202 √Mm:12,205 λ:0,19 |dp|m:0,0844 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:45,566 √J0m:45,266 √Mm:12,110 λ:0,19 |dp|m:0,0844 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:44,679 √J0m:44,375 √Mm:12,065 λ:0,19 |dp|m:0,0844 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:43,842 √J0m:43,532 √Mm:12,075 λ:0,19 |dp|m:0,0844 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:43,057 √J0m:42,738 √Mm:12,144 λ:0,19 |dp|m:0,0844 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:42,329 √J0m:41,998 √Mm:12,275 λ:0,19 |dp|m:0,0844 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:41,661 √J0m:41,313 √Mm:12,470 λ:0,19 |dp|m:0,0844 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:41,055 √J0m:40,687 √Mm:12,730 λ:0,19 |dp|m:0,0844 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:40,514 √J0m:40,122 √Mm:13,053 λ:0,19 |dp|m:0,0844 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:40,042 √J0m:39,621 √Mm:13,439 λ:0,19 |dp|m:0,0844 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:39,641 √J0m:39,187 √Mm:13,885 λ:0,19 |dp|m:0,0844 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:39,313 √J0m:38,821 √Mm:14,387 λ:0,19 |dp|m:0,0844 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:39,061 √J0m:38,526 √Mm:14,942 λ:0,19 |dp|m:0,0844 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:38,885 √J0m:38,304 √Mm:15,547 λ:0,19 |dp|m:0,0844 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:38,787 √J0m:38,154 √Mm:16,197 λ:0,19 |dp|m:0,0844 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:38,769 √J0m:38,080 √Mm:16,890 λ:0,19 |dp|m:0,0844 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -01 00 00 03 -01 00 -01 12 -16 06 02 02 10 -09 -01 -01 00 00
co 2 01 00 00 00 02 -02 -02 00 02 -05 02 04 -04 07 -06 00 03 -02 01
co 3 00 -01 00 -02 06 -06 00 -01 07 -08 02 00 -01 12 -13 00 01 00 00
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -44 00 -11 04 01 01 110 -63 26 -18 -07 -13 28 -17 -06 15 -17 03
co 2 19 24 02 -11 06 -05 05 -44 25 03 -01 05 57 -44 -22 00 66 -46 -07
co 3 -02 -46 00 -13 03 17 -06 118 -68 08 -05 -07 01 -01 03 -07 -19 24 -05
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,58 0,50 0,50 0,97 0,99 0,10 0,00 0,91 0,42 0,69 0,50 0,95 0,97 0,82 0,91 0,92 0,93 0,34 0,63
Esque 2 0,42 0,50 0,50 0,03 0,01 0,90 1,00 0,09 0,58 0,31 0,50 0,05 0,03 0,18 0,09 0,08 0,07 0,66 0,37
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 04 00 01 01 00 00 -10 12 -11 04 01 02 02 -03 00 -02 02 00
dpco 2 -01 -02 00 01 01 00 -01 04 -01 -03 01 02 -07 07 -01 00 -04 03 01
dpco 3 00 04 00 00 03 -04 01 -11 10 -05 01 01 00 06 -07 00 02 -02 01
Lambdas Total x y z: 0,18 0,54 0,77 0,51

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:38,739 √J0m:38,057 √Mm:17,237 λ:0,18 |dp|m:0,0153 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:38,690 √J0m:38,037 √Mm:16,862 λ:0,18 |dp|m:0,0153 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:38,645 √J0m:38,019 √Mm:16,494 λ:0,18 |dp|m:0,0153 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:38,603 √J0m:38,003 √Mm:16,134 λ:0,18 |dp|m:0,0153 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:38,565 √J0m:37,990 √Mm:15,783 λ:0,18 |dp|m:0,0153 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:38,530 √J0m:37,980 √Mm:15,441 λ:0,18 |dp|m:0,0153 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:38,499 √J0m:37,972 √Mm:15,108 λ:0,18 |dp|m:0,0153 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:38,471 √J0m:37,966 √Mm:14,787 λ:0,18 |dp|m:0,0153 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:38,447 √J0m:37,963 √Mm:14,476 λ:0,18 |dp|m:0,0153 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:38,427 √J0m:37,963 √Mm:14,178 λ:0,18 |dp|m:0,0153 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:38,410 √J0m:37,964 √Mm:13,892 λ:0,18 |dp|m:0,0153 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:38,397 √J0m:37,969 √Mm:13,619 λ:0,18 |dp|m:0,0153 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:38,388 √J0m:37,975 √Mm:13,361 λ:0,18 |dp|m:0,0153 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:38,382 √J0m:37,984 √Mm:13,118 λ:0,18 |dp|m:0,0153 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:38,380 √J0m:37,996 √Mm:12,890 λ:0,18 |dp|m:0,0153 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -06 00 -01 01 00 00 13 -04 -02 -01 00 -01 06 -05 -01 02 -02 00
co 2 03 03 00 -01 01 -01 00 -05 04 -01 00 02 06 -03 -04 00 09 -06 -01
co 3 00 -06 00 -02 02 00 -01 14 -06 -01 00 -01 00 03 -03 -01 -02 03 00
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -23 01 -14 08 -01 00 63 -07 -26 04 -01 -11 31 -22 -05 12 -14 02
co 2 20 12 05 -13 06 -01 02 -24 23 -09 00 20 27 -18 -28 05 49 -34 -08
co 3 -03 -23 -01 -15 15 02 -01 67 -20 -15 01 -08 04 -08 11 -06 -15 20 -04
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,58 0,50 0,50 0,97 0,99 0,10 0,00 0,91 0,42 0,69 0,50 0,95 0,97 0,82 0,91 0,92 0,93 0,34 0,63
Esque 2 0,42 0,50 0,50 0,03 0,01 0,90 1,00 0,09 0,58 0,31 0,50 0,05 0,03 0,18 0,09 0,08 0,07 0,66 0,37
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 03 00 02 -01 00 00 -08 -01 05 -01 00 02 -04 03 01 -02 02 00
dpco 2 -03 -01 -01 02 -01 00 00 03 -03 02 00 -04 -03 03 04 -01 -07 05 01
dpco 3 00 03 00 03 -02 00 00 -09 02 03 00 01 -01 04 -04 01 02 -03 01
Lambdas Total x y z: 0,47 1,04 0,98 1,09

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:38,964 √J0m:38,027 √Mm:12,403 λ:0,47 |dp|m:0,0108 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:38,940 √J0m:38,044 √Mm:12,128 λ:0,47 |dp|m:0,0108 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:38,920 √J0m:38,063 √Mm:11,855 λ:0,47 |dp|m:0,0108 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:38,901 √J0m:38,084 √Mm:11,583 λ:0,47 |dp|m:0,0108 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:38,885 √J0m:38,105 √Mm:11,314 λ:0,47 |dp|m:0,0108 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:38,871 √J0m:38,128 √Mm:11,046 λ:0,47 |dp|m:0,0108 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:38,859 √J0m:38,151 √Mm:10,781 λ:0,47 |dp|m:0,0108 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:38,850 √J0m:38,177 √Mm:10,518 λ:0,47 |dp|m:0,0108 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:38,843 √J0m:38,203 √Mm:10,258 λ:0,47 |dp|m:0,0108 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:38,839 √J0m:38,230 √Mm:10,000 λ:0,47 |dp|m:0,0108 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:38,837 √J0m:38,259 √Mm:9,746 λ:0,47 |dp|m:0,0108 mm
Acabado Optimizado (izq). Cuadro 175 Distancia Esque. Antes y Despues Retoque:38,00 Distancias Despues con p y q: 52,00 78,00 mm


Comienzan Iteraciones para cuadro 176

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -05 -01 -01 -72 -04 -22 -14 67 01 25 -01 -69 -132 -58 -14 10 66 -42 09
co 2 02 -01 -01 08 -11 82 73 06 -01 14 09 20 35 -23 -32 07 04 -19 27
co 3 -02 -01 -01 35 06 62 42 39 00 12 02 01 109 63 -04 -02 -100 28 -62
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -03 00 -04 09 -01 -01 -06 06 07 -01 04 00 16 -15 -02 02 04 -07
co 2 07 01 02 01 05 -05 03 02 -02 01 -01 18 -03 -17 16 12 20 -40 18
co 3 -01 -02 00 -05 22 00 -10 -05 07 03 00 03 01 20 -19 -04 -01 -02 05
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,58 0,50 0,50 0,97 0,59 0,09 0,09 0,91 0,51 0,60 0,57 0,95 0,96 0,79 0,91 0,92 0,93 0,35 0,91
Esque 2 0,42 0,50 0,50 0,03 0,41 0,91 0,91 0,09 0,49 0,40 0,43 0,05 0,04 0,21 0,09 0,08 0,07 0,65 0,09
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -03 00 -01 -35 -04 -11 -07 35 -01 11 -01 -35 -66 -32 -04 06 33 -22 06
dpco 2 00 -01 -01 04 -07 42 36 03 00 07 04 06 18 -08 -19 01 -02 -01 10
dpco 3 -01 00 00 18 -01 31 23 20 -01 05 01 00 54 28 02 00 -50 15 -32
Lambdas Total x y z: 0,41 0,54 0,76 1,28

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:52,031 √J0m:51,901 √Mm:5,756 λ:0,41 |dp|m:0,0774 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:51,046 √J0m:50,915 √Mm:5,724 λ:0,41 |dp|m:0,0774 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:50,094 √J0m:49,958 √Mm:5,785 λ:0,41 |dp|m:0,0774 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:49,177 √J0m:49,031 √Mm:5,939 λ:0,41 |dp|m:0,0774 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:48,297 √J0m:48,135 √Mm:6,182 λ:0,41 |dp|m:0,0774 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:47,457 √J0m:47,274 √Mm:6,507 λ:0,41 |dp|m:0,0774 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:46,657 √J0m:46,448 √Mm:6,903 λ:0,41 |dp|m:0,0774 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:45,902 √J0m:45,660 √Mm:7,362 λ:0,41 |dp|m:0,0774 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:45,193 √J0m:44,912 √Mm:7,876 λ:0,41 |dp|m:0,0774 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:44,532 √J0m:44,205 √Mm:8,436 λ:0,41 |dp|m:0,0774 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:43,923 √J0m:43,542 √Mm:9,036 λ:0,41 |dp|m:0,0774 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:43,367 √J0m:42,924 √Mm:9,670 λ:0,41 |dp|m:0,0774 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:42,866 √J0m:42,354 √Mm:10,335 λ:0,41 |dp|m:0,0774 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:42,423 √J0m:41,834 √Mm:11,026 λ:0,41 |dp|m:0,0774 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:42,040 √J0m:41,365 √Mm:11,741 λ:0,41 |dp|m:0,0774 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:41,718 √J0m:40,949 √Mm:12,477 λ:0,41 |dp|m:0,0774 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:41,460 √J0m:40,589 √Mm:13,232 λ:0,41 |dp|m:0,0774 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:41,266 √J0m:40,284 √Mm:14,004 λ:0,41 |dp|m:0,0774 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:41,138 √J0m:40,037 √Mm:14,792 λ:0,41 |dp|m:0,0774 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:41,076 √J0m:39,849 √Mm:15,594 λ:0,41 |dp|m:0,0774 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -01 00 -07 03 -02 -02 03 02 05 00 -04 -10 02 -07 00 06 -02 -02
co 2 03 00 01 01 01 04 07 01 -01 02 00 08 01 -08 04 05 08 -17 09
co 3 00 -01 00 01 09 05 -01 01 03 02 00 01 09 12 -08 -02 -08 01 -03
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -42 00 -06 -10 14 -01 90 -66 47 -19 -08 -10 13 -03 -03 16 -30 16
co 2 12 23 02 -06 01 -02 03 -30 13 13 -12 02 43 -53 03 06 62 -42 -16
co 3 -01 -44 00 -07 -44 75 -22 92 -57 18 -03 -07 00 04 -01 -03 -17 37 -18
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,58 0,50 0,50 0,97 0,59 0,09 0,09 0,91 0,51 0,60 0,57 0,95 0,96 0,79 0,91 0,92 0,93 0,35 0,91
Esque 2 0,42 0,50 0,50 0,03 0,41 0,91 0,91 0,09 0,49 0,40 0,43 0,05 0,04 0,21 0,09 0,08 0,07 0,65 0,09
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 05 00 -03 03 -03 -01 -09 09 -03 02 -01 -04 -01 -03 00 01 03 -03
dpco 2 00 -03 00 01 01 02 03 04 -02 -01 02 04 -04 02 01 02 -03 -03 06
dpco 3 00 05 00 01 10 -07 02 -11 08 -01 00 01 04 06 -04 00 -02 -04 01
Lambdas Total x y z: 0,24 0,60 0,97 0,46

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:40,476 √J0m:39,709 √Mm:16,054 λ:0,24 |dp|m:0,0145 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:40,433 √J0m:39,700 √Mm:15,702 λ:0,24 |dp|m:0,0145 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:40,395 √J0m:39,692 √Mm:15,357 λ:0,24 |dp|m:0,0145 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:40,359 √J0m:39,687 √Mm:15,019 λ:0,24 |dp|m:0,0145 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:40,327 √J0m:39,684 √Mm:14,688 λ:0,24 |dp|m:0,0145 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:40,298 √J0m:39,683 √Mm:14,365 λ:0,24 |dp|m:0,0145 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:40,273 √J0m:39,684 √Mm:14,050 λ:0,24 |dp|m:0,0145 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:40,251 √J0m:39,687 √Mm:13,743 λ:0,24 |dp|m:0,0145 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:40,232 √J0m:39,693 √Mm:13,446 λ:0,24 |dp|m:0,0145 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:40,217 √J0m:39,700 √Mm:13,159 λ:0,24 |dp|m:0,0145 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:40,205 √J0m:39,710 √Mm:12,883 λ:0,24 |dp|m:0,0145 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:40,197 √J0m:39,721 √Mm:12,618 λ:0,24 |dp|m:0,0145 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:40,191 √J0m:39,735 √Mm:12,366 λ:0,24 |dp|m:0,0145 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:40,190 √J0m:39,751 √Mm:12,126 λ:0,24 |dp|m:0,0145 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -07 00 -03 -01 02 -01 15 -10 09 -03 -02 -05 03 -03 00 05 -05 02
co 2 03 04 00 -01 00 01 03 -04 02 03 -02 03 07 -11 02 03 12 -12 00
co 3 00 -07 00 -01 -04 13 -04 15 -08 04 00 -01 03 05 -03 -01 -05 06 -04
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -21 01 -15 01 08 00 46 -24 23 -12 -01 -10 15 -06 -04 15 -22 08
co 2 21 10 06 -13 05 -01 02 -15 05 08 -08 19 24 -48 06 14 54 -50 -08
co 3 -03 -20 -02 -19 -12 42 -10 47 -22 07 -02 -07 04 04 -02 -05 -16 27 -09
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,58 0,50 0,50 0,97 0,59 0,09 0,09 0,91 0,51 0,60 0,57 0,95 0,96 0,79 0,91 0,92 0,93 0,35 0,91
Esque 2 0,42 0,50 0,50 0,03 0,41 0,91 0,91 0,09 0,49 0,40 0,43 0,05 0,04 0,21 0,09 0,08 0,07 0,65 0,09
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 02 00 02 -01 -01 00 -05 02 -02 02 -01 00 -03 00 01 -02 03 -01
dpco 2 -04 -01 -01 03 -01 01 01 02 -01 -01 01 -03 -03 07 -01 -02 -08 07 02
dpco 3 01 02 00 05 01 -04 01 -05 02 00 00 02 01 01 -01 01 02 -04 00
Lambdas Total x y z: 0,53 1,36 0,79 1,14

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 176 Distancia Esque. Antes y Despues Retoque:33,00 Distancias Despues con p y q: 49,00 75,00 mm


Comienzan Iteraciones para cuadro 177

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -05 -01 -01 -72 -02 -22 -17 67 00 06 -02 -71 -131 -55 -06 15 68 -42 -72
co 2 02 -01 -01 04 -06 79 42 02 -01 04 08 16 34 -23 -14 03 04 -16 -50
co 3 -02 -01 -01 39 02 62 65 39 01 03 01 05 112 69 -07 -02 -97 29 80
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -03 01 -04 09 -05 02 02 -22 38 -13 03 -01 30 -29 -04 02 -04 01
co 2 12 -08 06 01 06 -03 00 00 00 09 -08 20 -07 -22 19 18 18 -31 08
co 3 -02 00 -02 -05 23 -24 13 02 -12 15 -02 01 01 30 -30 -07 -01 01 02
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,58 0,50 0,50 0,97 0,54 0,09 0,10 0,91 0,52 0,53 0,56 0,96 0,96 0,79 0,91 0,94 0,91 0,35 0,03
Esque 2 0,42 0,50 0,50 0,03 0,46 0,91 0,90 0,09 0,48 0,47 0,44 0,04 0,04 0,21 0,09 0,06 0,09 0,65 0,97
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -03 00 -01 -35 -03 -10 -09 33 04 -04 01 -36 -65 -33 02 08 34 -20 -36
dpco 2 -01 01 -02 02 -04 40 21 01 00 00 06 04 19 -07 -10 -02 -01 -02 -26
dpco 3 -01 -01 00 20 -04 35 30 19 03 -02 01 02 56 28 02 00 -48 14 40
Lambdas Total x y z: 0,38 0,43 0,77 1,26

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:51,454 √J0m:51,240 √Mm:7,587 λ:0,38 |dp|m:0,0801 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:50,387 √J0m:50,174 √Mm:7,494 λ:0,38 |dp|m:0,0801 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:49,353 √J0m:49,137 √Mm:7,471 λ:0,38 |dp|m:0,0801 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:48,354 √J0m:48,130 √Mm:7,521 λ:0,38 |dp|m:0,0801 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:47,393 √J0m:47,157 √Mm:7,643 λ:0,38 |dp|m:0,0801 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:46,472 √J0m:46,219 √Mm:7,837 λ:0,38 |dp|m:0,0801 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:45,594 √J0m:45,319 √Mm:8,100 λ:0,38 |dp|m:0,0801 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:44,761 √J0m:44,457 √Mm:8,426 λ:0,38 |dp|m:0,0801 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:43,976 √J0m:43,638 √Mm:8,811 λ:0,38 |dp|m:0,0801 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:43,242 √J0m:42,863 √Mm:9,249 λ:0,38 |dp|m:0,0801 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:42,561 √J0m:42,134 √Mm:9,734 λ:0,38 |dp|m:0,0801 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:41,937 √J0m:41,455 √Mm:10,263 λ:0,38 |dp|m:0,0801 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:41,371 √J0m:40,827 √Mm:10,829 λ:0,38 |dp|m:0,0801 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:40,868 √J0m:40,254 √Mm:11,429 λ:0,38 |dp|m:0,0801 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:40,428 √J0m:39,736 √Mm:12,060 λ:0,38 |dp|m:0,0801 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:40,055 √J0m:39,278 √Mm:12,717 λ:0,38 |dp|m:0,0801 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:39,751 √J0m:38,880 √Mm:13,399 λ:0,38 |dp|m:0,0801 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:39,516 √J0m:38,544 √Mm:14,102 λ:0,38 |dp|m:0,0801 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:39,353 √J0m:38,273 √Mm:14,826 λ:0,38 |dp|m:0,0801 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:39,263 √J0m:38,067 √Mm:15,567 λ:0,38 |dp|m:0,0801 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:39,246 √J0m:37,928 √Mm:16,325 λ:0,38 |dp|m:0,0801 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -01 00 -04 03 -02 00 03 -08 14 -05 -01 -05 09 -11 -01 03 -03 -02
co 2 04 -03 02 01 02 01 01 00 00 03 -03 08 -01 -09 07 07 07 -12 01
co 3 -01 00 -01 00 09 -07 07 02 -04 06 -01 01 04 13 -11 -03 -04 01 03
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -40 00 -08 -13 16 00 87 -43 08 00 -12 -11 17 -06 -01 17 -04 -12
co 2 08 28 01 -08 00 02 -01 -31 14 01 00 -02 45 -56 03 01 70 -25 -38
co 3 -01 -44 00 -07 -58 69 -02 93 -46 04 00 -09 00 04 -01 -01 -21 19 02
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,58 0,50 0,50 0,97 0,54 0,09 0,10 0,91 0,52 0,53 0,56 0,96 0,96 0,79 0,91 0,94 0,91 0,35 0,03
Esque 2 0,42 0,50 0,50 0,03 0,46 0,91 0,90 0,09 0,48 0,47 0,44 0,04 0,04 0,21 0,09 0,06 0,09 0,65 0,97
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 05 00 -01 04 -03 00 -10 02 06 -02 01 -01 02 -05 00 -01 -01 01
dpco 2 01 -05 01 01 01 01 01 04 -02 02 -01 04 -07 03 03 03 -06 -03 06
dpco 3 00 06 00 01 12 -13 04 -12 04 02 00 02 02 06 -05 -01 01 -02 01
Lambdas Total x y z: 0,27 0,99 0,89 0,52

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:38,841 √J0m:37,840 √Mm:16,728 λ:0,27 |dp|m:0,0164 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:38,785 √J0m:37,827 √Mm:16,367 λ:0,27 |dp|m:0,0164 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:38,735 √J0m:37,816 √Mm:16,016 λ:0,27 |dp|m:0,0164 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:38,689 √J0m:37,808 √Mm:15,674 λ:0,27 |dp|m:0,0164 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:38,647 √J0m:37,803 √Mm:15,344 λ:0,27 |dp|m:0,0164 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:38,611 √J0m:37,801 √Mm:15,025 λ:0,27 |dp|m:0,0164 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:38,579 √J0m:37,801 √Mm:14,719 λ:0,27 |dp|m:0,0164 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:38,552 √J0m:37,805 √Mm:14,425 λ:0,27 |dp|m:0,0164 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:38,530 √J0m:37,811 √Mm:14,146 λ:0,27 |dp|m:0,0164 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:38,512 √J0m:37,820 √Mm:13,881 λ:0,27 |dp|m:0,0164 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:38,499 √J0m:37,832 √Mm:13,632 λ:0,27 |dp|m:0,0164 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:38,491 √J0m:37,847 √Mm:13,399 λ:0,27 |dp|m:0,0164 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:38,488 √J0m:37,864 √Mm:13,183 λ:0,27 |dp|m:0,0164 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -07 00 -03 -01 02 00 16 -10 07 -02 -02 -04 06 -05 -01 04 -02 -03
co 2 03 04 01 -01 01 01 00 -05 02 01 -01 03 07 -13 03 03 14 -09 -06
co 3 00 -07 00 -01 -06 09 02 16 -09 03 00 -01 02 06 -04 -01 -05 04 02
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -19 02 -16 01 06 02 49 -30 21 -09 -04 -11 24 -14 -05 16 -06 -09
co 2 24 03 09 -13 05 -05 05 -17 08 07 -06 18 21 -48 06 16 53 -30 -28
co 3 -04 -17 -03 -20 -15 18 17 53 -29 07 -02 -09 04 03 -01 -05 -18 17 02
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,58 0,50 0,50 0,97 0,54 0,09 0,10 0,91 0,52 0,53 0,56 0,96 0,96 0,79 0,91 0,94 0,91 0,35 0,03
Esque 2 0,42 0,50 0,50 0,03 0,46 0,91 0,90 0,09 0,48 0,47 0,44 0,04 0,04 0,21 0,09 0,06 0,09 0,65 0,97
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 02 00 03 -01 -01 -01 -07 04 -03 02 00 01 -04 02 01 -03 01 01
dpco 2 -06 01 -02 03 -01 02 -01 03 -01 -01 01 -04 -03 08 00 -03 -09 05 05
dpco 3 01 01 01 05 01 -01 -04 -07 04 -01 00 02 00 02 -02 01 03 -03 00
Lambdas Total x y z: 0,60 1,45 0,97 1,41

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 177 Distancia Esque. Antes y Despues Retoque:35,00 Distancias Despues con p y q: 55,00 72,00 mm


Comienzan Iteraciones para cuadro 178

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -05 -01 -01 -73 -02 -18 -05 67 -02 03 -02 -74 -136 -67 -06 07 64 -42 -67
co 2 01 -01 -01 04 -06 77 32 02 -01 02 03 16 32 -30 -10 03 01 -16 -44
co 3 -02 -01 -01 35 01 67 49 39 -03 01 -01 01 113 77 -07 -10 -101 30 77
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 02 01 -04 09 -05 02 02 -22 38 -17 03 -01 32 -31 -02 02 -03 01
co 2 13 -08 04 00 06 -03 -01 00 01 11 -10 16 -03 -21 19 19 10 -28 09
co 3 -02 05 -01 -05 29 -37 19 02 -14 13 -03 02 01 28 -28 -05 00 01 02
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,57 0,50 0,50 0,97 0,54 0,11 0,21 0,91 0,48 0,52 0,53 0,95 0,98 0,84 0,90 0,92 0,91 0,35 0,09
Esque 2 0,43 0,50 0,50 0,03 0,46 0,89 0,79 0,09 0,52 0,48 0,47 0,05 0,02 0,16 0,10 0,08 0,09 0,65 0,91
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -02 -01 -01 -36 -02 -08 -03 34 02 -03 01 -37 -68 -37 01 04 32 -21 -34
dpco 2 -01 00 -01 02 -04 39 16 01 -01 00 03 06 16 -12 -07 -01 -01 -05 -23
dpco 3 -01 -01 00 18 -03 38 22 19 00 -01 00 00 56 35 00 -04 -50 15 38
Lambdas Total x y z: 0,25 0,31 0,96 0,80

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:51,471 √J0m:51,325 √Mm:7,692 λ:0,25 |dp|m:0,0803 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:50,399 √J0m:50,253 √Mm:7,601 λ:0,25 |dp|m:0,0803 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:49,359 √J0m:49,210 √Mm:7,581 λ:0,25 |dp|m:0,0803 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:48,352 √J0m:48,199 √Mm:7,634 λ:0,25 |dp|m:0,0803 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:47,382 √J0m:47,220 √Mm:7,761 λ:0,25 |dp|m:0,0803 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:46,450 √J0m:46,276 √Mm:7,961 λ:0,25 |dp|m:0,0803 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:45,559 √J0m:45,370 √Mm:8,230 λ:0,25 |dp|m:0,0803 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:44,712 √J0m:44,502 √Mm:8,565 λ:0,25 |dp|m:0,0803 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:43,910 √J0m:43,677 √Mm:8,960 λ:0,25 |dp|m:0,0803 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:43,158 √J0m:42,896 √Mm:9,412 λ:0,25 |dp|m:0,0803 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:42,458 √J0m:42,162 √Mm:9,913 λ:0,25 |dp|m:0,0803 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:41,811 √J0m:41,477 √Mm:10,459 λ:0,25 |dp|m:0,0803 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:41,222 √J0m:40,844 √Mm:11,047 λ:0,25 |dp|m:0,0803 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:40,693 √J0m:40,265 √Mm:11,670 λ:0,25 |dp|m:0,0803 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:40,226 √J0m:39,742 √Mm:12,327 λ:0,25 |dp|m:0,0803 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:39,823 √J0m:39,278 √Mm:13,013 λ:0,25 |dp|m:0,0803 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:39,487 √J0m:38,875 √Mm:13,725 λ:0,25 |dp|m:0,0803 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:39,219 √J0m:38,535 √Mm:14,462 λ:0,25 |dp|m:0,0803 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:39,022 √J0m:38,259 √Mm:15,222 λ:0,25 |dp|m:0,0803 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:38,896 √J0m:38,049 √Mm:16,001 λ:0,25 |dp|m:0,0803 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:38,842 √J0m:37,906 √Mm:16,799 λ:0,25 |dp|m:0,0803 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 01 00 -03 02 -02 00 03 -05 09 -04 -02 -05 06 -08 00 03 -02 -02
co 2 03 -02 01 00 01 02 01 00 00 03 -02 04 00 -06 04 05 02 -08 01
co 3 -01 01 00 00 07 -07 06 02 -03 03 -01 00 04 09 -07 -02 -03 01 03
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -36 00 -12 -09 14 00 91 -55 20 -08 -12 -11 15 -03 -06 18 -12 -05
co 2 14 25 01 -11 02 05 -04 -35 19 06 -05 03 45 -58 01 13 66 -42 -23
co 3 -02 -40 00 -13 -51 80 -16 98 -56 07 -01 -11 00 04 00 -07 -22 22 00
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,57 0,50 0,50 0,97 0,54 0,11 0,21 0,91 0,48 0,52 0,53 0,95 0,98 0,84 0,90 0,92 0,91 0,35 0,09
Esque 2 0,43 0,50 0,50 0,03 0,46 0,89 0,79 0,09 0,52 0,48 0,47 0,05 0,02 0,16 0,10 0,08 0,09 0,65 0,91
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 05 00 00 02 -03 00 -10 04 02 -01 01 -01 01 -03 01 -01 00 00
dpco 2 00 -04 00 01 00 00 01 04 -02 01 -01 02 -05 04 02 01 -07 02 03
dpco 3 00 06 00 02 10 -14 05 -11 05 01 00 02 02 04 -04 00 01 -02 01
Lambdas Total x y z: 0,25 0,89 0,89 0,47

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:38,791 √J0m:37,825 √Mm:17,232 λ:0,25 |dp|m:0,0147 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:38,746 √J0m:37,821 √Mm:16,854 λ:0,25 |dp|m:0,0147 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:38,705 √J0m:37,820 √Mm:16,483 λ:0,25 |dp|m:0,0147 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:38,667 √J0m:37,820 √Mm:16,118 λ:0,25 |dp|m:0,0147 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:38,633 √J0m:37,823 √Mm:15,759 λ:0,25 |dp|m:0,0147 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:38,603 √J0m:37,829 √Mm:15,408 λ:0,25 |dp|m:0,0147 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:38,577 √J0m:37,837 √Mm:15,065 λ:0,25 |dp|m:0,0147 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:38,555 √J0m:37,847 √Mm:14,730 λ:0,25 |dp|m:0,0147 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:38,536 √J0m:37,859 √Mm:14,404 λ:0,25 |dp|m:0,0147 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:38,521 √J0m:37,873 √Mm:14,087 λ:0,25 |dp|m:0,0147 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:38,510 √J0m:37,890 √Mm:13,780 λ:0,25 |dp|m:0,0147 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:38,503 √J0m:37,909 √Mm:13,484 λ:0,25 |dp|m:0,0147 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:38,499 √J0m:37,931 √Mm:13,200 λ:0,25 |dp|m:0,0147 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -05 00 -03 00 01 00 15 -11 07 -03 -02 -03 04 -03 -01 04 -03 -02
co 2 03 03 01 -02 01 01 00 -05 03 02 -02 02 07 -11 02 04 11 -09 -03
co 3 -01 -06 00 -02 -05 10 00 16 -10 02 00 -02 02 04 -03 -02 -05 04 01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -16 01 -17 03 07 00 53 -33 20 -12 -06 -11 17 -07 -06 16 -10 -05
co 2 22 06 07 -14 05 -01 01 -20 11 08 -07 16 25 -49 02 21 46 -34 -21
co 3 -03 -16 -02 -21 -15 30 05 57 -33 05 -02 -11 03 03 00 -07 -17 18 01
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,57 0,50 0,50 0,97 0,54 0,11 0,21 0,91 0,48 0,52 0,53 0,95 0,98 0,84 0,90 0,92 0,91 0,35 0,09
Esque 2 0,43 0,50 0,50 0,03 0,46 0,89 0,79 0,09 0,52 0,48 0,47 0,05 0,02 0,16 0,10 0,08 0,09 0,65 0,91
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 02 00 03 -01 -01 00 -07 04 -02 02 00 01 -03 00 01 -02 01 01
dpco 2 -04 00 -02 03 -01 01 -01 03 -02 -01 01 -03 -03 08 00 -04 -07 05 04
dpco 3 01 01 01 05 01 -04 -02 -08 04 00 00 02 00 01 -01 01 03 -03 00
Lambdas Total x y z: 0,56 1,35 0,98 1,19

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 178 Distancia Esque. Antes y Despues Retoque:35,00 Distancias Despues con p y q: 55,00 72,00 mm


Comienzan Iteraciones para cuadro 179

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -07 -01 -01 -68 -02 -21 14 65 -02 -11 18 -70 -115 -61 -02 10 67 -19 -62
co 2 03 -01 -01 04 107 84 -74 02 -01 -08 -16 08 26 -30 -06 -01 -03 -09 -48
co 3 -04 -01 -01 35 -53 46 -80 41 -05 -11 -08 -03 82 80 -07 -09 -94 12 68
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 03 00 -20 22 -03 -01 12 17 -42 17 06 -01 31 -31 00 01 -02 01
co 2 -01 14 -01 -14 11 -04 02 -04 01 -05 07 31 -16 -18 19 26 00 -23 05
co 3 01 02 01 -22 42 -06 -12 13 06 -20 05 02 03 32 -31 -05 02 01 01
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,61 0,50 0,50 0,97 0,00 0,11 0,98 0,89 0,47 0,36 0,25 0,96 0,89 0,84 0,86 0,91 0,89 0,43 0,12
Esque 2 0,39 0,50 0,50 0,03 1,00 0,89 0,02 0,11 0,53 0,64 0,75 0,04 0,11 0,16 0,14 0,09 0,11 0,57 0,88
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -04 -01 00 -30 -06 -10 07 30 -05 04 05 -37 -57 -37 06 05 33 -09 -31
dpco 2 02 -04 00 05 51 43 -37 02 -01 -03 -09 -03 16 -11 -07 -06 -01 01 -25
dpco 3 -02 -01 -01 23 -36 24 -37 17 -04 -01 -05 -02 40 33 04 -04 -47 06 34
Lambdas Total x y z: 0,45 0,79 1,13 0,93

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:50,342 √J0m:49,966 √Mm:9,125 λ:0,45 |dp|m:0,0818 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:49,217 √J0m:48,837 √Mm:9,081 λ:0,45 |dp|m:0,0818 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:48,132 √J0m:47,736 √Mm:9,156 λ:0,45 |dp|m:0,0818 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:47,089 √J0m:46,667 √Mm:9,355 λ:0,45 |dp|m:0,0818 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:46,094 √J0m:45,632 √Mm:9,678 λ:0,45 |dp|m:0,0818 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:45,148 √J0m:44,632 √Mm:10,121 λ:0,45 |dp|m:0,0818 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:44,257 √J0m:43,671 √Mm:10,675 λ:0,45 |dp|m:0,0818 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:43,424 √J0m:42,751 √Mm:11,330 λ:0,45 |dp|m:0,0818 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:42,654 √J0m:41,874 √Mm:12,074 λ:0,45 |dp|m:0,0818 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:41,950 √J0m:41,044 √Mm:12,898 λ:0,45 |dp|m:0,0818 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:41,317 √J0m:40,264 √Mm:13,790 λ:0,45 |dp|m:0,0818 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:40,758 √J0m:39,535 √Mm:14,741 λ:0,45 |dp|m:0,0818 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:40,278 √J0m:38,862 √Mm:15,745 λ:0,45 |dp|m:0,0818 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:39,878 √J0m:38,246 √Mm:16,794 λ:0,45 |dp|m:0,0818 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:39,563 √J0m:37,692 √Mm:17,884 λ:0,45 |dp|m:0,0818 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:39,335 √J0m:37,201 √Mm:19,008 λ:0,45 |dp|m:0,0818 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:39,196 √J0m:36,776 √Mm:20,165 λ:0,45 |dp|m:0,0818 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:39,147 √J0m:36,420 √Mm:21,349 λ:0,45 |dp|m:0,0818 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 01 00 -19 08 -05 02 15 06 -18 10 -09 -19 02 -12 02 11 -04 -10
co 2 00 05 -01 -05 22 12 -11 -01 00 -03 00 13 -02 -11 06 10 -01 -10 -06
co 3 00 01 00 -03 07 05 -18 12 02 -10 00 00 14 25 -13 -03 -15 02 12
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -34 01 04 -22 08 11 86 -36 -25 14 -14 -05 14 -07 -01 08 05 -12
co 2 16 08 04 02 -11 67 -57 -34 19 -04 05 -14 46 -47 02 08 37 01 -39
co 3 -02 -36 -01 07 -75 199 -125 95 -47 -11 03 -07 -03 05 -01 -01 -10 09 02
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,61 0,50 0,50 0,97 0,00 0,11 0,98 0,89 0,47 0,36 0,25 0,96 0,89 0,84 0,86 0,91 0,89 0,43 0,12
Esque 2 0,39 0,50 0,50 0,03 1,00 0,89 0,02 0,11 0,53 0,64 0,75 0,04 0,11 0,16 0,14 0,09 0,11 0,57 0,88
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 05 00 -10 07 -03 00 -04 08 -05 03 -03 -09 -01 -05 01 05 -03 -03
dpco 2 -02 02 -01 -03 12 -03 02 04 -03 -01 -01 08 -07 01 03 04 -05 -05 02
dpco 3 00 05 00 -02 14 -24 08 -07 07 -03 00 01 08 12 -06 -02 -06 00 06
Lambdas Total x y z: 0,27 1,79 1,29 0,33

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:37,882 √J0m:36,089 √Mm:22,070 λ:0,27 |dp|m:0,0231 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:37,769 √J0m:36,048 √Mm:21,595 λ:0,27 |dp|m:0,0231 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:37,665 √J0m:36,014 √Mm:21,132 λ:0,27 |dp|m:0,0231 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:37,569 √J0m:35,985 √Mm:20,683 λ:0,27 |dp|m:0,0231 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:37,483 √J0m:35,962 √Mm:20,249 λ:0,27 |dp|m:0,0231 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:37,406 √J0m:35,945 √Mm:19,830 λ:0,27 |dp|m:0,0231 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:37,337 √J0m:35,934 √Mm:19,428 λ:0,27 |dp|m:0,0231 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:37,279 √J0m:35,929 √Mm:19,044 λ:0,27 |dp|m:0,0231 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:37,229 √J0m:35,930 √Mm:18,678 λ:0,27 |dp|m:0,0231 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:37,189 √J0m:35,937 √Mm:18,332 λ:0,27 |dp|m:0,0231 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:37,158 √J0m:35,949 √Mm:18,007 λ:0,27 |dp|m:0,0231 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:37,136 √J0m:35,968 √Mm:17,704 λ:0,27 |dp|m:0,0231 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:37,124 √J0m:35,993 √Mm:17,424 λ:0,27 |dp|m:0,0231 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:37,121 √J0m:36,023 √Mm:17,168 λ:0,27 |dp|m:0,0231 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -06 00 -06 -01 00 03 21 -04 -11 06 -06 -07 03 -05 00 05 -01 -06
co 2 03 03 01 -01 05 16 -14 -06 04 -02 01 02 08 -12 02 05 06 -03 -09
co 3 -01 -06 00 00 -11 38 -29 21 -08 -05 01 -01 04 09 -05 -01 -07 02 04
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -10 00 -23 08 -05 11 56 00 -55 24 -04 -07 22 -15 -04 10 02 -10
co 2 15 22 02 -16 00 48 -44 -22 11 -05 09 18 15 -40 04 23 29 -11 -31
co 3 -02 -14 00 -29 05 106 -86 62 -17 -25 06 -09 02 04 00 -05 -10 09 03
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,61 0,50 0,50 0,97 0,00 0,11 0,98 0,89 0,47 0,36 0,25 0,96 0,89 0,84 0,86 0,91 0,89 0,43 0,12
Esque 2 0,39 0,50 0,50 0,03 1,00 0,89 0,02 0,11 0,53 0,64 0,75 0,04 0,11 0,16 0,14 0,09 0,11 0,57 0,88
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 00 00 04 -03 01 -02 -06 -02 10 -04 -02 -02 -05 02 01 00 -01 00
dpco 2 -03 -05 00 04 03 -06 06 03 -01 01 -02 -04 -01 05 00 -04 -05 01 04
dpco 3 00 01 00 08 -07 -12 10 -07 01 04 -01 02 01 04 -02 01 -01 -01 01
Lambdas Total x y z: 0,57 1,60 1,37 0,79

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 179 Distancia Esque. Antes y Despues Retoque:33,00 Distancias Despues con p y q: 52,00 70,00 mm


Comienzan Iteraciones para cuadro 180

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -07 -01 -01 -68 -05 -26 -08 65 -07 -11 21 -70 -110 -54 -08 10 67 -08 07
co 2 03 -01 -01 08 -78 90 107 05 -02 -16 -07 08 25 -26 -28 03 -06 -03 04
co 3 -05 -01 -01 31 25 72 94 41 -10 -08 -10 -07 75 71 -19 -13 -93 04 -11
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 05 00 -16 14 -02 00 09 38 -28 -14 05 -01 24 -24 -01 -01 -03 03
co 2 00 15 01 -13 06 -02 01 -03 -01 08 -05 29 -16 -34 36 19 -19 -05 15
co 3 00 07 00 -19 30 -11 -02 09 19 -22 -04 01 03 17 -17 -05 03 -05 04
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,61 0,50 0,50 0,97 1,00 0,09 0,00 0,89 0,40 0,35 0,24 0,96 0,89 0,80 0,73 0,90 0,87 0,48 0,55
Esque 2 0,39 0,50 0,50 0,03 0,00 0,91 1,00 0,11 0,60 0,65 0,76 0,04 0,11 0,20 0,27 0,10 0,13 0,52 0,45
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -04 -01 -01 -32 -04 -12 -04 31 -09 -01 13 -36 -55 -31 00 05 34 -03 03
dpco 2 01 -03 -01 06 -40 45 53 03 -01 -09 -03 00 15 -08 -20 -01 00 -01 00
dpco 3 -03 -02 -01 18 08 38 47 19 -08 -01 -05 -04 37 33 -07 -06 -47 02 -06
Lambdas Total x y z: 0,30 0,82 0,52 1,50

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:53,164 √J0m:52,930 √Mm:9,099 λ:0,30 |dp|m:0,0786 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:52,170 √J0m:51,939 √Mm:8,948 λ:0,30 |dp|m:0,0786 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:51,208 √J0m:50,978 √Mm:8,850 λ:0,30 |dp|m:0,0786 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:50,280 √J0m:50,048 √Mm:8,806 λ:0,30 |dp|m:0,0786 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:49,387 √J0m:49,150 √Mm:8,817 λ:0,30 |dp|m:0,0786 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:48,532 √J0m:48,287 √Mm:8,884 λ:0,30 |dp|m:0,0786 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:47,716 √J0m:47,461 √Mm:9,006 λ:0,30 |dp|m:0,0786 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:46,942 √J0m:46,672 √Mm:9,181 λ:0,30 |dp|m:0,0786 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:46,212 √J0m:45,924 √Mm:9,409 λ:0,30 |dp|m:0,0786 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:45,528 √J0m:45,218 √Mm:9,685 λ:0,30 |dp|m:0,0786 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:44,893 √J0m:44,557 √Mm:10,007 λ:0,30 |dp|m:0,0786 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:44,307 √J0m:43,942 √Mm:10,371 λ:0,30 |dp|m:0,0786 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:43,774 √J0m:43,375 √Mm:10,774 λ:0,30 |dp|m:0,0786 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:43,296 √J0m:42,858 √Mm:11,212 λ:0,30 |dp|m:0,0786 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:42,873 √J0m:42,393 √Mm:11,683 λ:0,30 |dp|m:0,0786 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:42,509 √J0m:41,982 √Mm:12,183 λ:0,30 |dp|m:0,0786 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:42,205 √J0m:41,626 √Mm:12,710 λ:0,30 |dp|m:0,0786 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:41,961 √J0m:41,328 √Mm:13,262 λ:0,30 |dp|m:0,0786 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:41,780 √J0m:41,087 √Mm:13,836 λ:0,30 |dp|m:0,0786 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:41,661 √J0m:40,905 √Mm:14,430 λ:0,30 |dp|m:0,0786 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:41,607 √J0m:40,783 √Mm:15,044 λ:0,30 |dp|m:0,0786 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 01 00 -07 04 -02 00 05 11 -09 -03 -01 -04 05 -07 00 02 -01 01
co 2 00 04 00 -04 -01 02 04 -01 00 02 -02 09 -04 -11 09 06 -06 -02 04
co 3 00 02 00 -04 10 -01 02 04 05 -07 -02 00 03 07 -06 -02 -02 -01 01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -37 01 -05 -04 05 -01 106 -34 -34 10 -19 -07 04 04 -05 04 -05 02
co 2 17 17 04 -06 06 -02 -03 -44 25 00 03 -12 42 -43 -03 11 20 -30 13
co 3 -03 -40 -01 -03 -17 14 06 119 -54 -17 02 -12 -02 06 -01 -06 -05 01 05
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,61 0,50 0,50 0,97 1,00 0,09 0,00 0,89 0,40 0,35 0,24 0,96 0,89 0,80 0,73 0,90 0,87 0,48 0,55
Esque 2 0,39 0,50 0,50 0,03 0,00 0,91 1,00 0,11 0,60 0,65 0,76 0,04 0,11 0,20 0,27 0,10 0,13 0,52 0,45
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 05 00 -03 03 -01 00 -10 09 00 -03 02 -01 02 -04 01 01 00 00
dpco 2 -02 00 00 -01 -01 01 02 05 -03 01 -01 06 -07 00 05 01 -05 03 01
dpco 3 00 06 00 -02 07 -02 00 -12 09 -01 -01 01 02 03 -03 00 00 -01 00
Lambdas Total x y z: 0,24 0,62 1,18 0,50

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:41,385 √J0m:40,709 √Mm:15,334 λ:0,24 |dp|m:0,0141 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:41,346 √J0m:40,699 √Mm:15,001 λ:0,24 |dp|m:0,0141 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:41,310 √J0m:40,690 √Mm:14,676 λ:0,24 |dp|m:0,0141 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:41,278 √J0m:40,684 √Mm:14,360 λ:0,24 |dp|m:0,0141 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:41,249 √J0m:40,680 √Mm:14,052 λ:0,24 |dp|m:0,0141 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:41,223 √J0m:40,677 √Mm:13,755 λ:0,24 |dp|m:0,0141 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:41,200 √J0m:40,677 √Mm:13,468 λ:0,24 |dp|m:0,0141 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:41,180 √J0m:40,678 √Mm:13,192 λ:0,24 |dp|m:0,0141 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:41,164 √J0m:40,682 √Mm:12,928 λ:0,24 |dp|m:0,0141 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:41,151 √J0m:40,687 √Mm:12,676 λ:0,24 |dp|m:0,0141 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:41,141 √J0m:40,695 √Mm:12,438 λ:0,24 |dp|m:0,0141 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:41,134 √J0m:40,704 √Mm:12,213 λ:0,24 |dp|m:0,0141 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:41,131 √J0m:40,715 √Mm:12,004 λ:0,24 |dp|m:0,0141 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:41,131 √J0m:40,729 √Mm:11,810 λ:0,24 |dp|m:0,0141 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -05 00 -03 01 00 00 18 -02 -08 00 -03 -02 02 -02 -01 01 -01 01
co 2 03 04 01 -02 01 00 01 -07 04 01 00 01 05 -10 03 04 01 -05 04
co 3 00 -06 00 -02 01 02 02 20 -07 -05 00 -02 01 03 -02 -02 -01 00 01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -10 01 -18 04 02 -01 60 06 -46 07 -09 -08 09 -02 -05 02 -03 02
co 2 15 18 05 -19 07 03 -04 -25 12 03 02 14 18 -41 03 19 01 -18 11
co 3 -02 -12 -01 -17 03 00 08 68 -17 -25 01 -11 02 03 01 -06 -02 -01 04
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,61 0,50 0,50 0,97 1,00 0,09 0,00 0,89 0,40 0,35 0,24 0,96 0,89 0,80 0,73 0,90 0,87 0,48 0,55
Esque 2 0,39 0,50 0,50 0,03 0,00 0,91 1,00 0,11 0,60 0,65 0,76 0,04 0,11 0,20 0,27 0,10 0,13 0,52 0,45
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 00 00 03 -01 -01 00 -08 -03 09 -02 01 01 -01 00 01 00 00 00
dpco 2 -03 -03 -01 04 -02 -01 02 03 -01 00 -01 -03 -02 06 01 -03 00 02 -01
dpco 3 00 01 00 04 -01 01 -01 -09 01 05 00 02 00 01 -01 01 00 00 -01
Lambdas Total x y z: 0,55 1,03 1,35 1,12

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 180 Distancia Esque. Antes y Despues Retoque:35,00 Distancias Despues con p y q: 56,00 73,00 mm


Comienzan Iteraciones para cuadro 181

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -09 -01 -01 -08 -02 -36 00 70 -05 -11 25 -66 -79 -50 -01 09 65 -65 33
co 2 02 -01 -01 -25 08 62 -25 -05 00 -23 -24 -04 15 -27 -01 -04 -05 07 -04
co 3 -06 -01 -01 26 -07 33 -26 38 -07 -16 -20 -03 53 65 -01 -08 -82 48 -49
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 08 00 -14 10 03 -05 16 33 -63 19 02 -01 06 -05 02 -05 01 02
co 2 06 03 02 -11 07 13 -15 -05 03 -04 04 23 -17 14 -12 25 -88 59 10
co 3 -01 09 00 -18 25 -40 31 17 18 -37 06 -02 03 -16 18 -03 15 -13 02
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,69 0,50 0,50 0,78 0,46 0,16 0,63 0,90 0,44 0,32 0,23 0,96 0,77 0,78 0,50 0,85 0,83 0,30 0,70
Esque 2 0,31 0,50 0,50 0,22 0,54 0,84 0,37 0,10 0,56 0,68 0,77 0,04 0,23 0,22 0,50 0,15 0,17 0,70 0,30
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -05 -01 -01 -03 -02 -18 00 34 -05 00 11 -33 -39 -25 00 04 33 -32 16
dpco 2 01 -01 -01 -12 03 30 -11 -02 00 -11 -13 -04 09 -15 01 -04 04 -01 -03
dpco 3 -03 -01 00 14 -05 20 -15 18 -05 -05 -11 -01 26 34 -02 -04 -42 25 -25
Lambdas Total x y z: 0,16 1,17 0,54 0,19

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:56,755 √J0m:56,560 √Mm:11,842 λ:0,16 |dp|m:0,0612 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:56,195 √J0m:56,005 √Mm:11,632 λ:0,16 |dp|m:0,0612 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:55,659 √J0m:55,473 √Mm:11,469 λ:0,16 |dp|m:0,0612 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:55,147 √J0m:54,962 √Mm:11,358 λ:0,16 |dp|m:0,0612 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:54,659 √J0m:54,474 √Mm:11,305 λ:0,16 |dp|m:0,0612 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:54,196 √J0m:54,009 √Mm:11,313 λ:0,16 |dp|m:0,0612 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:53,759 √J0m:53,569 √Mm:11,386 λ:0,16 |dp|m:0,0612 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:53,349 √J0m:53,153 √Mm:11,526 λ:0,16 |dp|m:0,0612 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:52,967 √J0m:52,762 √Mm:11,735 λ:0,16 |dp|m:0,0612 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:52,613 √J0m:52,396 √Mm:12,013 λ:0,16 |dp|m:0,0612 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:52,288 √J0m:52,057 √Mm:12,358 λ:0,16 |dp|m:0,0612 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:51,992 √J0m:51,745 √Mm:12,768 λ:0,16 |dp|m:0,0612 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:51,727 √J0m:51,459 √Mm:13,240 λ:0,16 |dp|m:0,0612 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:51,493 √J0m:51,202 √Mm:13,771 λ:0,16 |dp|m:0,0612 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:51,290 √J0m:50,972 √Mm:14,356 λ:0,16 |dp|m:0,0612 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:51,119 √J0m:50,771 √Mm:14,991 λ:0,16 |dp|m:0,0612 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:50,980 √J0m:50,599 √Mm:15,674 λ:0,16 |dp|m:0,0612 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:50,874 √J0m:50,456 √Mm:16,398 λ:0,16 |dp|m:0,0612 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:50,801 √J0m:50,342 √Mm:17,162 λ:0,16 |dp|m:0,0612 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:50,761 √J0m:50,258 √Mm:17,961 λ:0,16 |dp|m:0,0612 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:50,755 √J0m:50,203 √Mm:18,792 λ:0,16 |dp|m:0,0612 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 01 00 -02 01 -01 -01 05 05 -10 04 -02 -03 -01 -01 01 01 -02 01
co 2 01 00 00 -03 01 04 -03 -01 01 -01 00 03 -02 01 -02 04 -14 09 01
co 3 00 01 00 -02 04 -05 04 04 03 -06 00 00 02 00 03 -01 00 00 -01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -38 00 -02 -14 00 10 114 -26 -73 36 -21 -04 05 -02 00 -01 -10 11
co 2 17 19 02 -06 -06 12 -07 -43 21 -04 07 -19 44 -86 40 00 02 34 -30
co 3 -03 -42 00 03 -40 68 -31 127 -48 -35 09 -12 -05 47 -41 00 01 27 -27
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,69 0,50 0,50 0,78 0,46 0,16 0,63 0,90 0,44 0,32 0,23 0,96 0,77 0,78 0,50 0,85 0,83 0,30 0,70
Esque 2 0,31 0,50 0,50 0,22 0,54 0,84 0,37 0,10 0,56 0,68 0,77 0,04 0,23 0,22 0,50 0,15 0,17 0,70 0,30
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 05 00 -01 02 00 -02 -10 05 03 -02 01 -01 -01 00 00 01 00 -01
dpco 2 -01 -02 00 -01 01 01 -01 04 -02 00 -01 04 -06 10 -05 02 -07 01 04
dpco 3 00 05 00 -01 06 -10 05 -12 07 01 -01 01 02 -05 06 00 00 -03 02
Lambdas Total x y z: 0,22 0,72 0,91 0,44

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:50,984 √J0m:50,175 √Mm:19,223 λ:0,22 |dp|m:0,0152 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:50,948 √J0m:50,173 √Mm:18,799 λ:0,22 |dp|m:0,0152 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:50,914 √J0m:50,173 √Mm:18,380 λ:0,22 |dp|m:0,0152 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:50,883 √J0m:50,175 √Mm:17,966 λ:0,22 |dp|m:0,0152 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:50,856 √J0m:50,179 √Mm:17,559 λ:0,22 |dp|m:0,0152 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:50,831 √J0m:50,185 √Mm:17,157 λ:0,22 |dp|m:0,0152 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:50,809 √J0m:50,193 √Mm:16,762 λ:0,22 |dp|m:0,0152 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:50,790 √J0m:50,202 √Mm:16,375 λ:0,22 |dp|m:0,0152 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:50,775 √J0m:50,213 √Mm:15,995 λ:0,22 |dp|m:0,0152 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:50,762 √J0m:50,227 √Mm:15,623 λ:0,22 |dp|m:0,0152 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:50,752 √J0m:50,242 √Mm:15,260 λ:0,22 |dp|m:0,0152 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:50,746 √J0m:50,258 √Mm:14,907 λ:0,22 |dp|m:0,0152 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:50,742 √J0m:50,277 √Mm:14,564 λ:0,22 |dp|m:0,0152 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:50,742 √J0m:50,298 √Mm:14,232 λ:0,22 |dp|m:0,0152 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -05 00 -01 -02 00 01 18 -02 -14 07 -04 -02 01 -01 00 00 -02 02
co 2 03 03 00 -02 00 03 -02 -07 03 -01 01 -02 06 -12 05 01 -04 08 -04
co 3 00 -06 00 00 -05 08 -03 20 -06 -07 01 -02 00 07 -05 00 00 04 -04
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -13 01 -12 -03 -01 05 72 02 -72 29 -14 -03 03 -01 -01 -03 -06 10
co 2 19 10 05 -13 -01 06 -04 -27 13 -03 06 01 10 -47 23 12 -19 38 -24
co 3 -03 -14 -01 -11 -10 29 -13 81 -21 -36 07 -11 01 26 -22 -01 06 18 -21
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,69 0,50 0,50 0,78 0,46 0,16 0,63 0,90 0,44 0,32 0,23 0,96 0,77 0,78 0,50 0,85 0,83 0,30 0,70
Esque 2 0,31 0,50 0,50 0,22 0,54 0,84 0,37 0,10 0,56 0,68 0,77 0,04 0,23 0,22 0,50 0,15 0,17 0,70 0,30
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 01 00 02 00 00 -01 -08 -01 10 -04 01 00 00 00 00 01 00 -01
dpco 2 -03 -01 -01 02 00 00 00 03 -02 00 -01 -01 01 05 -03 -02 02 -05 04
dpco 3 00 01 00 02 00 -03 02 -09 02 05 -01 02 00 -03 03 00 -01 -02 03
Lambdas Total x y z: 0,48 0,86 1,29 0,89

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 181 Distancia Esque. Antes y Despues Retoque:26,00 Distancias Despues con p y q: 55,00 72,00 mm


Comienzan Iteraciones para cuadro 182

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -11 -01 -01 -06 -64 06 03 72 -01 -05 -08 -66 -79 -59 124 02 67 -73 27
co 2 -01 -01 -01 07 94 -38 -50 -02 -01 -04 21 -08 15 -34 37 -06 -09 18 -10
co 3 -05 -01 -01 -10 -85 -08 -21 43 -01 -03 05 -03 46 80 -129 -10 -91 61 -43
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 29 00 -36 04 00 00 33 -16 -22 16 -01 -01 07 -08 06 -08 05 02
co 2 11 12 02 -26 05 -02 00 -11 08 -04 05 19 -24 -22 26 28 -111 73 10
co 3 -01 25 00 -33 28 -19 00 35 -20 -09 04 -07 04 01 -01 -01 17 -14 02
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,69 0,50 0,50 0,43 0,00 0,67 0,82 0,91 0,50 0,47 0,71 0,96 0,77 0,85 0,17 0,79 0,85 0,26 0,66
Esque 2 0,31 0,50 0,50 0,57 1,00 0,33 0,18 0,09 0,50 0,53 0,29 0,04 0,23 0,15 0,83 0,21 0,15 0,74 0,34
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -06 -04 -01 02 -33 03 01 32 02 01 -06 -33 -39 -31 63 00 35 -37 13
dpco 2 -02 -02 -01 07 46 -19 -25 01 -02 -01 10 -07 11 -14 15 -07 11 -01 -07
dpco 3 -02 -04 00 -01 -46 -01 -10 17 02 00 02 -01 23 40 -64 -05 -48 33 -22
Lambdas Total x y z: 0,28 1,69 0,49 0,94

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:61,649 √J0m:61,260 √Mm:13,160 λ:0,28 |dp|m:0,0840 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:60,673 √J0m:60,294 √Mm:12,890 λ:0,28 |dp|m:0,0840 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:59,730 √J0m:59,359 √Mm:12,642 λ:0,28 |dp|m:0,0840 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:58,822 √J0m:58,458 √Mm:12,428 λ:0,28 |dp|m:0,0840 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:57,951 √J0m:57,592 √Mm:12,266 λ:0,28 |dp|m:0,0840 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:57,122 √J0m:56,762 √Mm:12,176 λ:0,28 |dp|m:0,0840 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:56,335 √J0m:55,971 √Mm:12,177 λ:0,28 |dp|m:0,0840 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:55,595 √J0m:55,219 √Mm:12,287 λ:0,28 |dp|m:0,0840 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:54,905 √J0m:54,509 √Mm:12,520 λ:0,28 |dp|m:0,0840 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:54,266 √J0m:53,842 √Mm:12,887 λ:0,28 |dp|m:0,0840 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:53,683 √J0m:53,220 √Mm:13,388 λ:0,28 |dp|m:0,0840 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:53,157 √J0m:52,644 √Mm:14,022 λ:0,28 |dp|m:0,0840 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:52,691 √J0m:52,116 √Mm:14,782 λ:0,28 |dp|m:0,0840 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:52,288 √J0m:51,637 √Mm:15,658 λ:0,28 |dp|m:0,0840 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:51,950 √J0m:51,209 √Mm:16,639 λ:0,28 |dp|m:0,0840 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:51,678 √J0m:50,833 √Mm:17,714 λ:0,28 |dp|m:0,0840 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:51,474 √J0m:50,510 √Mm:18,872 λ:0,28 |dp|m:0,0840 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:51,339 √J0m:50,241 √Mm:20,102 λ:0,28 |dp|m:0,0840 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:51,274 √J0m:50,027 √Mm:21,397 λ:0,28 |dp|m:0,0840 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 07 00 -09 -07 01 00 17 -04 -06 03 -08 -10 -05 13 02 06 -08 04
co 2 03 03 00 -06 12 -05 -06 -03 02 -02 04 04 -04 -09 11 06 -28 20 01
co 3 -01 06 00 -09 -03 -05 -02 14 -05 -03 02 -02 07 10 -16 -01 -07 04 -05
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -26 01 17 -33 -02 -01 107 -45 -23 13 -25 -02 -83 87 02 00 -14 15
co 2 16 16 04 01 -24 08 01 -41 22 -04 05 -29 44 -10 -33 -10 09 40 -36
co 3 -02 -32 -01 36 -75 40 -14 121 -57 -11 04 -15 -06 82 -74 03 00 30 -29
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,69 0,50 0,50 0,43 0,00 0,67 0,82 0,91 0,50 0,47 0,71 0,96 0,77 0,85 0,17 0,79 0,85 0,26 0,66
Esque 2 0,31 0,50 0,50 0,57 1,00 0,33 0,18 0,09 0,50 0,53 0,29 0,04 0,23 0,15 0,83 0,21 0,15 0,74 0,34
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 08 00 -08 02 01 00 -09 05 01 -01 00 -04 11 -08 01 03 -02 -01
dpco 2 -01 -01 00 -03 10 -04 -03 05 -03 00 01 07 -09 -03 11 05 -15 03 07
dpco 3 00 08 00 -11 11 -09 01 -13 07 00 00 01 04 -09 04 -01 -03 -03 03
Lambdas Total x y z: 0,33 0,77 1,74 0,58

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:51,473 √J0m:49,859 √Mm:22,255 λ:0,33 |dp|m:0,0219 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:51,399 √J0m:49,854 √Mm:21,775 λ:0,33 |dp|m:0,0219 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:51,333 √J0m:49,852 √Mm:21,306 λ:0,33 |dp|m:0,0219 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:51,273 √J0m:49,854 √Mm:20,851 λ:0,33 |dp|m:0,0219 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:51,220 √J0m:49,859 √Mm:20,410 λ:0,33 |dp|m:0,0219 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:51,174 √J0m:49,869 √Mm:19,984 λ:0,33 |dp|m:0,0219 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:51,135 √J0m:49,882 √Mm:19,574 λ:0,33 |dp|m:0,0219 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:51,102 √J0m:49,900 √Mm:19,182 λ:0,33 |dp|m:0,0219 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:51,077 √J0m:49,921 √Mm:18,807 λ:0,33 |dp|m:0,0219 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:51,058 √J0m:49,946 √Mm:18,452 λ:0,33 |dp|m:0,0219 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:51,047 √J0m:49,974 √Mm:18,117 λ:0,33 |dp|m:0,0219 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:51,042 √J0m:50,007 √Mm:17,804 λ:0,33 |dp|m:0,0219 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -02 00 -01 -09 00 00 27 -10 -07 04 -08 -05 -18 22 01 03 -06 04
co 2 04 04 01 -02 01 -01 -02 -09 05 -01 03 -04 07 -06 -02 01 -10 16 -06
co 3 -01 -03 00 03 -16 05 -04 29 -13 -03 01 -04 02 20 -21 00 -03 07 -08
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 11 01 -15 -21 01 00 67 -18 -29 12 -16 -04 -61 65 00 -05 -07 13
co 2 20 15 06 -17 -07 -01 00 -26 15 -04 05 00 18 -13 -22 16 -29 51 -32
co 3 -03 09 -02 -03 -27 03 -02 76 -31 -15 04 -15 00 63 -57 -01 08 19 -25
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,69 0,50 0,50 0,43 0,00 0,67 0,82 0,91 0,50 0,47 0,71 0,96 0,77 0,85 0,17 0,79 0,85 0,26 0,66
Esque 2 0,31 0,50 0,50 0,57 1,00 0,33 0,18 0,09 0,50 0,53 0,29 0,04 0,23 0,15 0,83 0,21 0,15 0,74 0,34
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 -05 00 05 02 00 00 -08 01 06 -02 01 -01 11 -10 01 03 -01 -02
dpco 2 -04 -03 -01 04 03 00 -01 04 -02 00 00 -02 -02 01 06 -05 04 -08 07
dpco 3 00 -04 00 02 01 01 -01 -10 04 03 00 03 01 -10 08 00 -04 -02 04
Lambdas Total x y z: 0,64 1,13 1,78 1,10

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 182 Distancia Esque. Antes y Despues Retoque:33,00 Distancias Despues con p y q: 73,00 70,00 mm


Comienzan Iteraciones para cuadro 183

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -10 -01 -01 -06 67 06 -07 86 00 -15 -12 -62 -79 -58 126 05 68 -90 38
co 2 -03 -01 -01 07 -78 -36 84 -10 -01 -20 10 -12 12 -37 46 -10 -09 -33 30
co 3 -05 -01 -01 -11 74 -11 89 50 01 -12 05 -03 49 76 -126 -08 -96 60 -80
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 23 01 -36 04 -14 13 44 12 -66 26 -02 -01 07 -08 06 -01 04 -05
co 2 15 07 06 -27 04 15 -17 -15 05 -02 06 17 -27 -25 33 32 -24 -29 21
co 3 -02 20 -01 -35 24 -67 54 47 -01 -35 07 -07 05 01 -02 -01 05 -08 09
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,71 0,50 0,50 0,44 1,00 0,64 0,03 0,95 0,52 0,33 0,67 0,96 0,77 0,82 0,18 0,83 0,86 0,21 0,95
Esque 2 0,29 0,50 0,50 0,56 0,00 0,36 0,97 0,05 0,48 0,67 0,33 0,04 0,23 0,18 0,82 0,17 0,14 0,79 0,05
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -05 -09 -01 10 32 08 -08 28 -04 16 -15 -30 -39 -31 66 00 34 -47 21
dpco 2 -07 -03 -02 13 -41 -23 48 00 -03 -09 03 -12 16 -10 11 -16 04 -06 08
dpco 3 -02 -07 00 07 29 18 26 09 01 06 00 01 23 38 -62 -04 -50 33 -43
Lambdas Total x y z: 0,70 1,17 1,14 1,31

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:62,237 √J0m:61,144 √Mm:13,919 λ:0,70 |dp|m:0,0898 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:61,125 √J0m:60,065 √Mm:13,582 λ:0,70 |dp|m:0,0898 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:60,048 √J0m:59,021 √Mm:13,252 λ:0,70 |dp|m:0,0898 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:59,012 √J0m:58,014 √Mm:12,951 λ:0,70 |dp|m:0,0898 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:58,023 √J0m:57,046 √Mm:12,707 λ:0,70 |dp|m:0,0898 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:57,087 √J0m:56,119 √Mm:12,550 λ:0,70 |dp|m:0,0898 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:56,212 √J0m:55,234 √Mm:12,512 λ:0,70 |dp|m:0,0898 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:55,404 √J0m:54,395 √Mm:12,619 λ:0,70 |dp|m:0,0898 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:54,671 √J0m:53,602 √Mm:12,891 λ:0,70 |dp|m:0,0898 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:54,018 √J0m:52,859 √Mm:13,339 λ:0,70 |dp|m:0,0898 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:53,452 √J0m:52,167 √Mm:13,964 λ:0,70 |dp|m:0,0898 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:52,978 √J0m:51,528 √Mm:14,757 λ:0,70 |dp|m:0,0898 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:52,603 √J0m:50,944 √Mm:15,706 λ:0,70 |dp|m:0,0898 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:52,329 √J0m:50,418 √Mm:16,795 λ:0,70 |dp|m:0,0898 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:52,161 √J0m:49,951 √Mm:18,006 λ:0,70 |dp|m:0,0898 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:52,102 √J0m:49,545 √Mm:19,324 λ:0,70 |dp|m:0,0898 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -03 12 00 -20 19 -06 05 45 06 -38 10 -17 -20 -11 28 04 17 -21 07
co 2 07 04 03 -12 -18 -01 12 -10 02 -06 06 06 -11 -22 29 14 -15 -23 18
co 3 -02 10 -01 -21 31 -38 51 37 00 -21 05 -04 15 20 -33 -02 -21 11 -16
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -37 01 -08 06 01 -04 101 -37 -05 -11 -20 -01 -56 60 05 18 -59 42
co 2 11 06 06 -07 04 -11 13 -37 19 07 -04 -38 47 -02 -31 -10 68 -29 -33
co 3 -01 -42 -01 -09 39 -27 -05 113 -48 -08 -03 -10 -07 54 -48 06 -18 71 -51
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,71 0,50 0,50 0,44 1,00 0,64 0,03 0,95 0,52 0,33 0,67 0,96 0,77 0,82 0,18 0,83 0,86 0,21 0,95
Esque 2 0,29 0,50 0,50 0,56 0,00 0,36 0,97 0,05 0,48 0,67 0,33 0,04 0,23 0,18 0,82 0,17 0,14 0,79 0,05
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -02 15 00 -08 08 -03 03 -01 12 -18 08 -03 -10 08 00 01 04 04 -06
dpco 2 01 00 00 -04 -10 02 03 04 -03 -05 04 12 -16 -11 22 09 -24 -05 17
dpco 3 -01 15 00 -08 06 -13 27 -08 11 -09 03 00 09 -03 -05 -03 -07 -11 04
Lambdas Total x y z: 0,47 0,99 1,01 0,85

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:51,004 √J0m:49,069 √Mm:20,297 λ:0,47 |dp|m:0,0350 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:50,812 √J0m:48,946 √Mm:19,897 λ:0,47 |dp|m:0,0350 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:50,638 √J0m:48,834 √Mm:19,535 λ:0,47 |dp|m:0,0350 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:50,481 √J0m:48,731 √Mm:19,212 λ:0,47 |dp|m:0,0350 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:50,341 √J0m:48,638 √Mm:18,931 λ:0,47 |dp|m:0,0350 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:50,219 √J0m:48,556 √Mm:18,693 λ:0,47 |dp|m:0,0350 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:50,115 √J0m:48,483 √Mm:18,499 λ:0,47 |dp|m:0,0350 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:50,029 √J0m:48,420 √Mm:18,351 λ:0,47 |dp|m:0,0350 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:49,960 √J0m:48,367 √Mm:18,250 λ:0,47 |dp|m:0,0350 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:49,909 √J0m:48,325 √Mm:18,195 λ:0,47 |dp|m:0,0350 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:49,877 √J0m:48,292 √Mm:18,188 λ:0,47 |dp|m:0,0350 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:49,862 √J0m:48,270 √Mm:18,228 λ:0,47 |dp|m:0,0350 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -05 01 -11 10 -02 01 46 -07 -18 02 -13 -09 -20 28 03 12 -25 14
co 2 06 03 03 -07 -07 -03 09 -14 06 -01 01 -08 08 -10 04 04 12 -18 -01
co 3 -01 -07 -01 -11 24 -23 20 46 -13 -11 01 -05 04 23 -27 01 -14 24 -21
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 07 01 -37 15 -06 00 62 16 -69 19 -11 -04 -45 49 01 14 -39 27
co 2 21 08 06 -32 12 02 02 -24 07 00 07 08 07 -10 -16 35 11 -25 -17
co 3 -03 05 -02 -41 72 -55 00 70 -07 -39 06 -13 02 46 -42 -02 -09 45 -32
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,71 0,50 0,50 0,44 1,00 0,64 0,03 0,95 0,52 0,33 0,67 0,96 0,77 0,82 0,18 0,83 0,86 0,21 0,95
Esque 2 0,29 0,50 0,50 0,56 0,00 0,36 0,97 0,05 0,48 0,67 0,33 0,04 0,23 0,18 0,82 0,17 0,14 0,79 0,05
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 -05 00 08 -01 01 01 00 -09 17 -06 -02 -03 07 -04 01 01 02 -03
dpco 2 -05 -01 -01 08 -08 -02 03 01 00 00 -02 -07 01 -01 08 -11 02 00 06
dpco 3 00 -05 00 10 -15 09 10 -03 -04 09 -02 02 02 -06 02 01 -04 -05 01
Lambdas Total x y z: 0,74 1,22 2,78 1,04

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 183 Distancia Esque. Antes y Despues Retoque:33,00 Distancias Despues con p y q: 71,00 72,00 mm


Comienzan Iteraciones para cuadro 184

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -13 -01 -01 -09 58 07 -07 86 02 07 08 -66 -100 -28 185 10 65 -113 -34
co 2 -07 -01 -01 11 -65 -43 82 -18 -01 04 53 -16 13 -13 57 -18 -12 -37 -19
co 3 -05 -01 -01 -15 78 -13 79 51 03 03 06 -03 63 28 -168 -09 -90 82 35
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 39 00 -44 04 -05 04 34 -46 26 -05 -01 -02 08 -08 06 00 -02 01
co 2 21 16 -02 -33 04 12 -14 -12 11 02 -02 20 -18 -35 33 36 -25 -15 05
co 3 -03 34 01 -42 20 -53 44 36 -38 12 -01 -07 04 01 -01 -01 05 01 01
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,72 0,50 0,50 0,41 1,00 0,67 0,01 0,95 0,54 0,54 0,89 0,96 0,83 0,62 0,07 0,89 0,86 0,14 0,34
Esque 2 0,28 0,50 0,50 0,59 0,00 0,33 0,99 0,05 0,46 0,46 0,11 0,04 0,17 0,38 0,93 0,11 0,14 0,86 0,66
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -06 -13 00 09 27 05 -05 32 15 -04 05 -33 -49 -16 95 03 33 -56 -17
dpco 2 -10 -05 00 15 -34 -25 45 -05 -04 01 27 -14 12 04 18 -20 02 -14 -11
dpco 3 -02 -11 -01 06 33 10 26 14 13 -02 03 01 30 14 -84 -04 -47 41 17
Lambdas Total x y z: 0,62 1,14 0,75 1,29

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:65,831 √J0m:65,120 √Mm:12,303 λ:0,62 |dp|m:0,0994 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:64,545 √J0m:63,851 √Mm:12,027 λ:0,62 |dp|m:0,0994 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:63,298 √J0m:62,620 √Mm:11,775 λ:0,62 |dp|m:0,0994 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:62,096 √J0m:61,429 √Mm:11,574 λ:0,62 |dp|m:0,0994 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:60,946 √J0m:60,279 √Mm:11,452 λ:0,62 |dp|m:0,0994 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:59,851 √J0m:59,174 √Mm:11,439 λ:0,62 |dp|m:0,0994 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:58,820 √J0m:58,117 √Mm:11,561 λ:0,62 |dp|m:0,0994 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:57,859 √J0m:57,108 √Mm:11,837 λ:0,62 |dp|m:0,0994 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:56,973 √J0m:56,152 √Mm:12,278 λ:0,62 |dp|m:0,0994 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:56,169 √J0m:55,251 √Mm:12,886 λ:0,62 |dp|m:0,0994 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:55,453 √J0m:54,408 √Mm:13,653 λ:0,62 |dp|m:0,0994 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:54,830 √J0m:53,625 √Mm:14,566 λ:0,62 |dp|m:0,0994 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:54,305 √J0m:52,905 √Mm:15,610 λ:0,62 |dp|m:0,0994 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:53,883 √J0m:52,251 √Mm:16,770 λ:0,62 |dp|m:0,0994 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:53,568 √J0m:51,666 √Mm:18,030 λ:0,62 |dp|m:0,0994 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:53,362 √J0m:51,151 √Mm:19,376 λ:0,62 |dp|m:0,0994 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:53,269 √J0m:50,708 √Mm:20,797 λ:0,62 |dp|m:0,0994 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -03 19 00 -23 14 -01 00 35 -22 14 -01 -14 -22 -02 35 05 13 -24 -07
co 2 08 07 -01 -14 -12 -03 10 -10 05 02 10 06 -06 -20 28 14 -15 -15 -02
co 3 -03 17 00 -24 26 -29 38 28 -18 07 01 -04 15 06 -35 -02 -16 17 08
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -44 01 -12 12 -01 -03 93 -24 -36 23 -25 -03 -81 86 10 27 -28 01
co 2 03 11 05 -13 11 -18 18 -35 15 -11 12 -39 27 23 -42 -18 90 -78 -04
co 3 00 -50 -01 -16 62 -41 -07 105 -34 -14 06 -12 -02 65 -63 12 -28 31 -02
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,72 0,50 0,50 0,41 1,00 0,67 0,01 0,95 0,54 0,54 0,89 0,96 0,83 0,62 0,07 0,89 0,86 0,14 0,34
Esque 2 0,28 0,50 0,50 0,59 0,00 0,33 0,99 0,05 0,46 0,46 0,11 0,04 0,17 0,38 0,93 0,11 0,14 0,86 0,66
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -02 19 00 -09 05 00 01 -02 -06 14 -05 -02 -10 15 00 00 01 -07 -04
dpco 2 04 01 -02 -04 -08 02 02 02 -01 03 03 11 -09 -15 23 11 -26 09 00
dpco 3 -01 19 00 -09 00 -06 20 -07 -02 06 -01 01 08 -10 -05 -04 -03 02 04
Lambdas Total x y z: 0,41 0,92 0,72 0,94

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:52,144 √J0m:50,244 √Mm:21,806 λ:0,41 |dp|m:0,0323 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:51,983 √J0m:50,156 √Mm:21,355 λ:0,41 |dp|m:0,0323 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:51,835 √J0m:50,076 √Mm:20,933 λ:0,41 |dp|m:0,0323 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:51,701 √J0m:50,004 √Mm:20,541 λ:0,41 |dp|m:0,0323 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:51,582 √J0m:49,941 √Mm:20,180 λ:0,41 |dp|m:0,0323 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:51,476 √J0m:49,885 √Mm:19,852 λ:0,41 |dp|m:0,0323 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:51,385 √J0m:49,839 √Mm:19,558 λ:0,41 |dp|m:0,0323 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:51,307 √J0m:49,800 √Mm:19,300 λ:0,41 |dp|m:0,0323 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:51,244 √J0m:49,770 √Mm:19,079 λ:0,41 |dp|m:0,0323 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:51,195 √J0m:49,748 √Mm:18,896 λ:0,41 |dp|m:0,0323 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:51,161 √J0m:49,735 √Mm:18,753 λ:0,41 |dp|m:0,0323 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:51,141 √J0m:49,730 √Mm:18,649 λ:0,41 |dp|m:0,0323 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:51,135 √J0m:49,733 √Mm:18,586 λ:0,41 |dp|m:0,0323 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -04 00 -12 08 -01 -01 37 -15 -04 05 -12 -09 -21 35 04 12 -16 -02
co 2 04 06 01 -08 -02 -06 08 -13 06 -02 07 -07 04 -02 00 01 17 -25 -02
co 3 -01 -06 00 -13 26 -21 13 37 -16 -01 02 -05 05 19 -29 02 -13 14 02
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 12 01 -47 17 -04 -01 66 -45 07 03 -13 -09 -54 63 02 19 -22 03
co 2 26 15 04 -39 18 -08 09 -26 16 -01 02 03 13 -12 -19 40 14 -39 -12
co 3 -03 08 -01 -53 78 -55 -01 75 -47 04 01 -13 05 50 -49 -01 -15 25 -06
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,72 0,50 0,50 0,41 1,00 0,67 0,01 0,95 0,54 0,54 0,89 0,96 0,83 0,62 0,07 0,89 0,86 0,14 0,34
Esque 2 0,28 0,50 0,50 0,59 0,00 0,33 0,99 0,05 0,46 0,46 0,11 0,04 0,17 0,38 0,93 0,11 0,14 0,86 0,66
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 -06 00 10 -02 01 00 -04 08 -04 02 -01 -01 08 -04 01 -01 -01 -02
dpco 2 -07 -02 -01 09 -07 00 01 03 -02 -01 03 -05 -02 03 06 -13 04 00 03
dpco 3 01 -06 00 11 -14 08 07 -07 08 -02 01 02 01 -08 02 01 -02 -01 03
Lambdas Total x y z: 0,68 1,25 1,98 0,93

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 184 Distancia Esque. Antes y Despues Retoque:38,00 Distancias Despues con p y q: 84,00 71,00 mm


Comienzan Iteraciones para cuadro 185

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -13 -01 -01 -04 58 01 -16 95 03 -14 -11 -61 -81 -50 21 08 62 -101 -69
co 2 -09 -01 -01 05 -78 -08 91 -23 -03 -10 -03 -16 07 -30 10 -16 -17 07 00
co 3 -06 -01 -01 -07 74 -03 71 54 05 -26 12 -03 50 29 -09 -11 -84 79 109
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 27 01 -35 05 -05 04 32 12 -49 15 00 -02 -26 28 04 -01 -01 01
co 2 24 06 04 -27 04 05 -05 -12 04 03 03 19 -06 09 -19 29 -24 -08 06
co 3 -04 26 -01 -35 20 -31 22 35 01 -30 05 -05 01 20 -17 -01 04 -01 02
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,77 0,50 0,50 0,46 1,00 0,53 0,01 0,97 0,55 0,29 0,64 0,95 0,76 0,76 0,39 0,83 0,82 0,14 0,08
Esque 2 0,23 0,50 0,50 0,54 0,00 0,47 0,99 0,03 0,45 0,71 0,36 0,05 0,24 0,24 0,61 0,17 0,18 0,86 0,92
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -06 -12 -01 14 27 02 -10 33 -04 15 -12 -31 -40 -14 -02 02 31 -50 -35
dpco 2 -15 -03 -02 14 -41 -06 48 -06 -03 -06 -03 -17 07 -19 14 -21 02 07 -02
dpco 3 -02 -12 00 12 28 12 26 11 02 01 04 01 24 06 03 -05 -44 40 54
Lambdas Total x y z: 0,89 1,55 0,81 1,77

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:54,950 √J0m:53,935 √Mm:11,146 λ:0,89 |dp|m:0,0780 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:54,021 √J0m:53,015 √Mm:10,997 λ:0,89 |dp|m:0,0780 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:53,135 √J0m:52,126 √Mm:10,922 λ:0,89 |dp|m:0,0780 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:52,296 √J0m:51,270 √Mm:10,927 λ:0,89 |dp|m:0,0780 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:51,505 √J0m:50,446 √Mm:11,012 λ:0,89 |dp|m:0,0780 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:50,766 √J0m:49,659 √Mm:11,179 λ:0,89 |dp|m:0,0780 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:50,082 √J0m:48,908 √Mm:11,427 λ:0,89 |dp|m:0,0780 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:49,455 √J0m:48,196 √Mm:11,752 λ:0,89 |dp|m:0,0780 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:48,888 √J0m:47,525 √Mm:12,152 λ:0,89 |dp|m:0,0780 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:48,384 √J0m:46,896 √Mm:12,622 λ:0,89 |dp|m:0,0780 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:47,946 √J0m:46,311 √Mm:13,157 λ:0,89 |dp|m:0,0780 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:47,575 √J0m:45,772 √Mm:13,752 λ:0,89 |dp|m:0,0780 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:47,275 √J0m:45,281 √Mm:14,402 λ:0,89 |dp|m:0,0780 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:47,047 √J0m:44,838 √Mm:15,103 λ:0,89 |dp|m:0,0780 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:46,893 √J0m:44,445 √Mm:15,849 λ:0,89 |dp|m:0,0780 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:46,815 √J0m:44,105 √Mm:16,637 λ:0,89 |dp|m:0,0780 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:46,812 √J0m:43,817 √Mm:17,464 λ:0,89 |dp|m:0,0780 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -04 19 00 -25 15 -03 00 42 09 -37 08 -13 -18 -29 24 05 12 -22 -14
co 2 15 04 02 -18 -13 02 15 -13 02 00 01 10 -03 00 -11 17 -21 -04 04
co 3 -04 18 -01 -26 29 -23 30 36 02 -26 06 -04 11 20 -14 -03 -14 16 24
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 -61 01 13 01 00 -03 107 -36 02 -17 -22 -06 -21 29 09 17 -16 00
co 2 -14 13 04 12 -07 -06 11 -45 22 07 -05 -40 58 -39 -09 -27 64 -44 -02
co 3 03 -69 -01 14 37 -31 -07 127 -52 -03 -08 -12 -08 24 -16 12 -18 17 00
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,77 0,50 0,50 0,46 1,00 0,53 0,01 0,97 0,55 0,29 0,64 0,95 0,76 0,76 0,39 0,83 0,82 0,14 0,08
Esque 2 0,23 0,50 0,50 0,54 0,00 0,47 0,99 0,03 0,45 0,71 0,36 0,05 0,24 0,24 0,61 0,17 0,18 0,86 0,92
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -02 19 00 -15 08 -02 00 04 10 -19 07 -03 -08 -11 07 01 03 -08 -07
dpco 2 10 00 00 -11 -06 02 06 01 -02 -01 02 12 -11 06 -04 13 -21 05 02
dpco 3 -02 21 00 -15 09 -06 16 -03 09 -13 04 00 07 06 -04 -04 -04 05 12
Lambdas Total x y z: 0,33 0,94 0,58 0,68

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:44,620 √J0m:43,416 √Mm:17,947 λ:0,33 |dp|m:0,0330 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:44,423 √J0m:43,258 √Mm:17,619 λ:0,33 |dp|m:0,0330 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:44,243 √J0m:43,109 √Mm:17,346 λ:0,33 |dp|m:0,0330 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:44,080 √J0m:42,970 √Mm:17,130 λ:0,33 |dp|m:0,0330 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:43,934 √J0m:42,841 √Mm:16,972 λ:0,33 |dp|m:0,0330 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:43,805 √J0m:42,722 √Mm:16,876 λ:0,33 |dp|m:0,0330 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:43,694 √J0m:42,613 √Mm:16,841 λ:0,33 |dp|m:0,0330 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:43,601 √J0m:42,513 √Mm:16,867 λ:0,33 |dp|m:0,0330 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:43,525 √J0m:42,424 √Mm:16,955 λ:0,33 |dp|m:0,0330 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:43,467 √J0m:42,345 √Mm:17,104 λ:0,33 |dp|m:0,0330 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:43,426 √J0m:42,276 √Mm:17,311 λ:0,33 |dp|m:0,0330 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:43,404 √J0m:42,217 √Mm:17,574 λ:0,33 |dp|m:0,0330 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:43,400 √J0m:42,168 √Mm:17,892 λ:0,33 |dp|m:0,0330 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -05 00 -07 06 -01 -01 38 -04 -14 00 -09 -08 -15 15 04 08 -12 -05
co 2 03 04 02 -05 -07 -01 08 -14 05 01 00 -04 11 -08 -06 01 05 -11 01
co 3 -01 -07 00 -07 19 -15 10 39 -10 -11 01 -04 03 13 -09 01 -09 09 09
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -01 01 -41 20 -07 -01 75 13 -69 16 -11 -05 -47 52 01 12 -11 00
co 2 26 13 06 -38 12 04 03 -32 10 05 04 05 08 -09 -18 29 03 -23 -04
co 3 -04 -03 -02 -47 80 -58 -01 89 -16 -42 08 -13 01 35 -30 -02 -08 12 -01
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,77 0,50 0,50 0,46 1,00 0,53 0,01 0,97 0,55 0,29 0,64 0,95 0,76 0,76 0,39 0,83 0,82 0,14 0,08
Esque 2 0,23 0,50 0,50 0,54 0,00 0,47 0,99 0,03 0,45 0,71 0,36 0,05 0,24 0,24 0,61 0,17 0,18 0,86 0,92
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 -02 00 08 -03 01 00 -03 -06 13 -05 -01 -03 06 -08 02 01 -03 -03
dpco 2 -06 -02 -01 09 -07 -02 03 02 00 -01 -01 -04 03 -01 02 -08 02 01 02
dpco 3 01 -03 00 10 -14 09 05 -06 00 07 -02 02 01 -04 04 01 -02 01 05
Lambdas Total x y z: 0,59 1,05 2,60 0,86

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 185 Distancia Esque. Antes y Despues Retoque:31,00 Distancias Despues con p y q: 62,00 66,00 mm


Comienzan Iteraciones para cuadro 186

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -13 -01 -01 -03 57 -01 00 102 10 -16 -08 -61 -62 -40 18 04 59 -88 -108
co 2 -14 -01 -01 05 -90 01 -33 -32 -04 -05 04 -16 04 -25 10 -16 -15 52 83
co 3 -07 -01 -01 -06 72 -01 -28 55 14 -12 07 -03 36 47 -19 -12 -77 84 161
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 23 01 -29 05 -03 02 32 00 -19 -04 -01 -01 -25 26 07 -13 11 00
co 2 26 -02 05 -22 04 04 -04 -12 07 04 -01 14 -12 16 -17 21 -82 55 05
co 3 -04 27 -01 -31 28 -44 27 35 -12 -14 -02 -05 03 17 -16 02 17 -15 02
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,78 0,50 0,50 0,46 0,99 0,49 0,68 0,98 0,61 0,40 0,65 0,95 0,70 0,70 0,41 0,78 0,79 0,24 0,04
Esque 2 0,22 0,50 0,50 0,54 0,01 0,51 0,32 0,02 0,39 0,60 0,35 0,05 0,30 0,30 0,59 0,22 0,21 0,76 0,96
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -06 -08 -01 07 27 00 -01 41 05 -02 -03 -30 -31 -12 01 00 33 -47 -54
dpco 2 -15 00 -02 09 -46 -01 -15 -12 -04 -03 02 -12 05 -17 10 -14 17 09 40
dpco 3 -02 -09 00 06 28 13 -22 17 11 -02 04 00 17 18 -05 -07 -44 46 80
Lambdas Total x y z: 0,60 2,18 0,72 1,07

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:64,009 √J0m:63,315 √Mm:12,083 λ:0,60 |dp|m:0,0846 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:63,066 √J0m:62,380 √Mm:11,929 λ:0,60 |dp|m:0,0846 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:62,166 √J0m:61,477 √Mm:11,867 λ:0,60 |dp|m:0,0846 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:61,310 √J0m:60,608 √Mm:11,901 λ:0,60 |dp|m:0,0846 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:60,502 √J0m:59,774 √Mm:12,033 λ:0,60 |dp|m:0,0846 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:59,743 √J0m:58,977 √Mm:12,261 λ:0,60 |dp|m:0,0846 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:59,035 √J0m:58,218 √Mm:12,585 λ:0,60 |dp|m:0,0846 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:58,381 √J0m:57,499 √Mm:12,998 λ:0,60 |dp|m:0,0846 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:57,782 √J0m:56,822 √Mm:13,494 λ:0,60 |dp|m:0,0846 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:57,241 √J0m:56,187 √Mm:14,068 λ:0,60 |dp|m:0,0846 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:56,760 √J0m:55,596 √Mm:14,711 λ:0,60 |dp|m:0,0846 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:56,341 √J0m:55,051 √Mm:15,417 λ:0,60 |dp|m:0,0846 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:55,985 √J0m:54,553 √Mm:16,179 λ:0,60 |dp|m:0,0846 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:55,693 √J0m:54,104 √Mm:16,991 λ:0,60 |dp|m:0,0846 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:55,468 √J0m:53,704 √Mm:17,848 λ:0,60 |dp|m:0,0846 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:55,309 √J0m:53,354 √Mm:18,745 λ:0,60 |dp|m:0,0846 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:55,218 √J0m:53,057 √Mm:19,677 λ:0,60 |dp|m:0,0846 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:55,196 √J0m:52,812 √Mm:20,640 λ:0,60 |dp|m:0,0846 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -03 12 00 -15 12 -02 01 33 01 -12 -03 -10 -11 -19 16 04 03 -09 -18
co 2 11 -01 02 -10 -13 02 -08 -11 03 01 00 04 -05 04 -07 08 -44 36 16
co 3 -03 14 -01 -17 26 -22 09 27 -04 -09 00 -03 07 16 -11 -01 -04 06 27
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 03 -56 00 -01 07 -05 -02 115 -09 -41 00 -22 -04 -37 43 07 15 -30 14
co 2 -16 33 01 00 -08 09 -01 -48 17 05 00 -37 51 -28 -13 -44 69 -93 62
co 3 04 -65 00 -01 53 -20 -30 137 -42 -25 00 -13 -05 37 -32 11 -20 16 00
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,78 0,50 0,50 0,46 0,99 0,49 0,68 0,98 0,61 0,40 0,65 0,95 0,70 0,70 0,41 0,78 0,79 0,24 0,04
Esque 2 0,22 0,50 0,50 0,54 0,01 0,51 0,32 0,02 0,39 0,60 0,35 0,05 0,30 0,30 0,59 0,22 0,21 0,76 0,96
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -02 14 00 -07 05 00 01 00 02 00 -02 -02 -05 -04 02 01 -01 00 -11
dpco 2 08 -05 01 -05 -05 00 -04 01 -01 00 00 07 -10 06 -02 10 -32 31 -01
dpco 3 -02 16 00 -08 06 -08 09 -06 04 -01 00 00 04 03 -01 -02 01 01 14
Lambdas Total x y z: 0,28 1,03 0,42 0,74

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:53,699 √J0m:52,524 √Mm:21,171 λ:0,28 |dp|m:0,0298 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:53,566 √J0m:52,435 √Mm:20,743 λ:0,28 |dp|m:0,0298 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:53,443 √J0m:52,352 √Mm:20,350 λ:0,28 |dp|m:0,0298 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:53,331 √J0m:52,276 √Mm:19,994 λ:0,28 |dp|m:0,0298 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:53,230 √J0m:52,207 √Mm:19,676 λ:0,28 |dp|m:0,0298 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:53,140 √J0m:52,145 √Mm:19,400 λ:0,28 |dp|m:0,0298 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:53,062 √J0m:52,089 √Mm:19,165 λ:0,28 |dp|m:0,0298 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:52,994 √J0m:52,040 √Mm:18,974 λ:0,28 |dp|m:0,0298 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:52,938 √J0m:51,998 √Mm:18,828 λ:0,28 |dp|m:0,0298 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:52,894 √J0m:51,962 √Mm:18,728 λ:0,28 |dp|m:0,0298 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:52,860 √J0m:51,933 √Mm:18,675 λ:0,28 |dp|m:0,0298 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:52,838 √J0m:51,912 √Mm:18,668 λ:0,28 |dp|m:0,0298 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:52,828 √J0m:51,897 √Mm:18,709 λ:0,28 |dp|m:0,0298 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -05 00 -06 06 -02 00 32 -01 -12 -01 -08 -05 -14 14 03 04 -08 -04
co 2 01 05 01 -04 -06 02 -03 -13 04 01 00 -05 07 -03 -05 -04 -05 -02 17
co 3 00 -06 00 -07 19 -12 -02 34 -09 -08 00 -03 02 13 -10 02 -05 05 10
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -16 02 -30 17 -09 -01 88 04 -46 -01 -15 -04 -47 52 02 -09 04 05
co 2 18 12 09 -26 01 11 -01 -36 14 06 00 -05 11 -05 -18 17 -34 -01 22
co 3 -02 -13 -02 -34 82 -59 -09 106 -32 -27 -01 -13 01 42 -39 00 12 -08 -02
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,78 0,50 0,50 0,46 0,99 0,49 0,68 0,98 0,61 0,40 0,65 0,95 0,70 0,70 0,41 0,78 0,79 0,24 0,04
Esque 2 0,22 0,50 0,50 0,54 0,01 0,51 0,32 0,02 0,39 0,60 0,35 0,05 0,30 0,30 0,59 0,22 0,21 0,76 0,96
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 02 00 05 -02 02 00 -08 -02 07 00 00 -01 06 -08 01 04 -05 -04
dpco 2 -04 -01 -02 05 -03 -02 -01 04 -02 -01 00 -01 00 00 02 -07 07 -01 02
dpco 3 00 01 01 06 -13 10 02 -13 05 04 00 02 01 -05 06 01 -06 05 06
Lambdas Total x y z: 0,56 1,15 2,66 0,76

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 186 Distancia Esque. Antes y Despues Retoque:34,00 Distancias Despues con p y q: 76,00 73,00 mm


Comienzan Iteraciones para cuadro 187

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -11 -01 -01 -03 -41 -07 31 96 21 -12 -06 -58 -52 -38 26 07 60 -93 -94
co 2 -14 -01 -01 05 98 16 -90 -44 -07 -03 03 -24 02 -27 15 -18 -15 63 97
co 3 -09 -01 -01 -06 -88 02 -13 41 22 -08 02 01 29 45 -26 -09 -78 97 162
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 31 00 -37 08 03 -04 38 -06 -39 13 00 -01 -29 30 07 -15 13 00
co 2 13 14 01 -30 06 -05 04 -15 10 00 03 20 -18 19 -20 26 -96 63 06
co 3 -02 32 00 -42 30 11 -27 42 -20 -21 05 -06 04 19 -18 02 20 -17 02
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,78 0,50 0,50 0,46 0,00 0,43 1,00 0,97 0,67 0,43 0,62 0,96 0,67 0,70 0,36 0,78 0,79 0,21 0,05
Esque 2 0,22 0,50 0,50 0,54 1,00 0,57 0,00 0,03 0,33 0,57 0,38 0,04 0,33 0,30 0,64 0,22 0,21 0,79 0,95
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -05 -07 -01 06 -22 -04 16 40 12 02 -06 -29 -26 -13 07 02 33 -49 -47
dpco 2 -10 -03 -01 09 48 09 -46 -19 -06 -01 01 -16 04 -18 12 -14 13 18 47
dpco 3 -04 -07 -01 06 -51 -01 -01 12 15 00 00 02 14 19 -09 -05 -43 52 80
Lambdas Total x y z: 0,42 1,50 0,75 0,71

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:63,501 √J0m:62,840 √Mm:14,070 λ:0,42 |dp|m:0,0902 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:62,416 √J0m:61,762 √Mm:13,871 λ:0,42 |dp|m:0,0902 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:61,373 √J0m:60,719 √Mm:13,755 λ:0,42 |dp|m:0,0902 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:60,374 √J0m:59,712 √Mm:13,729 λ:0,42 |dp|m:0,0902 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:59,422 √J0m:58,743 √Mm:13,793 λ:0,42 |dp|m:0,0902 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:58,520 √J0m:57,814 √Mm:13,949 λ:0,42 |dp|m:0,0902 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:57,670 √J0m:56,928 √Mm:14,197 λ:0,42 |dp|m:0,0902 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:56,874 √J0m:56,085 √Mm:14,534 λ:0,42 |dp|m:0,0902 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:56,135 √J0m:55,288 √Mm:14,956 λ:0,42 |dp|m:0,0902 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:55,456 √J0m:54,539 √Mm:15,459 λ:0,42 |dp|m:0,0902 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:54,839 √J0m:53,840 √Mm:16,038 λ:0,42 |dp|m:0,0902 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:54,286 √J0m:53,194 √Mm:16,686 λ:0,42 |dp|m:0,0902 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:53,801 √J0m:52,601 √Mm:17,398 λ:0,42 |dp|m:0,0902 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:53,384 √J0m:52,064 √Mm:18,168 λ:0,42 |dp|m:0,0902 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:53,038 √J0m:51,584 √Mm:18,992 λ:0,42 |dp|m:0,0902 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:52,765 √J0m:51,163 √Mm:19,864 λ:0,42 |dp|m:0,0902 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:52,565 √J0m:50,803 √Mm:20,780 λ:0,42 |dp|m:0,0902 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:52,441 √J0m:50,505 √Mm:21,735 λ:0,42 |dp|m:0,0902 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:52,392 √J0m:50,270 √Mm:22,727 λ:0,42 |dp|m:0,0902 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 11 00 -14 -02 00 02 26 00 -16 04 -07 -07 -15 14 03 02 -06 -11
co 2 03 05 00 -10 14 00 -09 -11 03 00 01 04 -06 04 -06 07 -37 31 14
co 3 -02 12 00 -16 01 04 -12 21 -05 -09 02 -02 05 12 -10 00 -02 05 20
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 -47 01 28 -37 00 03 106 04 -53 02 -25 -03 -54 59 09 09 -12 02
co 2 -07 29 04 10 -29 32 -17 -46 14 05 00 -45 54 -26 -16 -38 46 -83 67
co 3 02 -51 -01 54 -117 97 -37 128 -36 -30 01 -14 -06 49 -44 13 -13 06 03
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,78 0,50 0,50 0,46 0,00 0,43 1,00 0,97 0,67 0,43 0,62 0,96 0,67 0,70 0,36 0,78 0,79 0,21 0,05
Esque 2 0,22 0,50 0,50 0,54 1,00 0,57 0,00 0,03 0,33 0,57 0,38 0,04 0,33 0,30 0,64 0,22 0,21 0,79 0,95
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 11 00 -10 04 00 01 00 00 -01 02 00 -03 -01 00 01 00 -02 -06
dpco 2 03 -01 00 -06 11 -04 -03 00 00 -01 01 08 -10 05 -01 08 -24 26 -01
dpco 3 -01 12 00 -15 15 -10 -01 -06 02 -01 01 01 03 00 01 -02 01 02 10
Lambdas Total x y z: 0,25 1,04 0,62 0,49

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:51,355 √J0m:50,036 √Mm:23,239 λ:0,25 |dp|m:0,0264 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:51,245 √J0m:49,979 √Mm:22,749 λ:0,25 |dp|m:0,0264 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:51,144 √J0m:49,928 √Mm:22,282 λ:0,25 |dp|m:0,0264 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:51,052 √J0m:49,882 √Mm:21,841 λ:0,25 |dp|m:0,0264 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:50,969 √J0m:49,841 √Mm:21,425 λ:0,25 |dp|m:0,0264 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:50,895 √J0m:49,807 √Mm:21,037 λ:0,25 |dp|m:0,0264 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:50,830 √J0m:49,778 √Mm:20,679 λ:0,25 |dp|m:0,0264 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:50,774 √J0m:49,754 √Mm:20,352 λ:0,25 |dp|m:0,0264 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:50,727 √J0m:49,736 √Mm:20,056 λ:0,25 |dp|m:0,0264 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:50,690 √J0m:49,723 √Mm:19,795 λ:0,25 |dp|m:0,0264 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:50,661 √J0m:49,717 √Mm:19,568 λ:0,25 |dp|m:0,0264 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:50,642 √J0m:49,715 √Mm:19,378 λ:0,25 |dp|m:0,0264 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:50,632 √J0m:49,720 √Mm:19,225 λ:0,25 |dp|m:0,0264 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:50,631 √J0m:49,730 √Mm:19,109 λ:0,25 |dp|m:0,0264 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -04 00 00 -07 00 01 26 01 -14 02 -07 -03 -14 15 03 02 -04 -03
co 2 00 07 01 -02 00 05 -06 -11 03 01 01 -06 07 -03 -04 -04 -05 -03 16
co 3 00 -04 00 03 -19 17 -10 28 -07 -08 01 -03 01 12 -11 02 -03 03 07
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -03 01 -22 -13 -01 02 84 12 -60 07 -17 -03 -57 61 04 -11 09 02
co 2 10 31 06 -20 -11 20 -13 -36 11 04 02 -09 11 -03 -19 13 -37 -08 31
co 3 -01 00 -02 -15 -42 51 -27 103 -29 -33 03 -14 01 48 -45 03 15 -12 -01
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,78 0,50 0,50 0,46 0,00 0,43 1,00 0,97 0,67 0,43 0,62 0,96 0,67 0,70 0,36 0,78 0,79 0,21 0,05
Esque 2 0,22 0,50 0,50 0,54 1,00 0,57 0,00 0,03 0,33 0,57 0,38 0,04 0,33 0,30 0,64 0,22 0,21 0,79 0,95
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 -01 00 06 00 00 00 -10 -03 10 -01 01 -01 09 -10 00 04 -05 -02
dpco 2 -03 -05 -01 05 03 -03 01 05 -02 -01 00 00 00 -01 03 -06 08 01 -01
dpco 3 00 -02 00 06 02 -06 02 -15 04 05 00 02 00 -07 07 00 -06 05 04
Lambdas Total x y z: 0,56 1,01 2,08 0,91

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 187 Distancia Esque. Antes y Despues Retoque:38,00 Distancias Despues con p y q: 83,00 67,00 mm


Comienzan Iteraciones para cuadro 188

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -14 -01 -01 -05 34 -18 -07 101 26 -11 -03 -61 -55 -68 50 09 42 -72 22
co 2 -15 -01 -01 -11 -76 56 97 -40 -10 -05 07 -16 02 -35 24 -20 -09 -06 03
co 3 -07 -01 -01 24 67 21 55 59 26 -07 05 01 31 69 -40 -15 -53 53 -30
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 16 00 -33 10 -01 00 55 -21 -28 09 -01 -02 -30 31 04 -01 -01 01
co 2 18 23 02 -35 05 -01 01 -24 18 00 01 17 -23 24 -20 18 -14 -08 06
co 3 -02 19 00 -42 27 -07 -04 62 -33 -15 04 -08 05 16 -16 01 03 00 01
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,80 0,50 0,50 0,70 0,99 0,25 0,00 0,98 0,69 0,45 0,63 0,95 0,68 0,78 0,30 0,87 0,70 0,27 0,62
Esque 2 0,20 0,50 0,50 0,30 0,01 0,75 1,00 0,02 0,31 0,55 0,37 0,05 0,32 0,22 0,70 0,13 0,30 0,73 0,38
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -07 -08 -01 12 13 -09 -03 27 22 07 -05 -30 -27 -21 11 03 21 -35 10
dpco 2 -15 -11 -01 09 -40 28 48 -09 -13 -03 03 -15 11 -28 21 -18 02 01 -01
dpco 3 -03 -09 00 30 22 13 29 02 27 03 01 04 13 27 -13 -08 -27 27 -15
Lambdas Total x y z: 0,87 2,00 0,78 1,23

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:59,687 √J0m:58,683 √Mm:11,697 λ:0,87 |dp|m:0,0683 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:59,038 √J0m:58,049 √Mm:11,542 λ:0,87 |dp|m:0,0683 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:58,428 √J0m:57,441 √Mm:11,467 λ:0,87 |dp|m:0,0683 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:57,858 √J0m:56,859 √Mm:11,477 λ:0,87 |dp|m:0,0683 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:57,330 √J0m:56,305 √Mm:11,574 λ:0,87 |dp|m:0,0683 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:56,845 √J0m:55,778 √Mm:11,758 λ:0,87 |dp|m:0,0683 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:56,407 √J0m:55,281 √Mm:12,028 λ:0,87 |dp|m:0,0683 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:56,015 √J0m:54,812 √Mm:12,380 λ:0,87 |dp|m:0,0683 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:55,671 √J0m:54,375 √Mm:12,811 λ:0,87 |dp|m:0,0683 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:55,377 √J0m:53,968 √Mm:13,314 λ:0,87 |dp|m:0,0683 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:55,134 √J0m:53,593 √Mm:13,885 λ:0,87 |dp|m:0,0683 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:54,943 √J0m:53,250 √Mm:14,519 λ:0,87 |dp|m:0,0683 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:54,806 √J0m:52,940 √Mm:15,208 λ:0,87 |dp|m:0,0683 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:54,723 √J0m:52,664 √Mm:15,949 λ:0,87 |dp|m:0,0683 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:54,695 √J0m:52,422 √Mm:16,736 λ:0,87 |dp|m:0,0683 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -05 10 00 -22 16 -06 -02 63 -05 -21 05 -19 -17 -38 34 05 12 -22 07
co 2 07 14 01 -25 -19 16 29 -27 08 -02 03 06 -14 05 -05 05 -11 -07 04
co 3 -03 11 00 -19 36 02 14 55 -12 -12 04 -05 12 31 -22 -04 -14 15 -08
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -46 03 18 -05 -06 00 64 28 -46 -05 -17 00 -66 69 06 08 -12 05
co 2 -01 -09 12 19 -17 11 -04 -28 12 01 -01 -36 66 -41 -11 -20 45 -13 -17
co 3 01 -47 -03 24 24 -44 09 78 -05 -24 -03 -10 -08 54 -47 10 -09 19 -10
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,80 0,50 0,50 0,70 0,99 0,25 0,00 0,98 0,69 0,45 0,63 0,95 0,68 0,78 0,30 0,87 0,70 0,27 0,62
Esque 2 0,20 0,50 0,50 0,30 0,01 0,75 1,00 0,02 0,31 0,55 0,37 0,05 0,32 0,22 0,70 0,13 0,30 0,73 0,38
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -03 17 -01 -16 09 -01 -01 14 -10 02 04 -05 -08 -01 -02 01 04 -08 02
dpco 2 04 09 -03 -18 -05 05 16 -06 01 -01 02 13 -25 14 00 08 -18 00 07
dpco 3 -02 19 01 -16 12 13 04 06 -05 01 03 00 08 00 02 -04 -04 02 -01
Lambdas Total x y z: 0,55 1,14 0,78 1,11

OPTIMIZO GLOBAL
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -05 10 00 -22 16 -06 -02 63 -05 -21 05 -19 -17 -38 34 05 12 -22 07
co 2 07 14 01 -25 -19 16 29 -27 08 -02 03 06 -14 05 -05 05 -11 -07 04
co 3 -03 11 00 -19 36 02 14 55 -12 -12 04 -05 12 31 -22 -04 -14 15 -08
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -46 03 18 -05 -06 00 64 28 -46 -05 -17 00 -66 69 06 08 -12 05
co 2 -01 -09 12 19 -17 11 -04 -28 12 01 -01 -36 66 -41 -11 -20 45 -13 -17
co 3 01 -47 -03 24 24 -44 09 78 -05 -24 -03 -10 -08 54 -47 10 -09 19 -10
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,80 0,50 0,50 0,70 0,99 0,25 0,00 0,98 0,69 0,45 0,63 0,95 0,68 0,78 0,30 0,87 0,70 0,27 0,62
Esque 2 0,20 0,50 0,50 0,30 0,01 0,75 1,00 0,02 0,31 0,55 0,37 0,05 0,32 0,22 0,70 0,13 0,30 0,73 0,38
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -03 17 -01 -16 09 -01 -01 14 -10 02 04 -05 -08 -01 -02 01 04 -08 02
dpco 2 04 09 -03 -18 -05 05 16 -06 01 -01 02 13 -25 14 00 08 -18 00 07
dpco 3 -02 19 01 -16 12 13 04 06 -05 01 03 00 08 00 02 -04 -04 02 -01
Lambdas Total x y z: 0,55 1,14 0,78 1,11

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 188 Distancia Esque. Antes y Despues Retoque:22,00 Distancias Despues con p y q: 59,00 69,00 mm


Comienzan Iteraciones para cuadro 189

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -16 -01 -01 -05 33 -18 -02 107 29 -19 -04 -61 -53 -74 23 13 42 -66 00
co 2 -11 -01 -01 -14 -87 57 18 -36 -05 -01 03 -12 03 -39 12 -21 -11 -08 -01
co 3 -08 -01 -01 21 61 20 09 64 29 -20 03 -03 31 78 -20 -12 -52 46 -02
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 10 -01 -23 07 -02 00 54 -17 -25 04 -01 -01 -26 27 04 -03 -01 02
co 2 20 23 -03 -25 03 -02 02 -26 16 02 01 16 -27 27 -18 24 -34 04 09
co 3 -03 08 01 -29 27 -09 -06 62 -28 -16 01 -08 05 14 -14 00 05 -03 02
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,84 0,50 0,50 0,71 0,98 0,25 0,41 0,98 0,70 0,38 0,60 0,95 0,68 0,82 0,40 0,88 0,70 0,31 0,50
Esque 2 0,16 0,50 0,50 0,29 0,02 0,75 0,59 0,02 0,30 0,62 0,40 0,05 0,32 0,18 0,60 0,12 0,30 0,69 0,50
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -07 -05 00 08 13 -08 -01 28 23 02 -04 -30 -26 -25 -01 04 22 -33 -01
dpco 2 -15 -11 01 05 -45 29 08 -06 -10 -01 01 -13 14 -32 14 -21 10 -06 -05
dpco 3 -03 -04 -01 24 18 14 07 03 27 -02 01 02 13 33 -04 -06 -28 25 -02
Lambdas Total x y z: 0,93 2,33 0,61 1,46

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:60,418 √J0m:59,478 √Mm:11,035 λ:0,93 |dp|m:0,0620 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:59,898 √J0m:58,971 √Mm:10,912 λ:0,93 |dp|m:0,0620 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:59,415 √J0m:58,486 √Mm:10,878 λ:0,93 |dp|m:0,0620 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:58,970 √J0m:58,023 √Mm:10,936 λ:0,93 |dp|m:0,0620 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:58,564 √J0m:57,584 √Mm:11,087 λ:0,93 |dp|m:0,0620 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:58,198 √J0m:57,168 √Mm:11,327 λ:0,93 |dp|m:0,0620 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:57,873 √J0m:56,776 √Mm:11,655 λ:0,93 |dp|m:0,0620 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:57,590 √J0m:56,408 √Mm:12,063 λ:0,93 |dp|m:0,0620 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:57,351 √J0m:56,066 √Mm:12,548 λ:0,93 |dp|m:0,0620 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:57,156 √J0m:55,749 √Mm:13,101 λ:0,93 |dp|m:0,0620 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:57,007 √J0m:55,457 √Mm:13,717 λ:0,93 |dp|m:0,0620 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:56,903 √J0m:55,193 √Mm:14,389 λ:0,93 |dp|m:0,0620 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:56,846 √J0m:54,954 √Mm:15,111 λ:0,93 |dp|m:0,0620 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:56,836 √J0m:54,743 √Mm:15,879 λ:0,93 |dp|m:0,0620 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -06 06 -01 -16 16 -07 -01 69 -01 -21 01 -22 -19 -41 24 07 13 -23 01
co 2 09 14 -02 -20 -28 18 07 -28 08 01 02 06 -15 03 -07 07 -25 -01 05
co 3 -04 04 00 -11 38 01 -01 59 -07 -17 02 -06 13 35 -15 -04 -15 14 00
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -37 03 14 -04 -06 00 59 36 -59 -01 -15 01 -49 51 09 07 -06 00
co 2 03 -06 11 15 -17 07 01 -27 07 07 00 -34 68 -43 -11 -34 53 -31 02
co 3 00 -39 -03 20 22 -22 -11 73 07 -37 00 -09 -09 42 -34 14 -09 07 01
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,84 0,50 0,50 0,71 0,98 0,25 0,41 0,98 0,70 0,38 0,60 0,95 0,68 0,82 0,40 0,88 0,70 0,31 0,50
Esque 2 0,16 0,50 0,50 0,29 0,02 0,75 0,59 0,02 0,30 0,62 0,40 0,05 0,32 0,18 0,60 0,12 0,30 0,69 0,50
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -03 13 -01 -12 09 -02 -01 18 -11 06 01 -07 -10 -06 -02 01 04 -10 00
dpco 2 03 09 -04 -14 -09 07 03 -06 02 -01 01 12 -27 14 00 13 -28 09 02
dpco 3 -02 13 01 -11 12 07 03 09 -05 02 01 00 09 05 02 -06 -05 05 00
Lambdas Total x y z: 0,57 1,30 0,57 1,41

OPTIMIZO GLOBAL
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -06 06 -01 -16 16 -07 -01 69 -01 -21 01 -22 -19 -41 24 07 13 -23 01
co 2 09 14 -02 -20 -28 18 07 -28 08 01 02 06 -15 03 -07 07 -25 -01 05
co 3 -04 04 00 -11 38 01 -01 59 -07 -17 02 -06 13 35 -15 -04 -15 14 00
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -37 03 14 -04 -06 00 59 36 -59 -01 -15 01 -49 51 09 07 -06 00
co 2 03 -06 11 15 -17 07 01 -27 07 07 00 -34 68 -43 -11 -34 53 -31 02
co 3 00 -39 -03 20 22 -22 -11 73 07 -37 00 -09 -09 42 -34 14 -09 07 01
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,84 0,50 0,50 0,71 0,98 0,25 0,41 0,98 0,70 0,38 0,60 0,95 0,68 0,82 0,40 0,88 0,70 0,31 0,50
Esque 2 0,16 0,50 0,50 0,29 0,02 0,75 0,59 0,02 0,30 0,62 0,40 0,05 0,32 0,18 0,60 0,12 0,30 0,69 0,50
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -03 13 -01 -12 09 -02 -01 18 -11 06 01 -07 -10 -06 -02 01 04 -10 00
dpco 2 03 09 -04 -14 -09 07 03 -06 02 -01 01 12 -27 14 00 13 -28 09 02
dpco 3 -02 13 01 -11 12 07 03 09 -05 02 01 00 09 05 02 -06 -05 05 00
Lambdas Total x y z: 0,57 1,30 0,57 1,41

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 189 Distancia Esque. Antes y Despues Retoque:18,00 Distancias Despues con p y q: 58,00 70,00 mm


Comienzan Iteraciones para cuadro 190

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -13 -01 -01 -05 39 -18 -02 112 31 -14 -03 -57 -52 -74 22 12 38 -53 -66
co 2 -14 -01 -01 -15 -95 59 14 -06 -07 -03 05 -16 03 -42 13 -20 -10 03 00
co 3 -11 -01 -01 20 64 22 14 112 31 -10 03 -03 26 75 -21 -18 -50 45 80
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -07 00 -28 08 -02 00 87 -32 -23 04 -02 -01 -27 28 07 02 -04 01
co 2 12 34 00 -31 04 01 -01 -46 33 01 01 11 -18 22 -18 09 09 -18 -03
co 3 -01 -20 00 -36 25 -21 09 102 -35 -15 01 -07 03 12 -12 07 00 05 -02
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,83 0,50 0,50 0,70 1,00 0,25 0,41 0,99 0,72 0,43 0,60 0,95 0,68 0,82 0,40 0,87 0,68 0,32 0,25
Esque 2 0,17 0,50 0,50 0,30 0,00 0,75 0,59 0,01 0,28 0,57 0,40 0,05 0,32 0,18 0,60 0,13 0,32 0,68 0,75
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -06 03 00 10 16 -08 -01 16 30 04 -03 -28 -26 -25 -02 03 18 -24 -33
dpco 2 -12 -16 -01 07 -50 29 08 18 -19 -02 02 -13 10 -31 14 -14 -09 10 01
dpco 3 -05 09 -01 27 20 21 03 09 31 02 01 02 11 32 -05 -12 -25 20 41
Lambdas Total x y z: 0,91 1,80 0,85 1,36

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:63,016 √J0m:61,573 √Mm:14,032 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:62,415 √J0m:61,007 √Mm:13,793 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:61,849 √J0m:60,465 √Mm:13,612 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:61,321 √J0m:59,950 √Mm:13,493 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:60,831 √J0m:59,460 √Mm:13,437 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:60,381 √J0m:58,998 √Mm:13,446 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:59,972 √J0m:58,563 √Mm:13,523 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:59,604 √J0m:58,156 √Mm:13,666 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:59,280 √J0m:57,778 √Mm:13,874 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:58,999 √J0m:57,429 √Mm:14,147 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:58,763 √J0m:57,110 √Mm:14,482 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:58,573 √J0m:56,821 √Mm:14,875 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:58,429 √J0m:56,563 √Mm:15,324 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:58,332 √J0m:56,337 √Mm:15,825 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:58,282 √J0m:56,142 √Mm:16,375 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:58,281 √J0m:55,979 √Mm:16,969 λ:0,91 |dp|m:0,0676 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -04 -05 00 -20 15 -06 -01 87 -14 -19 02 -15 -14 -37 25 08 11 -16 -16
co 2 05 23 00 -25 -21 16 03 -33 21 00 02 03 -11 05 -09 01 04 -12 -02
co 3 -04 -14 00 -20 33 -09 10 98 -16 -13 01 -05 09 27 -13 00 -13 15 19
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -38 06 12 -06 -07 01 51 59 -66 -04 -14 01 -54 55 05 05 -05 00
co 2 19 -30 22 13 -21 10 -01 -16 11 01 -01 -34 75 -50 -10 00 15 -14 -03
co 3 -02 -42 -07 19 14 -14 -16 69 31 -42 -02 -08 -10 44 -35 05 -04 06 -01
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,83 0,50 0,50 0,70 1,00 0,25 0,41 0,99 0,72 0,43 0,60 0,95 0,68 0,82 0,40 0,87 0,68 0,32 0,25
Esque 2 0,17 0,50 0,50 0,30 0,00 0,75 0,59 0,01 0,28 0,57 0,40 0,05 0,32 0,18 0,60 0,13 0,32 0,68 0,75
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 10 -02 -14 10 00 -01 27 -26 12 02 -03 -07 -01 -06 02 04 -06 -08
dpco 2 -04 21 -07 -17 -04 05 02 -11 07 00 01 13 -30 18 -01 01 -03 -01 00
dpco 3 -01 07 02 -16 12 00 10 26 -18 07 01 00 08 -01 05 -02 -05 06 10
Lambdas Total x y z: 0,65 1,13 0,90 1,55

OPTIMIZO GLOBAL
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -04 -05 00 -20 15 -06 -01 87 -14 -19 02 -15 -14 -37 25 08 11 -16 -16
co 2 05 23 00 -25 -21 16 03 -33 21 00 02 03 -11 05 -09 01 04 -12 -02
co 3 -04 -14 00 -20 33 -09 10 98 -16 -13 01 -05 09 27 -13 00 -13 15 19
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -38 06 12 -06 -07 01 51 59 -66 -04 -14 01 -54 55 05 05 -05 00
co 2 19 -30 22 13 -21 10 -01 -16 11 01 -01 -34 75 -50 -10 00 15 -14 -03
co 3 -02 -42 -07 19 14 -14 -16 69 31 -42 -02 -08 -10 44 -35 05 -04 06 -01
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,83 0,50 0,50 0,70 1,00 0,25 0,41 0,99 0,72 0,43 0,60 0,95 0,68 0,82 0,40 0,87 0,68 0,32 0,25
Esque 2 0,17 0,50 0,50 0,30 0,00 0,75 0,59 0,01 0,28 0,57 0,40 0,05 0,32 0,18 0,60 0,13 0,32 0,68 0,75
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 10 -02 -14 10 00 -01 27 -26 12 02 -03 -07 -01 -06 02 04 -06 -08
dpco 2 -04 21 -07 -17 -04 05 02 -11 07 00 01 13 -30 18 -01 01 -03 -01 00
dpco 3 -01 07 02 -16 12 00 10 26 -18 07 01 00 08 -01 05 -02 -05 06 10
Lambdas Total x y z: 0,65 1,13 0,90 1,55

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 190 Distancia Esque. Antes y Despues Retoque:23,00 Distancias Despues con p y q: 63,00 71,00 mm



SIMULACION GENERAL DEL ALGORITMO JCISERPara obtener q*=Rq+t ROTO Mocion 0 a mocion 3

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OPTIMIZACIÓN de D:\Danzante\Mociones\0.ARCADE.Viernes 1.mc2 Cuadros:de 190 hasta 240. Ejecutada 13-4-16.04-50-10
--------------------------------------------------------------------------------------------



Comienzan Iteraciones para cuadro 190

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -13 -01 -01 -05 39 -18 -02 112 31 -14 -03 -57 -52 -74 22 12 38 -53 -66
co 2 -14 -01 -01 -15 -95 59 14 -06 -07 -03 05 -16 03 -42 13 -20 -10 03 00
co 3 -11 -01 -01 20 64 22 14 112 31 -10 03 -03 26 75 -21 -18 -50 45 80
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -07 00 -28 08 -02 00 87 -32 -23 04 -02 -01 -27 28 07 02 -04 01
co 2 12 34 00 -31 04 01 -01 -46 33 01 01 11 -18 22 -18 09 09 -18 -03
co 3 -01 -20 00 -36 25 -21 09 102 -35 -15 01 -07 03 12 -12 07 00 05 -02
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,83 0,50 0,50 0,70 1,00 0,25 0,41 0,99 0,72 0,43 0,60 0,95 0,68 0,82 0,40 0,87 0,68 0,32 0,25
Esque 2 0,17 0,50 0,50 0,30 0,00 0,75 0,59 0,01 0,28 0,57 0,40 0,05 0,32 0,18 0,60 0,13 0,32 0,68 0,75
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -06 03 00 10 16 -08 -01 16 30 04 -03 -28 -26 -25 -02 03 18 -24 -33
dpco 2 -12 -16 -01 07 -50 29 08 18 -19 -02 02 -13 10 -31 14 -14 -09 10 01
dpco 3 -05 09 -01 27 20 21 03 09 31 02 01 02 11 32 -05 -12 -25 20 41
Lambdas Total x y z: 0,91 1,80 0,85 1,36

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:63,016 √J0m:61,573 √Mm:14,032 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:62,415 √J0m:61,007 √Mm:13,793 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:61,849 √J0m:60,465 √Mm:13,612 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:61,321 √J0m:59,950 √Mm:13,493 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:60,831 √J0m:59,460 √Mm:13,437 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:60,381 √J0m:58,998 √Mm:13,446 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:59,972 √J0m:58,563 √Mm:13,523 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:59,604 √J0m:58,156 √Mm:13,666 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:59,280 √J0m:57,778 √Mm:13,874 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:58,999 √J0m:57,429 √Mm:14,147 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:58,763 √J0m:57,110 √Mm:14,482 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:58,573 √J0m:56,821 √Mm:14,875 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:58,429 √J0m:56,563 √Mm:15,324 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:58,332 √J0m:56,337 √Mm:15,825 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:58,282 √J0m:56,142 √Mm:16,375 λ:0,91 |dp|m:0,0676 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:58,281 √J0m:55,979 √Mm:16,969 λ:0,91 |dp|m:0,0676 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -04 -05 00 -20 15 -06 -01 87 -14 -19 02 -15 -14 -37 25 08 11 -16 -16
co 2 05 23 00 -25 -21 16 03 -33 21 00 02 03 -11 05 -09 01 04 -12 -02
co 3 -04 -14 00 -20 33 -09 10 98 -16 -13 01 -05 09 27 -13 00 -13 15 19
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -38 06 12 -06 -07 01 51 59 -66 -04 -14 01 -54 55 05 05 -05 00
co 2 19 -30 22 13 -21 10 -01 -16 11 01 -01 -34 75 -50 -10 00 15 -14 -03
co 3 -02 -42 -07 19 14 -14 -16 69 31 -42 -02 -08 -10 44 -35 05 -04 06 -01
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,83 0,50 0,50 0,70 1,00 0,25 0,41 0,99 0,72 0,43 0,60 0,95 0,68 0,82 0,40 0,87 0,68 0,32 0,25
Esque 2 0,17 0,50 0,50 0,30 0,00 0,75 0,59 0,01 0,28 0,57 0,40 0,05 0,32 0,18 0,60 0,13 0,32 0,68 0,75
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 10 -02 -14 10 00 -01 27 -26 12 02 -03 -07 -01 -06 02 04 -06 -08
dpco 2 -04 21 -07 -17 -04 05 02 -11 07 00 01 13 -30 18 -01 01 -03 -01 00
dpco 3 -01 07 02 -16 12 00 10 26 -18 07 01 00 08 -01 05 -02 -05 06 10
Lambdas Total x y z: 0,65 1,13 0,90 1,55

OPTIMIZO GLOBAL
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -04 -05 00 -20 15 -06 -01 87 -14 -19 02 -15 -14 -37 25 08 11 -16 -16
co 2 05 23 00 -25 -21 16 03 -33 21 00 02 03 -11 05 -09 01 04 -12 -02
co 3 -04 -14 00 -20 33 -09 10 98 -16 -13 01 -05 09 27 -13 00 -13 15 19
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -38 06 12 -06 -07 01 51 59 -66 -04 -14 01 -54 55 05 05 -05 00
co 2 19 -30 22 13 -21 10 -01 -16 11 01 -01 -34 75 -50 -10 00 15 -14 -03
co 3 -02 -42 -07 19 14 -14 -16 69 31 -42 -02 -08 -10 44 -35 05 -04 06 -01
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 0,83 0,50 0,50 0,70 1,00 0,25 0,41 0,99 0,72 0,43 0,60 0,95 0,68 0,82 0,40 0,87 0,68 0,32 0,25
Esque 2 0,17 0,50 0,50 0,30 0,00 0,75 0,59 0,01 0,28 0,57 0,40 0,05 0,32 0,18 0,60 0,13 0,32 0,68 0,75
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 10 -02 -14 10 00 -01 27 -26 12 02 -03 -07 -01 -06 02 04 -06 -08
dpco 2 -04 21 -07 -17 -04 05 02 -11 07 00 01 13 -30 18 -01 01 -03 -01 00
dpco 3 -01 07 02 -16 12 00 10 26 -18 07 01 00 08 -01 05 -02 -05 06 10
Lambdas Total x y z: 0,65 1,13 0,90 1,55

OPTIMIZO GLOBAL
Acabado Optimizado (izq). Cuadro 190 Distancia Esque. Antes y Despues Retoque:23,00 Distancias Despues con p y q: 63,00 71,00 mm


Comienzan Iteraciones para cuadro 191

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 21 -01 65 -98 -200 -222 -235 176 277 485 542 -28 -98 -89 -14 83 96 65 83
co 2 -341 -01 171 -134 -231 -257 -231 -54 -164 -142 -111 -491 -969 -1295 -1348 -483 -973 -1287 -1366
co 3 43 -01 -41 -94 -266 -553 -628 255 361 485 494 17 145 193 149 105 123 162 132
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -19 79 -75 -38 98 03 08 113 03 -32 -144 -32 73 36 -43 -27 -44 44 -17
co 2 259 -258 -192 -05 91 31 -18 -172 206 56 -79 -396 199 228 31 -434 192 225 73
co 3 -35 12 43 -118 30 113 50 94 -77 -86 -25 145 -85 -65 25 -20 18 -67 28
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 05 24 09 -61 -69 -110 -115 123 139 233 226 -24 -26 -33 -21 33 34 46 36
dpco 2 -90 -81 26 -68 -87 -119 -121 -81 -18 -54 -80 -369 -422 -577 -665 -376 -427 -573 -660
dpco 3 11 03 -07 -84 -124 -241 -299 157 157 216 239 54 46 76 82 46 67 60 74
Lambdas Total x y z: -0,62 6,04 -0,39 3,88

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:366,092 √J0m:377,083 √Mm:114,541 λ:-0,62 |dp|m:0,8284 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:349,774 √J0m:360,795 √Mm:112,150 λ:-0,62 |dp|m:0,8284 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:333,449 √J0m:344,532 √Mm:109,856 λ:-0,62 |dp|m:0,8284 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:317,116 √J0m:328,301 √Mm:107,673 λ:-0,62 |dp|m:0,8284 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:300,772 √J0m:312,104 √Mm:105,613 λ:-0,62 |dp|m:0,8284 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:284,415 √J0m:295,949 √Mm:103,688 λ:-0,62 |dp|m:0,8284 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:268,039 √J0m:279,842 √Mm:101,909 λ:-0,62 |dp|m:0,8284 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:251,642 √J0m:263,792 √Mm:100,288 λ:-0,62 |dp|m:0,8284 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:235,218 √J0m:247,809 √Mm:98,833 λ:-0,62 |dp|m:0,8284 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:218,761 √J0m:231,910 √Mm:97,556 λ:-0,62 |dp|m:0,8284 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:202,261 √J0m:216,110 √Mm:96,465 λ:-0,62 |dp|m:0,8284 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:185,708 √J0m:200,434 √Mm:95,568 λ:-0,62 |dp|m:0,8284 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:169,083 √J0m:184,915 √Mm:94,873 λ:-0,62 |dp|m:0,8284 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:152,365 √J0m:169,593 √Mm:94,384 λ:-0,62 |dp|m:0,8284 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:135,517 √J0m:154,528 √Mm:94,108 λ:-0,62 |dp|m:0,8284 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:118,483 √J0m:139,805 √Mm:94,047 λ:-0,62 |dp|m:0,8284 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:101,169 √J0m:125,541 √Mm:94,203 λ:-0,62 |dp|m:0,8284 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:83,400 √J0m:111,914 √Mm:94,575 λ:-0,62 |dp|m:0,8284 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:64,802 √J0m:99,186 √Mm:95,163 λ:-0,62 |dp|m:0,8284 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:44,342 √J0m:87,750 √Mm:95,963 λ:-0,62 |dp|m:0,8284 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:16,002 √J0m:78,173 √Mm:96,972 λ:-0,62 |dp|m:0,8284 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:71,212 √Mm:98,184 λ:-0,62 |dp|m:0,8284 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:67,677 √Mm:99,592 λ:-0,62 |dp|m:0,8284 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:68,103 √Mm:101,189 λ:-0,62 |dp|m:0,8284 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 11 -54 45 36 -47 20 18 -95 -30 -27 44 25 -40 -16 31 11 21 -36 03
co 2 -143 177 114 17 -39 05 35 123 -125 -24 66 320 -39 -27 114 345 -34 -25 86
co 3 20 -08 -26 90 06 -22 29 -90 17 10 -33 -101 44 25 -32 03 -25 30 -32
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 06 -124 01 -111 79 -14 -08 416 -285 115 -84 -124 46 -42 42 72 -11 02 -01
co 2 509 -278 14 -85 84 -27 08 28 -48 -59 51 -610 442 17 -98 -627 392 87 -103
co 3 -77 -133 -02 -175 234 -40 -69 437 -214 135 -115 82 -82 28 -12 97 -40 01 00
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 06 -33 22 12 -20 10 09 -27 -29 -07 18 06 -18 -10 18 09 10 -18 02
dpco 2 -46 74 58 04 -15 01 18 63 -65 -15 35 130 03 -12 52 141 03 -08 38
dpco 3 06 -11 -13 36 15 -13 11 -23 -02 12 -22 -46 18 14 -17 07 -14 15 -16
Lambdas Total x y z: -0,10 1,14 -0,08 0,88

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:61,998 √J0m:69,750 √Mm:100,691 λ:-0,10 |dp|m:0,1366 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:59,368 √J0m:67,083 √Mm:98,411 λ:-0,10 |dp|m:0,1366 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:56,739 √J0m:64,422 √Mm:96,125 λ:-0,10 |dp|m:0,1366 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:54,112 √J0m:61,766 √Mm:93,835 λ:-0,10 |dp|m:0,1366 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:51,486 √J0m:59,118 √Mm:91,539 λ:-0,10 |dp|m:0,1366 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:48,862 √J0m:56,478 √Mm:89,240 λ:-0,10 |dp|m:0,1366 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:46,239 √J0m:53,847 √Mm:86,939 λ:-0,10 |dp|m:0,1366 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:43,617 √J0m:51,227 √Mm:84,639 λ:-0,10 |dp|m:0,1366 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:40,996 √J0m:48,619 √Mm:82,344 λ:-0,10 |dp|m:0,1366 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:38,375 √J0m:46,025 √Mm:80,057 λ:-0,10 |dp|m:0,1366 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:35,753 √J0m:43,449 √Mm:77,784 λ:-0,10 |dp|m:0,1366 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:33,129 √J0m:40,893 √Mm:75,529 λ:-0,10 |dp|m:0,1366 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:30,500 √J0m:38,361 √Mm:73,300 λ:-0,10 |dp|m:0,1366 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:27,866 √J0m:35,858 √Mm:71,102 λ:-0,10 |dp|m:0,1366 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:25,223 √J0m:33,392 √Mm:68,943 λ:-0,10 |dp|m:0,1366 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:22,567 √J0m:30,971 √Mm:66,830 λ:-0,10 |dp|m:0,1366 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:19,891 √J0m:28,606 √Mm:64,772 λ:-0,10 |dp|m:0,1366 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:17,184 √J0m:26,312 √Mm:62,777 λ:-0,10 |dp|m:0,1366 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:14,429 √J0m:24,109 √Mm:60,854 λ:-0,10 |dp|m:0,1366 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:11,589 √J0m:22,026 √Mm:59,014 λ:-0,10 |dp|m:0,1366 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:8,579 √J0m:20,099 √Mm:57,266 λ:-0,10 |dp|m:0,1366 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:5,104 √J0m:18,377 √Mm:55,622 λ:-0,10 |dp|m:0,1366 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:16,924 √Mm:54,094 λ:-0,10 |dp|m:0,1366 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:15,813 √Mm:52,693 λ:-0,10 |dp|m:0,1366 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:15,120 √Mm:51,432 λ:-0,10 |dp|m:0,1366 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 22 -07 08 -02 -01 -02 -34 37 -09 03 11 00 07 -09 -10 -02 05 00
co 2 -38 07 -18 07 -04 02 -06 -21 23 10 -15 24 -45 02 -05 23 -40 -06 -01
co 3 06 17 04 07 -28 08 04 -37 22 -17 18 05 03 -07 06 -12 08 -04 05
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -146 03 -43 40 -07 -04 229 -147 155 -72 -48 05 -41 44 43 04 -09 04
co 2 18 18 08 -49 42 -26 11 -162 122 72 -62 -124 160 -89 -26 -133 114 -35 -15
co 3 -03 -203 -01 -59 208 -136 -24 302 -126 38 12 -12 -30 45 -26 44 -08 14 -06
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 16 -03 05 -02 00 -01 -25 23 -10 04 07 00 05 -06 -06 -01 03 00
dpco 2 -20 03 -09 05 -03 02 -03 -05 08 03 -06 16 -28 04 -02 16 -24 -02 00
dpco 3 03 15 02 06 -21 08 03 -29 15 -10 09 03 03 -05 04 -07 04 -03 02
Lambdas Total x y z: 0,07 0,59 0,48 0,34

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:18,949 √J0m:14,085 √Mm:49,220 λ:0,07 |dp|m:0,0419 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:18,156 √J0m:13,268 √Mm:48,124 λ:0,07 |dp|m:0,0419 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:17,374 √J0m:12,454 √Mm:47,035 λ:0,07 |dp|m:0,0419 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:16,603 √J0m:11,644 √Mm:45,953 λ:0,07 |dp|m:0,0419 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:15,845 √J0m:10,838 √Mm:44,878 λ:0,07 |dp|m:0,0419 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:15,102 √J0m:10,038 √Mm:43,811 λ:0,07 |dp|m:0,0419 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:14,377 √J0m:9,244 √Mm:42,754 λ:0,07 |dp|m:0,0419 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:13,673 √J0m:8,459 √Mm:41,707 λ:0,07 |dp|m:0,0419 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:12,992 √J0m:7,686 √Mm:40,672 λ:0,07 |dp|m:0,0419 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:12,339 √J0m:6,928 √Mm:39,648 λ:0,07 |dp|m:0,0419 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:11,719 √J0m:6,190 √Mm:38,639 λ:0,07 |dp|m:0,0419 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:11,137 √J0m:5,482 √Mm:37,644 λ:0,07 |dp|m:0,0419 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:10,600 √J0m:4,815 √Mm:36,666 λ:0,07 |dp|m:0,0419 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:10,114 √J0m:4,211 √Mm:35,705 λ:0,07 |dp|m:0,0419 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:9,688 √J0m:3,699 √Mm:34,765 λ:0,07 |dp|m:0,0419 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:9,329 √J0m:3,323 √Mm:33,845 λ:0,07 |dp|m:0,0419 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:9,046 √J0m:3,132 √Mm:32,950 λ:0,07 |dp|m:0,0419 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:8,846 √J0m:3,160 √Mm:32,080 λ:0,07 |dp|m:0,0419 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:8,734 √J0m:3,401 √Mm:31,238 λ:0,07 |dp|m:0,0419 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:8,715 √J0m:3,815 √Mm:30,426 λ:0,07 |dp|m:0,0419 mm
Acabado Optimizado (izq). Cuadro 191 Distancia Esque. Antes y Despues Retoque:403,00 Distancias Despues con p y q: 4,00 807,00 mm


Comienzan Iteraciones para cuadro 192

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 21 -01 65 -94 -187 -222 -235 176 291 463 547 -23 -103 -63 17 83 96 65 136
co 2 -341 -01 171 -134 -253 -262 -231 -54 -151 -125 -111 -491 -964 -1295 -1340 -478 -973 -1282 -1340
co 3 43 -01 -41 -94 -257 -544 -628 255 383 476 511 17 149 185 136 105 127 158 114
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -19 80 -75 -29 81 12 06 114 45 -92 -126 -44 105 14 -44 -33 -45 75 -46
co 2 261 -261 -192 -26 125 19 -15 -131 180 -17 -21 -394 203 229 25 -426 181 266 37
co 3 -30 10 43 -106 20 122 40 108 -78 -67 -55 154 -102 -55 27 -17 07 -60 28
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 05 24 09 -56 -68 -107 -116 123 159 203 234 -25 -19 -27 -05 31 34 56 54
dpco 2 -90 -81 26 -75 -88 -125 -120 -68 -20 -67 -62 -368 -419 -577 -662 -371 -430 -559 -658
dpco 3 12 03 -07 -80 -122 -234 -302 161 168 217 239 56 43 75 76 47 66 60 66
Lambdas Total x y z: -0,62 5,01 -0,38 3,73

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:364,257 √J0m:375,256 √Mm:114,527 λ:-0,62 |dp|m:0,8242 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:348,031 √J0m:359,050 √Mm:112,091 λ:-0,62 |dp|m:0,8242 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:331,803 √J0m:342,871 √Mm:109,735 λ:-0,62 |dp|m:0,8242 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:315,570 √J0m:326,723 √Mm:107,475 λ:-0,62 |dp|m:0,8242 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:299,331 √J0m:310,609 √Mm:105,322 λ:-0,62 |dp|m:0,8242 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:283,083 √J0m:294,537 √Mm:103,290 λ:-0,62 |dp|m:0,8242 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:266,822 √J0m:278,513 √Mm:101,391 λ:-0,62 |dp|m:0,8242 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:250,546 √J0m:262,545 √Mm:99,636 λ:-0,62 |dp|m:0,8242 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:234,251 √J0m:246,645 √Mm:98,037 λ:-0,62 |dp|m:0,8242 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:217,930 √J0m:230,827 √Mm:96,606 λ:-0,62 |dp|m:0,8242 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:201,578 √J0m:215,109 √Mm:95,352 λ:-0,62 |dp|m:0,8242 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:185,185 √J0m:199,515 √Mm:94,284 λ:-0,62 |dp|m:0,8242 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:168,737 √J0m:184,075 √Mm:93,413 λ:-0,62 |dp|m:0,8242 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:152,218 √J0m:168,833 √Mm:92,745 λ:-0,62 |dp|m:0,8242 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:135,600 √J0m:153,847 √Mm:92,286 λ:-0,62 |dp|m:0,8242 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:118,840 √J0m:139,200 √Mm:92,041 λ:-0,62 |dp|m:0,8242 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:101,869 √J0m:125,011 √Mm:92,014 λ:-0,62 |dp|m:0,8242 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:84,557 √J0m:111,455 √Mm:92,206 λ:-0,62 |dp|m:0,8242 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:66,639 √J0m:98,794 √Mm:92,616 λ:-0,62 |dp|m:0,8242 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:47,431 √J0m:87,415 √Mm:93,243 λ:-0,62 |dp|m:0,8242 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:24,013 √J0m:77,885 √Mm:94,085 λ:-0,62 |dp|m:0,8242 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:70,952 √Mm:95,135 λ:-0,62 |dp|m:0,8242 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:67,421 √Mm:96,388 λ:-0,62 |dp|m:0,8242 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:67,827 √Mm:97,837 λ:-0,62 |dp|m:0,8242 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 11 -55 45 29 -36 14 20 -96 -60 16 31 32 -61 -03 29 14 21 -58 18
co 2 -144 178 114 31 -60 13 33 95 -107 24 26 318 -42 -26 117 338 -26 -53 109
co 3 16 -07 -26 82 12 -29 35 -99 15 -02 -14 -107 55 19 -32 01 -17 25 -31
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 03 -137 01 -100 78 -08 -14 372 -126 -32 -48 -122 38 -47 51 66 -11 -28 28
co 2 513 -292 16 -88 85 -35 19 -02 -33 31 -08 -618 466 00 -92 -584 324 143 -115
co 3 -82 -146 -02 -163 220 03 -101 404 -91 -35 -26 81 -81 34 -18 90 -35 13 -13
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 06 -36 22 08 -13 06 09 -24 -38 06 13 08 -28 -05 18 11 10 -31 11
dpco 2 -39 71 58 10 -25 05 18 47 -56 14 12 120 08 -13 53 132 07 -18 47
dpco 3 03 -13 -13 30 20 -14 11 -24 02 -03 -09 -48 22 12 -17 06 -11 13 -16
Lambdas Total x y z: -0,13 1,65 -0,11 1,06

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:60,350 √J0m:69,575 √Mm:97,280 λ:-0,13 |dp|m:0,1303 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:57,887 √J0m:67,054 √Mm:95,095 λ:-0,13 |dp|m:0,1303 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:55,424 √J0m:64,539 √Mm:92,922 λ:-0,13 |dp|m:0,1303 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:52,960 √J0m:62,033 √Mm:90,760 λ:-0,13 |dp|m:0,1303 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:50,496 √J0m:59,534 √Mm:88,612 λ:-0,13 |dp|m:0,1303 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:48,032 √J0m:57,046 √Mm:86,480 λ:-0,13 |dp|m:0,1303 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:45,566 √J0m:54,568 √Mm:84,365 λ:-0,13 |dp|m:0,1303 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:43,100 √J0m:52,104 √Mm:82,270 λ:-0,13 |dp|m:0,1303 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:40,631 √J0m:49,653 √Mm:80,197 λ:-0,13 |dp|m:0,1303 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:38,160 √J0m:47,219 √Mm:78,150 λ:-0,13 |dp|m:0,1303 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:35,686 √J0m:44,805 √Mm:76,130 λ:-0,13 |dp|m:0,1303 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:33,207 √J0m:42,414 √Mm:74,143 λ:-0,13 |dp|m:0,1303 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:30,723 √J0m:40,049 √Mm:72,191 λ:-0,13 |dp|m:0,1303 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:28,231 √J0m:37,716 √Mm:70,278 λ:-0,13 |dp|m:0,1303 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:25,729 √J0m:35,422 √Mm:68,410 λ:-0,13 |dp|m:0,1303 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:23,213 √J0m:33,173 √Mm:66,591 λ:-0,13 |dp|m:0,1303 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:20,678 √J0m:30,981 √Mm:64,826 λ:-0,13 |dp|m:0,1303 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:18,114 √J0m:28,857 √Mm:63,122 λ:-0,13 |dp|m:0,1303 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:15,508 √J0m:26,819 √Mm:61,484 λ:-0,13 |dp|m:0,1303 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:12,833 √J0m:24,888 √Mm:59,919 λ:-0,13 |dp|m:0,1303 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:10,032 √J0m:23,089 √Mm:58,434 λ:-0,13 |dp|m:0,1303 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:6,954 √J0m:21,457 √Mm:57,037 λ:-0,13 |dp|m:0,1303 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:2,798 √J0m:20,032 √Mm:55,736 λ:-0,13 |dp|m:0,1303 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:18,861 √Mm:54,539 λ:-0,13 |dp|m:0,1303 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:17,994 √Mm:53,453 λ:-0,13 |dp|m:0,1303 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:17,477 √Mm:52,487 λ:-0,13 |dp|m:0,1303 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -03 31 -09 10 -05 -01 -02 -38 30 02 01 12 06 08 -13 -13 -02 15 -08
co 2 -50 10 -24 07 -02 03 -09 -18 25 -09 -04 33 -62 05 -08 24 -44 -11 -03
co 3 09 23 05 09 -35 05 09 -42 11 06 07 08 02 -09 09 -14 08 -07 08
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -05 -167 09 -36 48 -12 -07 242 -48 27 -43 -56 -03 -35 52 44 04 -49 45
co 2 35 -15 19 -50 43 -27 22 -131 104 01 -06 -165 212 -122 -21 -131 100 -07 -33
co 3 -05 -217 -03 -54 214 -115 -49 324 -75 09 -18 -10 -37 50 -32 42 -06 34 -28
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 19 -04 06 -03 00 -01 -24 16 00 01 07 03 05 -08 -07 -01 09 -05
dpco 2 -26 05 -12 05 -02 02 -05 -06 11 -05 -02 20 -35 05 -04 15 -24 -06 -01
dpco 3 05 16 03 06 -22 05 05 -27 07 03 04 04 02 -05 05 -08 04 -04 04
Lambdas Total x y z: 0,04 0,80 0,38 0,33

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:19,283 √J0m:16,467 √Mm:50,521 λ:0,04 |dp|m:0,0439 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:18,424 √J0m:15,594 √Mm:49,402 λ:0,04 |dp|m:0,0439 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:17,571 √J0m:14,722 √Mm:48,293 λ:0,04 |dp|m:0,0439 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:16,725 √J0m:13,851 √Mm:47,195 λ:0,04 |dp|m:0,0439 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:15,887 √J0m:12,982 √Mm:46,108 λ:0,04 |dp|m:0,0439 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:15,058 √J0m:12,113 √Mm:45,033 λ:0,04 |dp|m:0,0439 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:14,239 √J0m:11,246 √Mm:43,972 λ:0,04 |dp|m:0,0439 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:13,433 √J0m:10,381 √Mm:42,925 λ:0,04 |dp|m:0,0439 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:12,643 √J0m:9,518 √Mm:41,894 λ:0,04 |dp|m:0,0439 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:11,871 √J0m:8,659 √Mm:40,880 λ:0,04 |dp|m:0,0439 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:11,120 √J0m:7,804 √Mm:39,885 λ:0,04 |dp|m:0,0439 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:10,397 √J0m:6,955 √Mm:38,909 λ:0,04 |dp|m:0,0439 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:9,706 √J0m:6,114 √Mm:37,954 λ:0,04 |dp|m:0,0439 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:9,056 √J0m:5,286 √Mm:37,022 λ:0,04 |dp|m:0,0439 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:8,456 √J0m:4,477 √Mm:36,115 λ:0,04 |dp|m:0,0439 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:7,916 √J0m:3,700 √Mm:35,235 λ:0,04 |dp|m:0,0439 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:7,451 √J0m:2,980 √Mm:34,384 λ:0,04 |dp|m:0,0439 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:7,075 √J0m:2,369 √Mm:33,563 λ:0,04 |dp|m:0,0439 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:6,802 √J0m:1,972 √Mm:32,776 λ:0,04 |dp|m:0,0439 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:6,646 √J0m:1,927 √Mm:32,024 λ:0,04 |dp|m:0,0439 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:6,615 √J0m:2,253 √Mm:31,310 λ:0,04 |dp|m:0,0439 mm
Acabado Optimizado (izq). Cuadro 192 Distancia Esque. Antes y Despues Retoque:401,00 Distancias Despues con p y q: 2,00 803,00 mm


Comienzan Iteraciones para cuadro 193

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 21 -01 65 -94 -187 -217 -235 176 335 507 569 -23 -98 -54 21 83 101 65 132
co 2 -341 -01 171 -134 -253 -262 -231 -54 -156 -134 -107 -491 -969 -1291 -1340 -478 -969 -1282 -1313
co 3 43 -01 -36 -94 -257 -544 -633 255 428 520 511 21 149 180 132 109 132 158 255
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -19 81 -76 -29 83 09 07 91 70 -71 -148 -38 106 08 -44 -26 -53 57 -25
co 2 261 -259 -194 -26 125 16 -13 -80 123 32 -66 -392 195 233 28 -433 190 287 11
co 3 -30 15 39 -106 20 127 36 77 -46 -143 19 146 -98 -54 28 -18 01 10 -36
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 05 25 08 -56 -67 -106 -115 117 190 231 237 -24 -15 -25 -03 33 33 51 58
dpco 2 -87 -84 24 -75 -87 -126 -119 -52 -38 -56 -75 -371 -422 -571 -661 -378 -424 -549 -653
dpco 3 12 04 -06 -81 -122 -232 -305 152 199 214 262 57 43 73 75 49 66 82 116
Lambdas Total x y z: -0,64 5,03 -0,40 3,65

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:366,503 √J0m:377,558 √Mm:113,358 λ:-0,64 |dp|m:0,8286 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:350,201 √J0m:361,277 √Mm:110,949 λ:-0,64 |dp|m:0,8286 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:333,898 √J0m:345,023 √Mm:108,622 λ:-0,64 |dp|m:0,8286 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:317,592 √J0m:328,801 √Mm:106,389 λ:-0,64 |dp|m:0,8286 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:301,279 √J0m:312,616 √Mm:104,265 λ:-0,64 |dp|m:0,8286 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:284,959 √J0m:296,473 √Mm:102,262 λ:-0,64 |dp|m:0,8286 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:268,629 √J0m:280,381 √Mm:100,393 λ:-0,64 |dp|m:0,8286 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:252,284 √J0m:264,348 √Mm:98,671 λ:-0,64 |dp|m:0,8286 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:235,921 √J0m:248,385 √Mm:97,106 λ:-0,64 |dp|m:0,8286 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:219,536 √J0m:232,508 √Mm:95,712 λ:-0,64 |dp|m:0,8286 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:203,120 √J0m:216,736 √Mm:94,497 λ:-0,64 |dp|m:0,8286 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:186,667 √J0m:201,091 √Mm:93,474 λ:-0,64 |dp|m:0,8286 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:170,163 √J0m:185,608 √Mm:92,649 λ:-0,64 |dp|m:0,8286 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:153,592 √J0m:170,330 √Mm:92,032 λ:-0,64 |dp|m:0,8286 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:136,927 √J0m:155,318 √Mm:91,628 λ:-0,64 |dp|m:0,8286 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:120,131 √J0m:140,656 √Mm:91,442 λ:-0,64 |dp|m:0,8286 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:103,137 √J0m:126,468 √Mm:91,477 λ:-0,64 |dp|m:0,8286 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:85,826 √J0m:112,930 √Mm:91,735 λ:-0,64 |dp|m:0,8286 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:67,956 √J0m:100,307 √Mm:92,214 λ:-0,64 |dp|m:0,8286 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:48,916 √J0m:88,990 √Mm:92,913 λ:-0,64 |dp|m:0,8286 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:26,275 √J0m:79,537 √Mm:93,827 λ:-0,64 |dp|m:0,8286 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:72,679 √Mm:94,952 λ:-0,64 |dp|m:0,8286 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:69,194 √Mm:96,281 λ:-0,64 |dp|m:0,8286 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:69,588 √Mm:97,807 λ:-0,64 |dp|m:0,8286 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 11 -57 47 30 -40 15 19 -82 -83 00 48 29 -64 00 29 10 27 -47 04
co 2 -150 183 119 32 -62 15 32 61 -71 -09 57 325 -40 -35 114 352 -37 -74 123
co 3 17 -10 -24 84 12 -35 38 -80 -11 49 -64 -105 54 20 -33 02 -14 -23 00
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 08 -122 01 -104 76 -01 -18 202 91 -75 -67 -113 33 -48 52 72 -12 -39 40
co 2 530 -316 14 -90 86 -38 22 -06 02 -04 11 -623 436 40 -103 -632 358 151 -124
co 3 -84 -119 -02 -172 218 28 -119 274 23 16 -84 79 -71 29 -18 99 -37 -85 83
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 06 -37 23 07 -14 07 08 -26 -35 -06 19 06 -30 -03 18 10 13 -26 05
dpco 2 -36 68 61 09 -25 05 18 30 -35 -05 29 117 12 -15 50 130 08 -26 53
dpco 3 02 -14 -12 29 22 -15 10 -20 -04 26 -38 -47 22 12 -18 08 -10 -18 06
Lambdas Total x y z: -0,15 3,08 -0,13 1,50

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:60,860 √J0m:71,311 √Mm:97,330 λ:-0,15 |dp|m:0,1292 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:58,454 √J0m:68,828 √Mm:95,156 λ:-0,15 |dp|m:0,1292 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:56,049 √J0m:66,352 √Mm:93,000 λ:-0,15 |dp|m:0,1292 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:53,643 √J0m:63,886 √Mm:90,862 λ:-0,15 |dp|m:0,1292 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:51,236 √J0m:61,429 √Mm:88,743 λ:-0,15 |dp|m:0,1292 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:48,829 √J0m:58,982 √Mm:86,644 λ:-0,15 |dp|m:0,1292 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:46,421 √J0m:56,549 √Mm:84,568 λ:-0,15 |dp|m:0,1292 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:44,013 √J0m:54,129 √Mm:82,514 λ:-0,15 |dp|m:0,1292 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:41,604 √J0m:51,725 √Mm:80,485 λ:-0,15 |dp|m:0,1292 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:39,194 √J0m:49,339 √Mm:78,483 λ:-0,15 |dp|m:0,1292 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:36,784 √J0m:46,975 √Mm:76,511 λ:-0,15 |dp|m:0,1292 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:34,372 √J0m:44,635 √Mm:74,570 λ:-0,15 |dp|m:0,1292 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:31,958 √J0m:42,323 √Mm:72,665 λ:-0,15 |dp|m:0,1292 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:29,541 √J0m:40,045 √Mm:70,799 λ:-0,15 |dp|m:0,1292 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:27,121 √J0m:37,806 √Mm:68,975 λ:-0,15 |dp|m:0,1292 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:24,695 √J0m:35,613 √Mm:67,199 λ:-0,15 |dp|m:0,1292 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:22,262 √J0m:33,477 √Mm:65,476 λ:-0,15 |dp|m:0,1292 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:19,818 √J0m:31,409 √Mm:63,811 λ:-0,15 |dp|m:0,1292 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:17,359 √J0m:29,422 √Mm:62,210 λ:-0,15 |dp|m:0,1292 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:14,874 √J0m:27,534 √Mm:60,679 λ:-0,15 |dp|m:0,1292 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:12,350 √J0m:25,768 √Mm:59,225 λ:-0,15 |dp|m:0,1292 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:9,753 √J0m:24,149 √Mm:57,855 λ:-0,15 |dp|m:0,1292 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:7,001 √J0m:22,710 √Mm:56,577 λ:-0,15 |dp|m:0,1292 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:3,769 √J0m:21,487 √Mm:55,397 λ:-0,15 |dp|m:0,1292 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:20,518 √Mm:54,324 λ:-0,15 |dp|m:0,1292 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:19,840 √Mm:53,365 λ:-0,15 |dp|m:0,1292 mm
LINE SEARCH. Vez:27 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:19,484 √Mm:52,528 λ:-0,15 |dp|m:0,1292 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -04 35 -11 12 -04 -03 -01 -17 03 14 01 14 09 09 -16 -15 -04 18 -08
co 2 -61 14 -30 09 -01 03 -11 -13 16 03 -15 36 -69 01 -08 32 -56 -10 -06
co 3 11 24 06 11 -42 03 13 -31 -02 -14 30 10 00 -10 11 -18 10 21 -15
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -07 -157 13 -39 49 -04 -13 166 46 07 -53 -60 -04 -34 52 53 06 -74 67
co 2 45 -40 29 -54 48 -32 27 -33 11 19 -28 -183 202 -103 -26 -179 149 -34 -27
co 3 -06 -202 -04 -58 223 -105 -64 230 25 -53 24 -08 -35 49 -34 55 -05 -91 97
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -02 20 -06 06 -03 -02 00 -11 01 07 01 08 05 05 -09 -08 -02 10 -05
dpco 2 -31 08 -15 05 -01 02 -06 -06 08 01 -07 21 -37 02 -04 18 -30 -05 -03
dpco 3 06 15 03 06 -24 03 07 -18 -01 -06 15 05 00 -06 06 -10 05 11 -09
Lambdas Total x y z: 0,03 1,15 0,26 0,42

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:20,238 √J0m:18,539 √Mm:50,690 λ:0,03 |dp|m:0,0466 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:19,317 √J0m:17,610 √Mm:49,576 λ:0,03 |dp|m:0,0466 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:18,400 √J0m:16,682 √Mm:48,478 λ:0,03 |dp|m:0,0466 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:17,487 √J0m:15,754 √Mm:47,395 λ:0,03 |dp|m:0,0466 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:16,579 √J0m:14,826 √Mm:46,331 λ:0,03 |dp|m:0,0466 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:15,677 √J0m:13,899 √Mm:45,285 λ:0,03 |dp|m:0,0466 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:14,782 √J0m:12,973 √Mm:44,258 λ:0,03 |dp|m:0,0466 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:13,896 √J0m:12,047 √Mm:43,254 λ:0,03 |dp|m:0,0466 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:13,020 √J0m:11,122 √Mm:42,271 λ:0,03 |dp|m:0,0466 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:12,156 √J0m:10,198 √Mm:41,314 λ:0,03 |dp|m:0,0466 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:11,307 √J0m:9,275 √Mm:40,381 λ:0,03 |dp|m:0,0466 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:10,477 √J0m:8,355 √Mm:39,477 λ:0,03 |dp|m:0,0466 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:9,670 √J0m:7,437 √Mm:38,602 λ:0,03 |dp|m:0,0466 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:8,894 √J0m:6,523 √Mm:37,758 λ:0,03 |dp|m:0,0466 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:8,156 √J0m:5,614 √Mm:36,947 λ:0,03 |dp|m:0,0466 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:7,468 √J0m:4,714 √Mm:36,172 λ:0,03 |dp|m:0,0466 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:6,845 √J0m:3,829 √Mm:35,434 λ:0,03 |dp|m:0,0466 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:6,306 √J0m:2,971 √Mm:34,736 λ:0,03 |dp|m:0,0466 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:5,875 √J0m:2,176 √Mm:34,079 λ:0,03 |dp|m:0,0466 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:5,576 √J0m:1,541 √Mm:33,466 λ:0,03 |dp|m:0,0466 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:5,432 √J0m:1,322 √Mm:32,899 λ:0,03 |dp|m:0,0466 mm
Acabado Optimizado (izq). Cuadro 193 Distancia Esque. Antes y Despues Retoque:404,00 Distancias Despues con p y q: 1,00 808,00 mm


Comienzan Iteraciones para cuadro 194

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 21 -01 65 -94 -191 -222 -235 180 299 476 534 -23 -103 -54 26 83 101 65 136
co 2 -341 -01 171 -134 -235 -257 -235 -58 -147 -134 -111 -491 -969 -1291 -1340 -483 -973 -1282 -1340
co 3 43 -01 -36 -94 -266 -553 -633 260 401 485 503 21 149 180 136 109 132 162 114
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -19 77 -76 -34 88 08 07 114 58 -78 -150 -39 113 05 -44 -26 -54 77 -43
co 2 265 -259 -194 -07 98 24 -14 -110 141 37 -60 -389 195 233 27 -433 186 267 35
co 3 -32 09 39 -116 31 114 48 122 -95 -66 -48 148 -98 -51 25 -18 06 -61 30
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 05 23 09 -57 -68 -108 -115 125 167 214 221 -23 -17 -25 -01 33 34 56 55
dpco 2 -89 -80 26 -69 -87 -121 -122 -63 -30 -55 -74 -366 -424 -574 -661 -375 -429 -559 -659
dpco 3 12 02 -06 -83 -124 -242 -302 167 171 222 236 56 44 74 76 49 68 62 66
Lambdas Total x y z: -0,62 4,60 -0,38 3,62

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:364,879 √J0m:375,884 √Mm:115,011 λ:-0,62 |dp|m:0,8258 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:348,613 √J0m:359,640 √Mm:112,572 λ:-0,62 |dp|m:0,8258 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:332,344 √J0m:343,422 √Mm:110,216 λ:-0,62 |dp|m:0,8258 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:316,069 √J0m:327,234 √Mm:107,955 λ:-0,62 |dp|m:0,8258 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:299,787 √J0m:311,080 √Mm:105,804 λ:-0,62 |dp|m:0,8258 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:283,494 √J0m:294,967 √Mm:103,775 λ:-0,62 |dp|m:0,8258 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:267,188 √J0m:278,901 √Mm:101,880 λ:-0,62 |dp|m:0,8258 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:250,864 √J0m:262,891 √Mm:100,131 λ:-0,62 |dp|m:0,8258 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:234,519 √J0m:246,948 √Mm:98,539 λ:-0,62 |dp|m:0,8258 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:218,147 √J0m:231,086 √Mm:97,115 λ:-0,62 |dp|m:0,8258 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:201,740 √J0m:215,321 √Mm:95,869 λ:-0,62 |dp|m:0,8258 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:185,289 √J0m:199,679 √Mm:94,810 λ:-0,62 |dp|m:0,8258 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:168,779 √J0m:184,189 √Mm:93,948 λ:-0,62 |dp|m:0,8258 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:152,190 √J0m:168,894 √Mm:93,289 λ:-0,62 |dp|m:0,8258 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:135,494 √J0m:153,852 √Mm:92,839 λ:-0,62 |dp|m:0,8258 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:118,644 √J0m:139,144 √Mm:92,604 λ:-0,62 |dp|m:0,8258 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:101,562 √J0m:124,890 √Mm:92,585 λ:-0,62 |dp|m:0,8258 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:84,107 √J0m:111,264 √Mm:92,785 λ:-0,62 |dp|m:0,8258 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:65,983 √J0m:98,526 √Mm:93,203 λ:-0,62 |dp|m:0,8258 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:46,411 √J0m:87,066 √Mm:93,837 λ:-0,62 |dp|m:0,8258 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:21,781 √J0m:77,456 √Mm:94,684 λ:-0,62 |dp|m:0,8258 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:70,455 √Mm:95,739 λ:-0,62 |dp|m:0,8258 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:66,888 √Mm:96,996 λ:-0,62 |dp|m:0,8258 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:67,304 √Mm:98,448 λ:-0,62 |dp|m:0,8258 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 11 -52 45 33 -41 17 19 -95 -69 05 48 28 -66 02 28 09 26 -59 16
co 2 -145 176 114 18 -43 09 33 80 -81 -12 52 313 -35 -29 116 342 -29 -53 110
co 3 17 -06 -23 88 06 -22 31 -108 24 -04 -17 -102 52 16 -30 01 -17 25 -31
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 03 -145 01 -101 79 -13 -10 370 -107 30 -115 -110 34 -53 57 71 -11 -28 29
co 2 527 -290 12 -82 84 -27 08 -23 00 -19 29 -580 419 38 -101 -599 341 141 -116
co 3 -84 -163 -01 -165 232 -31 -79 407 -77 17 -79 76 -69 28 -17 96 -37 17 -17
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 06 -35 22 10 -15 07 09 -24 -41 04 17 07 -31 -02 17 09 13 -31 10
dpco 2 -39 69 58 04 -16 03 17 39 -41 -07 28 119 09 -12 51 133 07 -17 48
dpco 3 03 -13 -11 33 18 -13 10 -28 07 -01 -14 -46 21 10 -16 07 -11 14 -17
Lambdas Total x y z: -0,13 1,61 -0,11 1,02

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:59,655 √J0m:69,134 √Mm:97,882 λ:-0,13 |dp|m:0,1287 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:57,223 √J0m:66,643 √Mm:95,690 λ:-0,13 |dp|m:0,1287 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:54,790 √J0m:64,158 √Mm:93,514 λ:-0,13 |dp|m:0,1287 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:52,355 √J0m:61,680 √Mm:91,353 λ:-0,13 |dp|m:0,1287 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:49,918 √J0m:59,210 √Mm:89,211 λ:-0,13 |dp|m:0,1287 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:47,478 √J0m:56,750 √Mm:87,088 λ:-0,13 |dp|m:0,1287 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:45,035 √J0m:54,300 √Mm:84,987 λ:-0,13 |dp|m:0,1287 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:42,589 √J0m:51,862 √Mm:82,910 λ:-0,13 |dp|m:0,1287 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:40,138 √J0m:49,438 √Mm:80,859 λ:-0,13 |dp|m:0,1287 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:37,681 √J0m:47,030 √Mm:78,837 λ:-0,13 |dp|m:0,1287 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:35,218 √J0m:44,640 √Mm:76,847 λ:-0,13 |dp|m:0,1287 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:32,746 √J0m:42,272 √Mm:74,891 λ:-0,13 |dp|m:0,1287 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:30,263 √J0m:39,930 √Mm:72,974 λ:-0,13 |dp|m:0,1287 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:27,766 √J0m:37,618 √Mm:71,099 λ:-0,13 |dp|m:0,1287 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:25,251 √J0m:35,342 √Mm:69,270 λ:-0,13 |dp|m:0,1287 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:22,712 √J0m:33,109 √Mm:67,491 λ:-0,13 |dp|m:0,1287 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:20,138 √J0m:30,930 √Mm:65,767 λ:-0,13 |dp|m:0,1287 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:17,514 √J0m:28,816 √Mm:64,103 λ:-0,13 |dp|m:0,1287 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:14,815 √J0m:26,782 √Mm:62,505 λ:-0,13 |dp|m:0,1287 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:11,987 √J0m:24,849 √Mm:60,978 λ:-0,13 |dp|m:0,1287 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:8,910 √J0m:23,042 √Mm:59,528 λ:-0,13 |dp|m:0,1287 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:5,153 √J0m:21,392 √Mm:58,163 λ:-0,13 |dp|m:0,1287 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:19,939 √Mm:56,888 λ:-0,13 |dp|m:0,1287 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:18,728 √Mm:55,711 λ:-0,13 |dp|m:0,1287 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:17,809 √Mm:54,638 λ:-0,13 |dp|m:0,1287 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:17,229 √Mm:53,677 λ:-0,13 |dp|m:0,1287 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -03 32 -09 09 -04 -01 -02 -38 29 -05 08 11 07 08 -14 -13 -03 15 -07
co 2 -52 11 -23 09 -05 02 -07 -12 15 05 -14 29 -57 00 -06 27 -46 -11 -03
co 3 10 26 04 08 -36 09 06 -41 07 -02 15 08 01 -07 08 -15 09 -07 08
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -06 -176 08 -39 49 -12 -05 254 -49 74 -92 -48 -07 -35 53 46 04 -53 48
co 2 51 -10 18 -45 47 -25 11 -121 84 56 -58 -134 172 -91 -26 -145 117 -09 -35
co 3 -08 -230 -02 -59 226 -139 -31 346 -86 07 -18 -09 -27 43 -30 47 -07 38 -32
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 20 -04 05 -03 00 -01 -25 16 -04 06 07 04 05 -08 -07 -02 09 -05
dpco 2 -27 06 -12 06 -03 02 -04 -03 06 01 -06 18 -32 02 -03 17 -26 -06 -01
dpco 3 05 18 02 06 -23 08 04 -29 06 -01 08 04 01 -05 05 -09 05 -05 05
Lambdas Total x y z: 0,05 0,69 0,52 0,30

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:19,573 √J0m:16,143 √Mm:51,681 λ:0,05 |dp|m:0,0444 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:18,712 √J0m:15,264 √Mm:50,537 λ:0,05 |dp|m:0,0444 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:17,858 √J0m:14,386 √Mm:49,404 λ:0,05 |dp|m:0,0444 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:17,013 √J0m:13,510 √Mm:48,283 λ:0,05 |dp|m:0,0444 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:16,177 √J0m:12,634 √Mm:47,174 λ:0,05 |dp|m:0,0444 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:15,353 √J0m:11,761 √Mm:46,078 λ:0,05 |dp|m:0,0444 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:14,541 √J0m:10,890 √Mm:44,997 λ:0,05 |dp|m:0,0444 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:13,746 √J0m:10,021 √Mm:43,932 λ:0,05 |dp|m:0,0444 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:12,968 √J0m:9,156 √Mm:42,883 λ:0,05 |dp|m:0,0444 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:12,213 √J0m:8,296 √Mm:41,853 λ:0,05 |dp|m:0,0444 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:11,484 √J0m:7,442 √Mm:40,842 λ:0,05 |dp|m:0,0444 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:10,787 √J0m:6,597 √Mm:39,853 λ:0,05 |dp|m:0,0444 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:10,128 √J0m:5,764 √Mm:38,886 λ:0,05 |dp|m:0,0444 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:9,515 √J0m:4,951 √Mm:37,944 λ:0,05 |dp|m:0,0444 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:8,958 √J0m:4,167 √Mm:37,028 λ:0,05 |dp|m:0,0444 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:8,468 √J0m:3,435 √Mm:36,140 λ:0,05 |dp|m:0,0444 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:8,056 √J0m:2,793 √Mm:35,284 λ:0,05 |dp|m:0,0444 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:7,736 √J0m:2,320 √Mm:34,460 λ:0,05 |dp|m:0,0444 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:7,519 √J0m:2,130 √Mm:33,671 λ:0,05 |dp|m:0,0444 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:7,414 √J0m:2,294 √Mm:32,920 λ:0,05 |dp|m:0,0444 mm
Acabado Optimizado (izq). Cuadro 194 Distancia Esque. Antes y Despues Retoque:402,00 Distancias Despues con p y q: 2,00 804,00 mm


Comienzan Iteraciones para cuadro 195

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 61 -94 -195 -222 -235 176 326 494 547 -28 -107 -81 -01 79 96 61 127
co 2 -341 -01 171 -134 -222 -262 -244 -63 -156 -129 -94 -491 -969 -1295 -1326 -483 -973 -1287 -1313
co 3 43 -01 -36 -94 -275 -558 -633 264 445 538 511 21 149 189 171 105 136 162 255
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -15 66 -72 -36 92 05 09 92 76 -97 -125 -39 95 47 -67 -28 -53 61 -28
co 2 265 -258 -197 10 70 34 -13 -72 123 45 -84 -389 196 233 26 -429 189 287 11
co 3 -32 08 39 -120 33 110 54 96 -54 -188 60 148 -92 -48 14 -08 -07 14 -39
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 20 08 -58 -69 -109 -115 117 187 216 234 -26 -24 -26 -22 30 31 50 55
dpco 2 -87 -82 24 -64 -89 -120 -126 -54 -39 -50 -73 -368 -423 -575 -655 -376 -427 -553 -653
dpco 3 11 02 -06 -85 -127 -244 -300 162 206 210 275 57 46 79 90 50 66 86 115
Lambdas Total x y z: -0,63 4,99 -0,39 2,91

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:367,196 √J0m:378,065 √Mm:113,465 λ:-0,63 |dp|m:0,8306 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:350,852 √J0m:361,739 √Mm:111,042 λ:-0,63 |dp|m:0,8306 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:334,507 √J0m:345,439 √Mm:108,693 λ:-0,63 |dp|m:0,8306 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:318,162 √J0m:329,171 √Mm:106,431 λ:-0,63 |dp|m:0,8306 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:301,813 √J0m:312,939 √Mm:104,267 λ:-0,63 |dp|m:0,8306 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:285,459 √J0m:296,749 √Mm:102,214 λ:-0,63 |dp|m:0,8306 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:269,097 √J0m:280,608 √Mm:100,285 λ:-0,63 |dp|m:0,8306 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:252,726 √J0m:264,526 √Mm:98,494 λ:-0,63 |dp|m:0,8306 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:236,341 √J0m:248,513 √Mm:96,852 λ:-0,63 |dp|m:0,8306 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:219,937 √J0m:232,584 √Mm:95,371 λ:-0,63 |dp|m:0,8306 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:203,510 √J0m:216,757 √Mm:94,065 λ:-0,63 |dp|m:0,8306 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:187,052 √J0m:201,057 √Mm:92,944 λ:-0,63 |dp|m:0,8306 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:170,553 √J0m:185,515 √Mm:92,019 λ:-0,63 |dp|m:0,8306 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:153,999 √J0m:170,176 √Mm:91,298 λ:-0,63 |dp|m:0,8306 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:137,367 √J0m:155,099 √Mm:90,790 λ:-0,63 |dp|m:0,8306 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:120,625 √J0m:140,369 √Mm:90,499 λ:-0,63 |dp|m:0,8306 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:103,720 √J0m:126,107 √Mm:90,431 λ:-0,63 |dp|m:0,8306 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:86,552 √J0m:112,492 √Mm:90,588 λ:-0,63 |dp|m:0,8306 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:68,927 √J0m:99,788 √Mm:90,971 λ:-0,63 |dp|m:0,8306 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:50,363 √J0m:88,390 √Mm:91,577 λ:-0,63 |dp|m:0,8306 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:29,115 √J0m:78,866 √Mm:92,404 λ:-0,63 |dp|m:0,8306 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:71,963 √Mm:93,447 λ:-0,63 |dp|m:0,8306 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:68,479 √Mm:94,699 λ:-0,63 |dp|m:0,8306 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:68,935 √Mm:96,154 λ:-0,63 |dp|m:0,8306 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 09 -46 44 34 -44 19 18 -81 -85 18 32 29 -55 -24 46 12 27 -48 07
co 2 -150 178 119 06 -26 03 33 56 -70 -18 68 318 -39 -31 115 345 -33 -70 124
co 3 18 -05 -24 92 05 -21 26 -93 -07 76 -93 -105 49 14 -27 -05 -09 -26 01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 05 -138 01 -92 73 -14 -08 225 120 -127 -51 -120 42 -22 26 71 -13 -35 35
co 2 539 -305 10 -72 79 -23 02 -12 12 -11 08 -590 437 -17 -59 -608 348 136 -110
co 3 -87 -154 -01 -154 218 -41 -64 316 24 -15 -64 80 -76 12 02 98 -38 -73 72
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 05 -33 22 10 -17 08 08 -24 -34 00 12 06 -24 -14 25 11 13 -27 06
dpco 2 -36 67 60 -02 -08 00 17 27 -34 -10 35 117 12 -17 53 129 08 -25 54
dpco 3 03 -14 -12 35 18 -13 09 -24 -02 37 -51 -46 19 08 -13 05 -07 -18 06
Lambdas Total x y z: -0,14 2,44 -0,13 1,34

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:60,754 √J0m:70,752 √Mm:95,655 λ:-0,14 |dp|m:0,1297 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:58,324 √J0m:68,255 √Mm:93,529 λ:-0,14 |dp|m:0,1297 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:55,892 √J0m:65,766 √Mm:91,428 λ:-0,14 |dp|m:0,1297 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:53,458 √J0m:63,285 √Mm:89,351 λ:-0,14 |dp|m:0,1297 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:51,021 √J0m:60,814 √Mm:87,299 λ:-0,14 |dp|m:0,1297 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:48,582 √J0m:58,353 √Mm:85,271 λ:-0,14 |dp|m:0,1297 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:46,140 √J0m:55,904 √Mm:83,269 λ:-0,14 |dp|m:0,1297 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:43,696 √J0m:53,469 √Mm:81,292 λ:-0,14 |dp|m:0,1297 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:41,250 √J0m:51,050 √Mm:79,341 λ:-0,14 |dp|m:0,1297 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:38,801 √J0m:48,649 √Mm:77,415 λ:-0,14 |dp|m:0,1297 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:36,349 √J0m:46,269 √Mm:75,518 λ:-0,14 |dp|m:0,1297 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:33,895 √J0m:43,913 √Mm:73,649 λ:-0,14 |dp|m:0,1297 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:31,437 √J0m:41,585 √Mm:71,811 λ:-0,14 |dp|m:0,1297 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:28,974 √J0m:39,291 √Mm:70,007 λ:-0,14 |dp|m:0,1297 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:26,504 √J0m:37,036 √Mm:68,242 λ:-0,14 |dp|m:0,1297 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:24,025 √J0m:34,829 √Mm:66,518 λ:-0,14 |dp|m:0,1297 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:21,534 √J0m:32,678 √Mm:64,842 λ:-0,14 |dp|m:0,1297 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:19,023 √J0m:30,597 √Mm:63,218 λ:-0,14 |dp|m:0,1297 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:16,483 √J0m:28,599 √Mm:61,655 λ:-0,14 |dp|m:0,1297 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:13,896 √J0m:26,705 √Mm:60,157 λ:-0,14 |dp|m:0,1297 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:11,230 √J0m:24,936 √Mm:58,734 λ:-0,14 |dp|m:0,1297 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:8,405 √J0m:23,323 √Mm:57,391 λ:-0,14 |dp|m:0,1297 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:5,165 √J0m:21,899 √Mm:56,139 λ:-0,14 |dp|m:0,1297 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:20,703 √Mm:54,984 λ:-0,14 |dp|m:0,1297 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:19,777 √Mm:53,936 λ:-0,14 |dp|m:0,1297 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:19,161 √Mm:53,003 λ:-0,14 |dp|m:0,1297 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 32 -08 09 -04 -01 -02 -23 -04 18 03 15 03 08 -13 -14 -03 15 -07
co 2 -64 19 -24 11 -08 03 -07 -08 11 05 -14 41 -67 09 -12 39 -53 -10 -04
co 3 11 27 05 09 -38 11 06 -37 -03 -12 28 06 04 -05 05 -16 08 17 -13
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -09 -165 09 -37 47 -12 -03 184 53 -27 -36 -58 04 -17 29 50 06 -67 60
co 2 77 -35 22 -36 52 -31 06 -48 20 15 -27 -172 220 -136 -06 -176 149 -36 -22
co 3 -13 -227 -03 -58 225 -149 -19 263 27 -68 28 -04 -40 25 -07 50 -08 -78 84
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 18 -04 05 -03 00 -01 -14 -03 09 02 08 02 04 -07 -08 -02 08 -04
dpco 2 -33 10 -12 06 -05 02 -03 -04 05 03 -07 22 -36 06 -06 21 -28 -05 -02
dpco 3 06 16 02 05 -22 07 03 -21 -02 -05 14 03 02 -03 02 -09 04 10 -07
Lambdas Total x y z: 0,02 1,11 0,27 0,36

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:19,566 √J0m:17,985 √Mm:51,054 λ:0,02 |dp|m:0,0450 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:18,675 √J0m:17,087 √Mm:49,932 λ:0,02 |dp|m:0,0450 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:17,787 √J0m:16,190 √Mm:48,825 λ:0,02 |dp|m:0,0450 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:16,904 √J0m:15,293 √Mm:47,735 λ:0,02 |dp|m:0,0450 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:16,025 √J0m:14,396 √Mm:46,663 λ:0,02 |dp|m:0,0450 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:15,152 √J0m:13,499 √Mm:45,609 λ:0,02 |dp|m:0,0450 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:14,286 √J0m:12,603 √Mm:44,577 λ:0,02 |dp|m:0,0450 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:13,427 √J0m:11,708 √Mm:43,566 λ:0,02 |dp|m:0,0450 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:12,578 √J0m:10,813 √Mm:42,578 λ:0,02 |dp|m:0,0450 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:11,740 √J0m:9,919 √Mm:41,616 λ:0,02 |dp|m:0,0450 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:10,916 √J0m:9,027 √Mm:40,680 λ:0,02 |dp|m:0,0450 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:10,110 √J0m:8,136 √Mm:39,772 λ:0,02 |dp|m:0,0450 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:9,325 √J0m:7,247 √Mm:38,894 λ:0,02 |dp|m:0,0450 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:8,569 √J0m:6,362 √Mm:38,049 λ:0,02 |dp|m:0,0450 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:7,849 √J0m:5,481 √Mm:37,238 λ:0,02 |dp|m:0,0450 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:7,177 √J0m:4,608 √Mm:36,463 λ:0,02 |dp|m:0,0450 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:6,565 √J0m:3,747 √Mm:35,727 λ:0,02 |dp|m:0,0450 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:6,034 √J0m:2,911 √Mm:35,031 λ:0,02 |dp|m:0,0450 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:5,606 √J0m:2,127 √Mm:34,379 λ:0,02 |dp|m:0,0450 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:5,306 √J0m:1,481 √Mm:33,772 λ:0,02 |dp|m:0,0450 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:5,157 √J0m:1,217 √Mm:33,212 λ:0,02 |dp|m:0,0450 mm
Acabado Optimizado (izq). Cuadro 195 Distancia Esque. Antes y Despues Retoque:404,00 Distancias Despues con p y q: 1,00 809,00 mm


Comienzan Iteraciones para cuadro 196

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 65 -94 -173 -213 -231 176 326 498 551 -28 -107 -67 17 79 96 56 123
co 2 -341 -01 171 -134 -270 -270 -244 -67 -160 -125 -89 -491 -969 -1295 -1318 -483 -973 -1287 -1313
co 3 43 -01 -36 -94 -248 -536 -633 264 445 538 520 21 149 180 162 105 136 167 260
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -15 69 -76 -16 65 16 05 93 72 -85 -133 -39 105 38 -68 -28 -57 65 -28
co 2 265 -262 -194 -47 151 07 -08 -71 133 41 -90 -389 197 240 17 -429 190 285 11
co 3 -32 08 39 -98 13 131 30 97 -60 -164 42 148 -99 -40 14 -08 -03 10 -39
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 21 09 -52 -67 -102 -114 117 185 223 234 -26 -21 -22 -13 31 30 48 53
dpco 2 -88 -82 25 -81 -88 -133 -125 -56 -39 -50 -73 -367 -423 -573 -653 -375 -427 -554 -653
dpco 3 12 02 -06 -77 -120 -227 -307 162 204 218 273 57 44 77 86 50 67 86 118
Lambdas Total x y z: -0,62 5,14 -0,39 3,30

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:366,825 √J0m:377,547 √Mm:113,233 λ:-0,62 |dp|m:0,8298 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:350,492 √J0m:361,233 √Mm:110,822 λ:-0,62 |dp|m:0,8298 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:334,159 √J0m:344,946 √Mm:108,487 λ:-0,62 |dp|m:0,8298 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:317,823 √J0m:328,690 √Mm:106,241 λ:-0,62 |dp|m:0,8298 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:301,484 √J0m:312,470 √Mm:104,097 λ:-0,62 |dp|m:0,8298 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:285,139 √J0m:296,291 √Mm:102,067 λ:-0,62 |dp|m:0,8298 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:268,786 √J0m:280,162 √Mm:100,163 λ:-0,62 |dp|m:0,8298 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:252,423 √J0m:264,090 √Mm:98,398 λ:-0,62 |dp|m:0,8298 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:236,045 √J0m:248,088 √Mm:96,783 λ:-0,62 |dp|m:0,8298 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:219,649 √J0m:232,169 √Mm:95,331 λ:-0,62 |dp|m:0,8298 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:203,229 √J0m:216,351 √Mm:94,052 λ:-0,62 |dp|m:0,8298 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:186,778 √J0m:200,660 √Mm:92,958 λ:-0,62 |dp|m:0,8298 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:170,285 √J0m:185,127 √Mm:92,058 λ:-0,62 |dp|m:0,8298 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:153,737 √J0m:169,795 √Mm:91,360 λ:-0,62 |dp|m:0,8298 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:137,112 √J0m:154,724 √Mm:90,871 λ:-0,62 |dp|m:0,8298 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:120,377 √J0m:139,998 √Mm:90,598 λ:-0,62 |dp|m:0,8298 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:103,478 √J0m:125,740 √Mm:90,544 λ:-0,62 |dp|m:0,8298 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:86,318 √J0m:112,127 √Mm:90,711 λ:-0,62 |dp|m:0,8298 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:68,700 √J0m:99,425 √Mm:91,099 λ:-0,62 |dp|m:0,8298 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:50,141 √J0m:88,028 √Mm:91,708 λ:-0,62 |dp|m:0,8298 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:28,879 √J0m:78,508 √Mm:92,533 λ:-0,62 |dp|m:0,8298 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:71,617 √Mm:93,571 λ:-0,62 |dp|m:0,8298 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:68,157 √Mm:94,815 λ:-0,62 |dp|m:0,8298 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:68,648 √Mm:96,258 λ:-0,62 |dp|m:0,8298 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 09 -47 45 20 -27 10 20 -81 -82 08 36 29 -61 -19 45 11 29 -50 07
co 2 -148 179 116 46 -76 22 30 55 -75 -16 70 316 -38 -35 120 342 -33 -67 124
co 3 18 -05 -23 77 16 -36 43 -93 -04 59 -81 -103 53 10 -26 -05 -11 -23 01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 06 -145 01 -92 75 04 -23 228 86 -89 -60 -115 36 -25 30 69 -11 -33 34
co 2 536 -302 14 -94 92 -40 24 -15 18 -20 11 -586 431 -16 -55 -601 348 130 -108
co 3 -87 -160 -02 -161 214 56 -143 319 14 07 -79 77 -71 12 00 99 -39 -74 73
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 05 -34 23 04 -08 05 08 -25 -35 -02 14 07 -28 -11 25 10 14 -27 06
dpco 2 -36 69 59 16 -32 08 17 27 -36 -09 36 117 11 -18 56 129 08 -24 54
dpco 3 03 -14 -12 27 23 -14 11 -24 -01 30 -46 -46 21 06 -13 04 -08 -17 05
Lambdas Total x y z: -0,14 2,72 -0,13 1,22

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:60,749 √J0m:70,491 √Mm:95,740 λ:-0,14 |dp|m:0,1303 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:58,297 √J0m:67,977 √Mm:93,609 λ:-0,14 |dp|m:0,1303 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:55,844 √J0m:65,470 √Mm:91,498 λ:-0,14 |dp|m:0,1303 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:53,388 √J0m:62,972 √Mm:89,410 λ:-0,14 |dp|m:0,1303 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:50,930 √J0m:60,482 √Mm:87,344 λ:-0,14 |dp|m:0,1303 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:48,469 √J0m:58,002 √Mm:85,301 λ:-0,14 |dp|m:0,1303 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:46,006 √J0m:55,535 √Mm:83,281 λ:-0,14 |dp|m:0,1303 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:43,541 √J0m:53,080 √Mm:81,285 λ:-0,14 |dp|m:0,1303 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:41,073 √J0m:50,641 √Mm:79,313 λ:-0,14 |dp|m:0,1303 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:38,602 √J0m:48,219 √Mm:77,368 λ:-0,14 |dp|m:0,1303 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:36,127 √J0m:45,817 √Mm:75,450 λ:-0,14 |dp|m:0,1303 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:33,647 √J0m:43,440 √Mm:73,562 λ:-0,14 |dp|m:0,1303 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:31,162 √J0m:41,090 √Mm:71,707 λ:-0,14 |dp|m:0,1303 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:28,670 √J0m:38,772 √Mm:69,888 λ:-0,14 |dp|m:0,1303 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:26,167 √J0m:36,494 √Mm:68,109 λ:-0,14 |dp|m:0,1303 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:23,651 √J0m:34,263 √Mm:66,376 λ:-0,14 |dp|m:0,1303 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:21,114 √J0m:32,088 √Mm:64,694 λ:-0,14 |dp|m:0,1303 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:18,549 √J0m:29,982 √Mm:63,069 λ:-0,14 |dp|m:0,1303 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:15,941 √J0m:27,961 √Mm:61,508 λ:-0,14 |dp|m:0,1303 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:13,261 √J0m:26,044 √Mm:60,017 λ:-0,14 |dp|m:0,1303 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:10,454 √J0m:24,256 √Mm:58,604 λ:-0,14 |dp|m:0,1303 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:7,374 √J0m:22,628 √Mm:57,278 λ:-0,14 |dp|m:0,1303 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:3,331 √J0m:21,196 √Mm:56,046 λ:-0,14 |dp|m:0,1303 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:20,003 √Mm:54,917 λ:-0,14 |dp|m:0,1303 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:19,093 √Mm:53,899 λ:-0,14 |dp|m:0,1303 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:18,508 √Mm:53,001 λ:-0,14 |dp|m:0,1303 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -03 33 -09 11 -07 -03 00 -23 01 13 03 14 06 08 -13 -14 -04 15 -07
co 2 -61 16 -24 07 -01 02 -10 -08 11 06 -15 38 -64 09 -13 35 -51 -09 -05
co 3 11 27 05 12 -38 -02 16 -35 -02 -12 28 07 02 -04 05 -16 09 17 -12
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -08 -167 11 -31 48 -06 -15 186 35 -01 -45 -55 -03 -17 34 48 07 -67 60
co 2 71 -26 24 -57 48 -27 27 -55 21 25 -36 -161 210 -137 -04 -166 145 -38 -21
co 3 -12 -227 -03 -52 211 -75 -86 266 13 -58 29 -05 -33 21 -07 48 -08 -76 83
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 20 -05 06 -05 -01 00 -15 00 07 03 08 03 04 -07 -08 -02 09 -05
dpco 2 -32 09 -13 05 -01 02 -05 -03 05 03 -07 22 -36 07 -07 21 -29 -04 -02
dpco 3 06 18 02 07 -23 00 10 -23 -01 -05 14 03 02 -02 03 -09 05 10 -08
Lambdas Total x y z: 0,04 1,13 0,32 0,40

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:20,151 √J0m:17,365 √Mm:51,091 λ:0,04 |dp|m:0,0460 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:19,250 √J0m:16,450 √Mm:49,969 λ:0,04 |dp|m:0,0460 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:18,357 √J0m:15,536 √Mm:48,862 λ:0,04 |dp|m:0,0460 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:17,470 √J0m:14,622 √Mm:47,772 λ:0,04 |dp|m:0,0460 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:16,592 √J0m:13,710 √Mm:46,701 λ:0,04 |dp|m:0,0460 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:15,724 √J0m:12,798 √Mm:45,649 λ:0,04 |dp|m:0,0460 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:14,867 √J0m:11,888 √Mm:44,618 λ:0,04 |dp|m:0,0460 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:14,025 √J0m:10,979 √Mm:43,610 λ:0,04 |dp|m:0,0460 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:13,199 √J0m:10,072 √Mm:42,625 λ:0,04 |dp|m:0,0460 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:12,392 √J0m:9,168 √Mm:41,666 λ:0,04 |dp|m:0,0460 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:11,610 √J0m:8,267 √Mm:40,734 λ:0,04 |dp|m:0,0460 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:10,856 √J0m:7,371 √Mm:39,830 λ:0,04 |dp|m:0,0460 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:10,138 √J0m:6,481 √Mm:38,958 λ:0,04 |dp|m:0,0460 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:9,463 √J0m:5,601 √Mm:38,118 λ:0,04 |dp|m:0,0460 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:8,842 √J0m:4,736 √Mm:37,313 λ:0,04 |dp|m:0,0460 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:8,286 √J0m:3,896 √Mm:36,546 λ:0,04 |dp|m:0,0460 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:7,810 √J0m:3,102 √Mm:35,817 λ:0,04 |dp|m:0,0460 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:7,428 √J0m:2,399 √Mm:35,130 λ:0,04 |dp|m:0,0460 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:7,156 √J0m:1,892 √Mm:34,486 λ:0,04 |dp|m:0,0460 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:7,006 √J0m:1,759 √Mm:33,888 λ:0,04 |dp|m:0,0460 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:6,986 √J0m:2,074 √Mm:33,338 λ:0,04 |dp|m:0,0460 mm
Acabado Optimizado (izq). Cuadro 196 Distancia Esque. Antes y Despues Retoque:404,00 Distancias Despues con p y q: 2,00 808,00 mm


Comienzan Iteraciones para cuadro 197

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 65 -89 -182 -226 -231 162 317 436 494 -28 -107 -67 17 79 96 56 123
co 2 -346 -01 176 -134 -244 -257 -248 -89 -178 -94 -67 -491 -969 -1295 -1318 -483 -973 -1287 -1318
co 3 43 -01 -36 -94 -270 -558 -633 215 401 525 542 21 149 180 162 105 140 171 260
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -14 94 -73 -26 71 20 03 66 15 -17 -145 -35 105 38 -68 -31 -57 67 -30
co 2 261 -286 -191 -08 107 13 -07 -41 195 -49 -69 -388 197 240 17 -429 190 283 14
co 3 -31 31 37 -109 28 103 58 70 -07 -125 -47 150 -99 -40 14 -06 -08 10 -40
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 29 09 -53 -68 -107 -115 102 163 213 201 -25 -20 -22 -13 29 30 50 52
dpco 2 -89 -92 27 -69 -88 -125 -127 -58 -27 -63 -56 -370 -421 -571 -653 -378 -426 -553 -654
dpco 3 12 09 -06 -82 -126 -246 -298 130 198 222 256 59 43 77 86 50 68 89 117
Lambdas Total x y z: -0,64 5,85 -0,39 3,82

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:364,422 √J0m:375,568 √Mm:113,598 λ:-0,64 |dp|m:0,8237 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:348,229 √J0m:359,387 √Mm:111,146 λ:-0,64 |dp|m:0,8237 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:332,040 √J0m:343,235 √Mm:108,752 λ:-0,64 |dp|m:0,8237 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:315,853 √J0m:327,114 √Mm:106,430 λ:-0,64 |dp|m:0,8237 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:299,667 √J0m:311,030 √Mm:104,194 λ:-0,64 |dp|m:0,8237 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:283,481 √J0m:294,989 √Mm:102,057 λ:-0,64 |dp|m:0,8237 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:267,292 √J0m:278,999 √Mm:100,031 λ:-0,64 |dp|m:0,8237 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:251,098 √J0m:263,068 √Mm:98,130 λ:-0,64 |dp|m:0,8237 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:234,898 √J0m:247,209 √Mm:96,365 λ:-0,64 |dp|m:0,8237 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:218,688 √J0m:231,436 √Mm:94,749 λ:-0,64 |dp|m:0,8237 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:202,465 √J0m:215,767 √Mm:93,293 λ:-0,64 |dp|m:0,8237 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:186,226 √J0m:200,227 √Mm:92,008 λ:-0,64 |dp|m:0,8237 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:169,963 √J0m:184,849 √Mm:90,904 λ:-0,64 |dp|m:0,8237 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:153,669 √J0m:169,677 √Mm:89,992 λ:-0,64 |dp|m:0,8237 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:137,331 √J0m:154,772 √Mm:89,279 λ:-0,64 |dp|m:0,8237 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:120,930 √J0m:140,218 √Mm:88,773 λ:-0,64 |dp|m:0,8237 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:104,436 √J0m:126,137 √Mm:88,479 λ:-0,64 |dp|m:0,8237 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:87,795 √J0m:112,707 √Mm:88,401 λ:-0,64 |dp|m:0,8237 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:70,902 √J0m:100,189 √Mm:88,541 λ:-0,64 |dp|m:0,8237 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:53,518 √J0m:88,970 √Mm:88,900 λ:-0,64 |dp|m:0,8237 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:34,914 √J0m:79,600 √Mm:89,477 λ:-0,64 |dp|m:0,8237 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:9,560 √J0m:72,798 √Mm:90,268 λ:-0,64 |dp|m:0,8237 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:69,323 √Mm:91,269 λ:-0,64 |dp|m:0,8237 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:69,674 √Mm:92,474 λ:-0,64 |dp|m:0,8237 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 08 -66 45 27 -32 09 21 -63 -43 -32 52 28 -63 -20 46 14 30 -53 09
co 2 -149 201 117 19 -51 17 30 38 -119 44 55 322 -41 -39 120 350 -36 -70 122
co 3 17 -22 -23 86 07 -16 23 -71 -35 36 -21 -108 55 10 -26 -06 -09 -24 02
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 25 -79 02 -96 76 -21 -06 125 92 -92 -37 -115 38 -25 30 69 -12 -32 33
co 2 555 -352 45 -72 78 -21 02 -06 04 46 -51 -592 441 -12 -58 -607 358 135 -114
co 3 -76 -23 -07 -156 224 -60 -56 174 58 11 -109 78 -70 12 01 104 -44 -70 68
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 06 -39 22 06 -10 03 10 -21 -14 -23 23 05 -29 -12 25 13 14 -29 07
dpco 2 -30 72 62 04 -19 07 15 19 -59 26 23 113 15 -21 55 126 11 -24 52
dpco 3 03 -13 -12 31 22 -13 07 -21 -13 19 -19 -48 22 06 -13 05 -08 -18 06
Lambdas Total x y z: -0,16 4,24 -0,16 1,87

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:61,091 √J0m:71,338 √Mm:91,807 λ:-0,16 |dp|m:0,1285 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:58,724 √J0m:68,887 √Mm:89,749 λ:-0,16 |dp|m:0,1285 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:56,359 √J0m:66,444 √Mm:87,703 λ:-0,16 |dp|m:0,1285 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:53,998 √J0m:64,011 √Mm:85,669 λ:-0,16 |dp|m:0,1285 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:51,640 √J0m:61,590 √Mm:83,649 λ:-0,16 |dp|m:0,1285 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:49,286 √J0m:59,181 √Mm:81,645 λ:-0,16 |dp|m:0,1285 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:46,936 √J0m:56,786 √Mm:79,658 λ:-0,16 |dp|m:0,1285 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:44,591 √J0m:54,407 √Mm:77,689 λ:-0,16 |dp|m:0,1285 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:42,252 √J0m:52,047 √Mm:75,741 λ:-0,16 |dp|m:0,1285 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:39,919 √J0m:49,707 √Mm:73,815 λ:-0,16 |dp|m:0,1285 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:37,593 √J0m:47,391 √Mm:71,914 λ:-0,16 |dp|m:0,1285 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:35,276 √J0m:45,103 √Mm:70,041 λ:-0,16 |dp|m:0,1285 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:32,969 √J0m:42,846 √Mm:68,199 λ:-0,16 |dp|m:0,1285 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:30,674 √J0m:40,627 √Mm:66,392 λ:-0,16 |dp|m:0,1285 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:28,393 √J0m:38,452 √Mm:64,623 λ:-0,16 |dp|m:0,1285 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:26,131 √J0m:36,328 √Mm:62,897 λ:-0,16 |dp|m:0,1285 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:23,891 √J0m:34,266 √Mm:61,219 λ:-0,16 |dp|m:0,1285 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:21,679 √J0m:32,277 √Mm:59,593 λ:-0,16 |dp|m:0,1285 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:19,506 √J0m:30,375 √Mm:58,027 λ:-0,16 |dp|m:0,1285 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:17,384 √J0m:28,577 √Mm:56,527 λ:-0,16 |dp|m:0,1285 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:15,334 √J0m:26,906 √Mm:55,098 λ:-0,16 |dp|m:0,1285 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:13,388 √J0m:25,385 √Mm:53,750 λ:-0,16 |dp|m:0,1285 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:11,598 √J0m:24,043 √Mm:52,489 λ:-0,16 |dp|m:0,1285 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:10,044 √J0m:22,912 √Mm:51,323 λ:-0,16 |dp|m:0,1285 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:8,851 √J0m:22,025 √Mm:50,262 λ:-0,16 |dp|m:0,1285 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:8,177 √J0m:21,411 √Mm:49,314 λ:-0,16 |dp|m:0,1285 mm
LINE SEARCH. Vez:27 Sal:44,0 Incr:1,0 √J1m:8,150 √J0m:21,094 √Mm:48,487 λ:-0,16 |dp|m:0,1285 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -07 31 -11 13 -08 02 -04 -10 -08 26 -05 16 07 10 -17 -17 -05 18 -09
co 2 -76 23 -36 10 -04 00 -07 -08 27 -19 -03 43 -78 12 -16 39 -63 -11 -06
co 3 11 10 07 11 -46 16 06 -18 -03 -10 26 09 01 -05 06 -19 11 19 -14
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -10 -114 21 -36 58 -29 00 103 42 49 -78 -61 -01 -20 39 51 08 -72 62
co 2 90 -65 49 -48 46 -10 02 -37 26 -13 -20 -182 242 -153 -03 -187 170 -43 -25
co 3 -13 -111 -08 -60 244 -180 -08 129 51 -40 00 -01 -40 24 -09 54 -10 -75 82
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -04 15 -05 06 -03 01 -02 -04 -04 13 -03 08 04 05 -08 -08 -02 09 -04
dpco 2 -37 11 -18 05 -01 00 -04 -04 14 -10 -02 20 -37 05 -08 18 -30 -06 -03
dpco 3 05 04 03 05 -21 06 03 -08 -01 -06 13 05 00 -02 03 -09 05 09 -06
Lambdas Total x y z: -0,02 1,44 0,10 0,47

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:19,310 √J0m:20,198 √Mm:46,750 λ:-0,02 |dp|m:0,0446 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:18,419 √J0m:19,308 √Mm:45,724 λ:-0,02 |dp|m:0,0446 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:17,526 √J0m:18,418 √Mm:44,714 λ:-0,02 |dp|m:0,0446 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:16,631 √J0m:17,529 √Mm:43,719 λ:-0,02 |dp|m:0,0446 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:15,734 √J0m:16,639 √Mm:42,743 λ:-0,02 |dp|m:0,0446 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:14,834 √J0m:15,750 √Mm:41,784 λ:-0,02 |dp|m:0,0446 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:13,932 √J0m:14,862 √Mm:40,846 λ:-0,02 |dp|m:0,0446 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:13,026 √J0m:13,973 √Mm:39,928 λ:-0,02 |dp|m:0,0446 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:12,115 √J0m:13,085 √Mm:39,033 λ:-0,02 |dp|m:0,0446 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:11,199 √J0m:12,198 √Mm:38,161 λ:-0,02 |dp|m:0,0446 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:10,276 √J0m:11,311 √Mm:37,315 λ:-0,02 |dp|m:0,0446 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:9,344 √J0m:10,425 √Mm:36,497 λ:-0,02 |dp|m:0,0446 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:8,401 √J0m:9,541 √Mm:35,707 λ:-0,02 |dp|m:0,0446 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:7,440 √J0m:8,657 √Mm:34,947 λ:-0,02 |dp|m:0,0446 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:6,456 √J0m:7,776 √Mm:34,221 λ:-0,02 |dp|m:0,0446 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:5,434 √J0m:6,897 √Mm:33,529 λ:-0,02 |dp|m:0,0446 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:4,351 √J0m:6,022 √Mm:32,873 λ:-0,02 |dp|m:0,0446 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:3,140 √J0m:5,153 √Mm:32,256 λ:-0,02 |dp|m:0,0446 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:1,524 √J0m:4,292 √Mm:31,679 λ:-0,02 |dp|m:0,0446 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:3,448 √Mm:31,146 λ:-0,02 |dp|m:0,0446 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:2,635 √Mm:30,657 λ:-0,02 |dp|m:0,0446 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:1,895 √Mm:30,215 λ:-0,02 |dp|m:0,0446 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:1,352 √Mm:29,821 λ:-0,02 |dp|m:0,0446 mm
Acabado Optimizado (izq). Cuadro 197 Distancia Esque. Antes y Despues Retoque:402,00 Distancias Despues con p y q: 1,00 804,00 mm


Comienzan Iteraciones para cuadro 198

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 65 -89 -182 -209 -231 162 291 467 516 -28 -107 -67 17 79 96 52 123
co 2 -346 -01 176 -134 -248 -279 -248 -89 -142 -120 -76 -491 -969 -1295 -1318 -483 -973 -1287 -1318
co 3 43 -01 -36 -94 -266 -549 -633 215 414 516 529 21 149 180 162 105 140 171 264
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -14 94 -73 -27 81 05 09 56 75 -92 -120 -35 105 38 -68 -31 -61 68 -27
co 2 261 -286 -191 -14 102 31 -14 -15 80 80 -109 -388 197 240 17 -429 191 284 12
co 3 -31 31 37 -107 20 127 38 106 -89 -92 -35 150 -99 -40 14 -06 -08 06 -35
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 30 09 -53 -65 -103 -112 99 170 204 219 -25 -20 -22 -14 29 29 48 53
dpco 2 -89 -93 26 -71 -91 -130 -129 -49 -45 -34 -73 -370 -421 -571 -653 -379 -425 -552 -655
dpco 3 12 09 -06 -81 -127 -233 -304 142 178 228 253 59 43 77 86 50 68 88 121
Lambdas Total x y z: -0,64 5,18 -0,39 3,50

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:364,561 √J0m:375,778 √Mm:113,586 λ:-0,64 |dp|m:0,8239 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:348,365 √J0m:359,596 √Mm:111,142 λ:-0,64 |dp|m:0,8239 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:332,173 √J0m:343,442 √Mm:108,759 λ:-0,64 |dp|m:0,8239 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:315,982 √J0m:327,320 √Mm:106,451 λ:-0,64 |dp|m:0,8239 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:299,792 √J0m:311,236 √Mm:104,232 λ:-0,64 |dp|m:0,8239 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:283,599 √J0m:295,195 √Mm:102,115 λ:-0,64 |dp|m:0,8239 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:267,403 √J0m:279,205 √Mm:100,112 λ:-0,64 |dp|m:0,8239 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:251,201 √J0m:263,275 √Mm:98,237 λ:-0,64 |dp|m:0,8239 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:234,991 √J0m:247,417 √Mm:96,502 λ:-0,64 |dp|m:0,8239 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:218,770 √J0m:231,645 √Mm:94,918 λ:-0,64 |dp|m:0,8239 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:202,533 √J0m:215,978 √Mm:93,498 λ:-0,64 |dp|m:0,8239 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:186,277 √J0m:200,442 √Mm:92,253 λ:-0,64 |dp|m:0,8239 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:169,993 √J0m:185,068 √Mm:91,192 λ:-0,64 |dp|m:0,8239 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:153,672 √J0m:169,902 √Mm:90,326 λ:-0,64 |dp|m:0,8239 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:137,300 √J0m:155,003 √Mm:89,662 λ:-0,64 |dp|m:0,8239 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:120,855 √J0m:140,458 √Mm:89,208 λ:-0,64 |dp|m:0,8239 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:104,302 √J0m:126,387 √Mm:88,968 λ:-0,64 |dp|m:0,8239 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:87,577 √J0m:112,970 √Mm:88,947 λ:-0,64 |dp|m:0,8239 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:70,558 √J0m:100,467 √Mm:89,146 λ:-0,64 |dp|m:0,8239 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:52,959 √J0m:89,263 √Mm:89,564 λ:-0,64 |dp|m:0,8239 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:33,888 √J0m:79,909 √Mm:90,201 λ:-0,64 |dp|m:0,8239 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:3,069 √J0m:73,115 √Mm:91,054 λ:-0,64 |dp|m:0,8239 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:69,637 √Mm:92,116 λ:-0,64 |dp|m:0,8239 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:69,970 √Mm:93,382 λ:-0,64 |dp|m:0,8239 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 09 -66 45 28 -39 18 16 -56 -82 18 33 28 -64 -20 46 14 33 -53 07
co 2 -150 203 117 23 -48 06 35 19 -43 -44 85 324 -42 -40 119 352 -38 -72 124
co 3 18 -22 -23 85 13 -35 36 -97 22 13 -28 -108 55 11 -26 -06 -09 -21 -02
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 26 -85 02 -94 64 02 -19 164 20 -04 -84 -116 38 -25 30 67 -11 -38 39
co 2 559 -360 45 -77 81 -34 16 -09 27 -59 41 -597 444 -11 -59 -613 361 144 -121
co 3 -77 -40 -07 -157 194 24 -109 219 06 -05 -70 79 -70 12 01 105 -45 -81 79
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 06 -40 23 06 -14 09 07 -15 -40 09 10 04 -29 -12 26 13 16 -30 07
dpco 2 -29 72 62 05 -17 00 19 09 -19 -27 46 113 15 -21 55 126 11 -24 52
dpco 3 02 -14 -12 30 22 -16 09 -30 11 06 -20 -48 22 06 -13 06 -08 -17 06
Lambdas Total x y z: -0,16 4,30 -0,15 1,80

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:60,998 √J0m:71,626 √Mm:92,756 λ:-0,16 |dp|m:0,1276 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:58,660 √J0m:69,197 √Mm:90,683 λ:-0,16 |dp|m:0,1276 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:56,324 √J0m:66,777 √Mm:88,626 λ:-0,16 |dp|m:0,1276 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:53,990 √J0m:64,367 √Mm:86,586 λ:-0,16 |dp|m:0,1276 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:51,659 √J0m:61,969 √Mm:84,563 λ:-0,16 |dp|m:0,1276 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:49,331 √J0m:59,583 √Mm:82,557 λ:-0,16 |dp|m:0,1276 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:47,008 √J0m:57,212 √Mm:80,570 λ:-0,16 |dp|m:0,1276 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:44,689 √J0m:54,857 √Mm:78,603 λ:-0,16 |dp|m:0,1276 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:42,375 √J0m:52,520 √Mm:76,656 λ:-0,16 |dp|m:0,1276 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:40,069 √J0m:50,204 √Mm:74,731 λ:-0,16 |dp|m:0,1276 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:37,770 √J0m:47,912 √Mm:72,831 λ:-0,16 |dp|m:0,1276 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:35,480 √J0m:45,647 √Mm:70,956 λ:-0,16 |dp|m:0,1276 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:33,201 √J0m:43,414 √Mm:69,112 λ:-0,16 |dp|m:0,1276 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:30,935 √J0m:41,219 √Mm:67,300 λ:-0,16 |dp|m:0,1276 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:28,684 √J0m:39,066 √Mm:65,525 λ:-0,16 |dp|m:0,1276 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:26,452 √J0m:36,964 √Mm:63,791 λ:-0,16 |dp|m:0,1276 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:24,243 √J0m:34,922 √Mm:62,103 λ:-0,16 |dp|m:0,1276 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:22,064 √J0m:32,952 √Mm:60,466 λ:-0,16 |dp|m:0,1276 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:19,924 √J0m:31,065 √Mm:58,888 λ:-0,16 |dp|m:0,1276 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:17,835 √J0m:29,280 √Mm:57,373 λ:-0,16 |dp|m:0,1276 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:15,817 √J0m:27,616 √Mm:55,929 λ:-0,16 |dp|m:0,1276 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:13,900 √J0m:26,094 √Mm:54,563 λ:-0,16 |dp|m:0,1276 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:12,130 √J0m:24,744 √Mm:53,283 λ:-0,16 |dp|m:0,1276 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:10,581 √J0m:23,592 √Mm:52,097 λ:-0,16 |dp|m:0,1276 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:9,360 √J0m:22,670 √Mm:51,014 λ:-0,16 |dp|m:0,1276 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:8,608 √J0m:22,007 √Mm:50,041 λ:-0,16 |dp|m:0,1276 mm
LINE SEARCH. Vez:27 Sal:44,0 Incr:1,0 √J1m:8,449 √J0m:21,627 √Mm:49,186 λ:-0,16 |dp|m:0,1276 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -07 32 -11 12 -04 -04 00 -20 15 -03 09 17 07 10 -17 -17 -06 20 -09
co 2 -78 26 -36 10 -05 05 -11 -03 05 22 -28 45 -80 12 -16 42 -64 -12 -04
co 3 11 13 07 12 -42 03 13 -22 -06 -02 21 09 01 -05 06 -20 11 21 -16
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -11 -125 22 -35 43 03 -16 142 04 13 -36 -63 -01 -21 39 53 09 -84 73
co 2 95 -72 52 -45 56 -45 27 -58 12 58 -58 -189 248 -155 -03 -194 175 -41 -29
co 3 -15 -121 -08 -56 216 -104 -59 186 -22 -11 -02 00 -42 24 -09 55 -10 -88 95
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -04 15 -05 06 -01 -02 00 -08 08 -02 04 08 04 05 -08 -08 -03 09 -04
dpco 2 -38 12 -18 04 -02 02 -05 -02 02 12 -15 20 -37 04 -08 19 -30 -07 -02
dpco 3 06 05 03 05 -18 00 06 -09 -03 -01 10 05 00 -02 03 -09 05 09 -07
Lambdas Total x y z: -0,03 1,30 0,09 0,53

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:19,245 √J0m:20,660 √Mm:47,404 λ:-0,03 |dp|m:0,0443 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:18,360 √J0m:19,777 √Mm:46,364 λ:-0,03 |dp|m:0,0443 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:17,473 √J0m:18,894 √Mm:45,339 λ:-0,03 |dp|m:0,0443 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:16,584 √J0m:18,011 √Mm:44,329 λ:-0,03 |dp|m:0,0443 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:15,691 √J0m:17,129 √Mm:43,337 λ:-0,03 |dp|m:0,0443 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:14,794 √J0m:16,247 √Mm:42,363 λ:-0,03 |dp|m:0,0443 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:13,893 √J0m:15,366 √Mm:41,408 λ:-0,03 |dp|m:0,0443 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:12,986 √J0m:14,485 √Mm:40,474 λ:-0,03 |dp|m:0,0443 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:12,072 √J0m:13,604 √Mm:39,562 λ:-0,03 |dp|m:0,0443 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:11,151 √J0m:12,725 √Mm:38,673 λ:-0,03 |dp|m:0,0443 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:10,218 √J0m:11,847 √Mm:37,810 λ:-0,03 |dp|m:0,0443 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:9,272 √J0m:10,969 √Mm:36,973 λ:-0,03 |dp|m:0,0443 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:8,307 √J0m:10,094 √Mm:36,165 λ:-0,03 |dp|m:0,0443 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:7,316 √J0m:9,220 √Mm:35,387 λ:-0,03 |dp|m:0,0443 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:6,288 √J0m:8,349 √Mm:34,641 λ:-0,03 |dp|m:0,0443 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:5,199 √J0m:7,481 √Mm:33,929 λ:-0,03 |dp|m:0,0443 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:4,001 √J0m:6,618 √Mm:33,253 λ:-0,03 |dp|m:0,0443 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:2,543 √J0m:5,762 √Mm:32,615 λ:-0,03 |dp|m:0,0443 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:4,917 √Mm:32,017 λ:-0,03 |dp|m:0,0443 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:4,089 √Mm:31,462 λ:-0,03 |dp|m:0,0443 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:3,292 √Mm:30,950 λ:-0,03 |dp|m:0,0443 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:2,553 √Mm:30,485 λ:-0,03 |dp|m:0,0443 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:1,943 √Mm:30,068 λ:-0,03 |dp|m:0,0443 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:1,612 √Mm:29,701 λ:-0,03 |dp|m:0,0443 mm
Acabado Optimizado (izq). Cuadro 198 Distancia Esque. Antes y Despues Retoque:403,00 Distancias Despues con p y q: 1,00 805,00 mm


Comienzan Iteraciones para cuadro 199

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 65 -89 -191 -209 -231 162 291 463 511 -28 -107 -67 17 79 96 52 123
co 2 -346 -01 176 -134 -226 -275 -253 -89 -142 -125 -81 -491 -969 -1295 -1318 -487 -973 -1287 -1318
co 3 43 -01 -36 -94 -275 -558 -637 215 414 516 529 21 149 180 162 105 140 176 264
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -14 94 -73 -36 96 -03 12 56 78 -95 -120 -35 105 38 -68 -28 -61 70 -30
co 2 261 -286 -191 10 69 39 -13 -15 76 84 -109 -388 197 240 17 -433 196 282 13
co 3 -31 31 37 -115 31 118 45 106 -84 -96 -35 150 -99 -40 14 -03 -04 04 -37
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 29 09 -56 -65 -105 -112 99 170 201 218 -25 -20 -22 -13 30 29 48 52
dpco 2 -90 -92 27 -64 -91 -125 -130 -49 -47 -36 -75 -369 -422 -571 -653 -382 -424 -553 -655
dpco 3 12 09 -06 -84 -128 -241 -304 142 180 227 253 58 43 77 86 51 69 89 120
Lambdas Total x y z: -0,64 4,93 -0,38 3,47

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:364,778 √J0m:375,945 √Mm:113,886 λ:-0,64 |dp|m:0,8246 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:348,563 √J0m:359,744 √Mm:111,435 λ:-0,64 |dp|m:0,8246 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:332,352 √J0m:343,572 √Mm:109,045 λ:-0,64 |dp|m:0,8246 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:316,142 √J0m:327,431 √Mm:106,731 λ:-0,64 |dp|m:0,8246 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:299,931 √J0m:311,326 √Mm:104,505 λ:-0,64 |dp|m:0,8246 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:283,719 √J0m:295,265 √Mm:102,381 λ:-0,64 |dp|m:0,8246 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:267,502 √J0m:279,254 √Mm:100,372 λ:-0,64 |dp|m:0,8246 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:251,279 √J0m:263,302 √Mm:98,490 λ:-0,64 |dp|m:0,8246 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:235,047 √J0m:247,421 √Mm:96,748 λ:-0,64 |dp|m:0,8246 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:218,803 √J0m:231,625 √Mm:95,159 λ:-0,64 |dp|m:0,8246 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:202,543 √J0m:215,933 √Mm:93,733 λ:-0,64 |dp|m:0,8246 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:186,262 √J0m:200,370 √Mm:92,482 λ:-0,64 |dp|m:0,8246 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:169,951 √J0m:184,968 √Mm:91,417 λ:-0,64 |dp|m:0,8246 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:153,601 √J0m:169,771 √Mm:90,548 λ:-0,64 |dp|m:0,8246 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:137,197 √J0m:154,840 √Mm:89,882 λ:-0,64 |dp|m:0,8246 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:120,715 √J0m:140,258 √Mm:89,426 λ:-0,64 |dp|m:0,8246 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:104,117 √J0m:126,148 √Mm:89,186 λ:-0,64 |dp|m:0,8246 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:87,336 √J0m:112,686 √Mm:89,165 λ:-0,64 |dp|m:0,8246 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:70,240 √J0m:100,135 √Mm:89,366 λ:-0,64 |dp|m:0,8246 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:52,520 √J0m:88,882 √Mm:89,788 λ:-0,64 |dp|m:0,8246 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:33,187 √J0m:79,478 √Mm:90,430 λ:-0,64 |dp|m:0,8246 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:72,647 √Mm:91,287 λ:-0,64 |dp|m:0,8246 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:69,154 √Mm:92,356 λ:-0,64 |dp|m:0,8246 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:69,506 √Mm:93,630 λ:-0,64 |dp|m:0,8246 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 08 -65 44 34 -48 23 15 -56 -84 20 33 28 -63 -20 46 12 33 -55 09
co 2 -149 201 116 07 -26 00 34 19 -39 -47 85 321 -41 -39 120 352 -40 -69 123
co 3 17 -22 -23 90 06 -27 32 -96 18 16 -29 -107 54 10 -26 -08 -11 -20 -01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 26 -80 02 -97 66 -06 -14 160 33 -18 -80 -114 38 -25 30 70 -10 -35 36
co 2 554 -357 44 -71 81 -27 04 -10 28 -60 40 -590 440 -13 -58 -635 379 132 -116
co 3 -75 -37 -07 -159 207 -14 -85 216 19 -16 -68 79 -70 12 01 111 -48 -73 73
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 06 -39 22 09 -19 11 06 -15 -39 09 10 05 -29 -12 25 11 16 -30 07
dpco 2 -30 72 62 -02 -06 -02 17 09 -17 -28 46 113 15 -20 55 125 10 -24 52
dpco 3 03 -14 -12 32 19 -14 09 -31 10 07 -20 -47 22 06 -13 05 -09 -16 06
Lambdas Total x y z: -0,16 4,39 -0,15 1,81

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:60,671 √J0m:71,216 √Mm:93,007 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:58,338 √J0m:68,794 √Mm:90,929 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:56,006 √J0m:66,380 √Mm:88,869 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:53,675 √J0m:63,977 √Mm:86,825 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:51,347 √J0m:61,584 √Mm:84,799 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:49,022 √J0m:59,204 √Mm:82,792 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:46,700 √J0m:56,839 √Mm:80,803 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:44,383 √J0m:54,488 √Mm:78,835 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:42,070 √J0m:52,156 √Mm:76,887 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:39,763 √J0m:49,845 √Mm:74,962 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:37,463 √J0m:47,557 √Mm:73,061 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:35,171 √J0m:45,296 √Mm:71,187 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:32,889 √J0m:43,066 √Mm:69,342 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:30,618 √J0m:40,873 √Mm:67,530 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:28,361 √J0m:38,723 √Mm:65,753 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:26,121 √J0m:36,622 √Mm:64,017 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:23,903 √J0m:34,581 √Mm:62,326 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:21,711 √J0m:32,611 √Mm:60,686 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:19,555 √J0m:30,724 √Mm:59,102 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:17,447 √J0m:28,938 √Mm:57,580 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:15,405 √J0m:27,273 √Mm:56,127 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:13,459 √J0m:25,750 √Mm:54,751 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:11,655 √J0m:24,398 √Mm:53,459 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:10,068 √J0m:23,247 √Mm:52,258 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:8,815 √J0m:22,326 √Mm:51,158 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:8,052 √J0m:21,666 √Mm:50,166 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:27 Sal:44,0 Incr:1,0 √J1m:7,920 √J0m:21,291 √Mm:49,291 λ:-0,16 |dp|m:0,1271 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -07 31 -11 11 -02 -04 -01 -19 13 -01 08 16 07 10 -17 -17 -06 20 -09
co 2 -75 24 -36 12 -10 05 -09 -03 03 23 -28 42 -78 11 -16 44 -66 -10 -06
co 3 11 12 07 11 -42 09 10 -20 -08 00 20 09 01 -05 06 -20 12 19 -14
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -10 -122 21 -40 42 03 -11 139 18 01 -36 -61 -01 -20 39 56 09 -80 69
co 2 88 -64 49 -39 60 -46 15 -56 11 56 -56 -183 241 -153 -03 -216 192 -48 -26
co 3 -13 -118 -07 -61 229 -133 -38 181 -12 -17 -03 -01 -40 24 -09 58 -12 -76 85
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -04 14 -05 05 00 -02 00 -08 07 -01 04 07 04 05 -08 -08 -03 09 -04
dpco 2 -37 11 -17 06 -04 02 -04 -02 02 12 -14 19 -36 04 -08 19 -31 -06 -03
dpco 3 05 05 03 05 -19 03 04 -08 -04 00 10 05 00 -02 03 -09 06 09 -06
Lambdas Total x y z: -0,02 1,38 0,08 0,51

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:19,001 √J0m:20,344 √Mm:47,484 λ:-0,02 |dp|m:0,0438 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:18,127 √J0m:19,471 √Mm:46,441 λ:-0,02 |dp|m:0,0438 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:17,250 √J0m:18,599 √Mm:45,413 λ:-0,02 |dp|m:0,0438 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:16,372 √J0m:17,727 √Mm:44,400 λ:-0,02 |dp|m:0,0438 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:15,490 √J0m:16,855 √Mm:43,404 λ:-0,02 |dp|m:0,0438 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:14,604 √J0m:15,983 √Mm:42,425 λ:-0,02 |dp|m:0,0438 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:13,715 √J0m:15,113 √Mm:41,466 λ:-0,02 |dp|m:0,0438 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:12,820 √J0m:14,242 √Mm:40,526 λ:-0,02 |dp|m:0,0438 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:11,918 √J0m:13,372 √Mm:39,608 λ:-0,02 |dp|m:0,0438 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:11,009 √J0m:12,503 √Mm:38,712 λ:-0,02 |dp|m:0,0438 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:10,090 √J0m:11,635 √Mm:37,842 λ:-0,02 |dp|m:0,0438 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:9,158 √J0m:10,768 √Mm:36,997 λ:-0,02 |dp|m:0,0438 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:8,209 √J0m:9,903 √Mm:36,179 λ:-0,02 |dp|m:0,0438 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:7,235 √J0m:9,039 √Mm:35,391 λ:-0,02 |dp|m:0,0438 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:6,226 √J0m:8,178 √Mm:34,635 λ:-0,02 |dp|m:0,0438 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:5,161 √J0m:7,320 √Mm:33,912 λ:-0,02 |dp|m:0,0438 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:3,995 √J0m:6,467 √Mm:33,223 λ:-0,02 |dp|m:0,0438 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:2,595 √J0m:5,621 √Mm:32,573 λ:-0,02 |dp|m:0,0438 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:4,786 √Mm:31,961 λ:-0,02 |dp|m:0,0438 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:3,967 √Mm:31,391 λ:-0,02 |dp|m:0,0438 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:3,179 √Mm:30,864 λ:-0,02 |dp|m:0,0438 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:2,450 √Mm:30,383 λ:-0,02 |dp|m:0,0438 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:1,853 √Mm:29,949 λ:-0,02 |dp|m:0,0438 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:1,548 √Mm:29,564 λ:-0,02 |dp|m:0,0438 mm
Acabado Optimizado (izq). Cuadro 199 Distancia Esque. Antes y Despues Retoque:403,00 Distancias Despues con p y q: 1,00 805,00 mm


Comienzan Iteraciones para cuadro 200

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 65 -89 -187 -213 -231 162 291 463 511 -23 -107 -76 03 79 96 52 118
co 2 -350 -01 176 -134 -226 -275 -253 -89 -142 -116 -72 -496 -973 -1295 -1318 -487 -973 -1287 -1318
co 3 43 -01 -36 -98 -275 -558 -637 215 414 516 529 21 145 185 162 105 145 176 268
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -14 95 -73 -38 91 04 10 56 76 -93 -120 -40 103 45 -70 -28 -61 68 -27
co 2 256 -279 -191 02 74 39 -13 -15 86 74 -109 -383 193 243 19 -435 195 283 12
co 3 -34 29 37 -118 36 115 47 106 -86 -95 -35 145 -87 -53 19 -03 -13 09 -38
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 30 09 -57 -64 -105 -112 99 170 202 217 -25 -20 -23 -21 30 28 48 50
dpco 2 -93 -90 26 -66 -90 -125 -131 -49 -43 -34 -71 -371 -424 -570 -653 -383 -424 -552 -655
dpco 3 11 09 -06 -87 -126 -242 -304 142 180 227 253 57 44 75 87 52 68 91 122
Lambdas Total x y z: -0,64 5,00 -0,38 3,54

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:364,979 √J0m:376,264 √Mm:114,007 λ:-0,64 |dp|m:0,8250 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:348,759 √J0m:360,058 √Mm:111,551 λ:-0,64 |dp|m:0,8250 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:332,543 √J0m:343,880 √Mm:109,156 λ:-0,64 |dp|m:0,8250 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:316,328 √J0m:327,734 √Mm:106,835 λ:-0,64 |dp|m:0,8250 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:300,113 √J0m:311,624 √Mm:104,601 λ:-0,64 |dp|m:0,8250 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:283,896 √J0m:295,558 √Mm:102,468 λ:-0,64 |dp|m:0,8250 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:267,675 √J0m:279,542 √Mm:100,448 λ:-0,64 |dp|m:0,8250 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:251,448 √J0m:263,586 √Mm:98,554 λ:-0,64 |dp|m:0,8250 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:235,213 √J0m:247,701 √Mm:96,799 λ:-0,64 |dp|m:0,8250 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:218,966 √J0m:231,901 √Mm:95,194 λ:-0,64 |dp|m:0,8250 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:202,703 √J0m:216,206 √Mm:93,750 λ:-0,64 |dp|m:0,8250 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:186,419 √J0m:200,641 √Mm:92,481 λ:-0,64 |dp|m:0,8250 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:170,108 √J0m:185,237 √Mm:91,394 λ:-0,64 |dp|m:0,8250 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:153,758 √J0m:170,038 √Mm:90,501 λ:-0,64 |dp|m:0,8250 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:137,356 √J0m:155,106 √Mm:89,810 λ:-0,64 |dp|m:0,8250 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:120,878 √J0m:140,524 √Mm:89,327 λ:-0,64 |dp|m:0,8250 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:104,289 √J0m:126,415 √Mm:89,058 λ:-0,64 |dp|m:0,8250 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:87,523 √J0m:112,956 √Mm:89,007 λ:-0,64 |dp|m:0,8250 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:70,452 √J0m:100,407 √Mm:89,175 λ:-0,64 |dp|m:0,8250 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:52,781 √J0m:89,155 √Mm:89,564 λ:-0,64 |dp|m:0,8250 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:33,573 √J0m:79,750 √Mm:90,171 λ:-0,64 |dp|m:0,8250 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:72,911 √Mm:90,993 λ:-0,64 |dp|m:0,8250 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:69,401 √Mm:92,025 λ:-0,64 |dp|m:0,8250 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:69,723 √Mm:93,262 λ:-0,64 |dp|m:0,8250 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 08 -67 45 36 -46 19 16 -56 -83 19 34 31 -62 -24 49 12 34 -53 07
co 2 -146 197 117 12 -29 00 35 19 -47 -40 84 321 -40 -42 118 357 -41 -72 123
co 3 20 -20 -23 93 02 -26 31 -97 19 16 -28 -104 47 19 -30 -08 -05 -24 00
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 24 -71 02 -111 76 -10 -12 162 29 -12 -84 -114 43 -21 24 69 -10 -33 34
co 2 539 -334 40 -83 92 -29 04 -09 28 -57 36 -583 422 -01 -55 -632 380 137 -118
co 3 -70 -35 -06 -184 231 -24 -83 219 15 -11 -72 79 -69 09 02 115 -51 -77 76
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 06 -39 23 09 -17 09 07 -15 -39 09 10 06 -28 -14 26 12 16 -29 07
dpco 2 -29 71 62 -01 -07 -02 18 09 -21 -25 45 112 15 -21 55 126 11 -25 52
dpco 3 04 -13 -12 32 20 -15 09 -30 11 07 -20 -46 18 10 -15 05 -07 -18 06
Lambdas Total x y z: -0,16 4,16 -0,15 1,58

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:60,764 √J0m:71,400 √Mm:92,612 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:58,435 √J0m:68,980 √Mm:90,545 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:56,108 √J0m:66,570 √Mm:88,494 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:53,782 √J0m:64,169 √Mm:86,462 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:51,458 √J0m:61,780 √Mm:84,449 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:49,137 √J0m:59,403 √Mm:82,454 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:46,820 √J0m:57,041 √Mm:80,480 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:44,506 √J0m:54,694 √Mm:78,527 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:42,197 √J0m:52,366 √Mm:76,595 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:39,894 √J0m:50,058 √Mm:74,688 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:37,598 √J0m:47,774 √Mm:72,806 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:35,309 √J0m:45,517 √Mm:70,951 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:33,030 √J0m:43,292 √Mm:69,128 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:30,762 √J0m:41,103 √Mm:67,338 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:28,508 √J0m:38,957 √Mm:65,586 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:26,270 √J0m:36,862 √Mm:63,875 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:24,053 √J0m:34,825 √Mm:62,210 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:21,862 √J0m:32,860 √Mm:60,597 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:19,706 √J0m:30,978 √Mm:59,041 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:17,596 √J0m:29,196 √Mm:57,548 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:15,550 √J0m:27,533 √Mm:56,125 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:13,597 √J0m:26,013 √Mm:54,779 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:11,781 √J0m:24,662 √Mm:53,518 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:10,174 √J0m:23,508 √Mm:52,349 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:8,888 √J0m:22,583 √Mm:51,280 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:8,078 √J0m:21,914 √Mm:50,319 λ:-0,16 |dp|m:0,1271 mm
LINE SEARCH. Vez:27 Sal:44,0 Incr:1,0 √J1m:7,889 √J0m:21,527 √Mm:49,475 λ:-0,16 |dp|m:0,1271 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -07 30 -11 14 -05 -02 -01 -20 13 -02 09 16 06 10 -16 -17 -06 19 -09
co 2 -75 22 -35 14 -12 06 -09 -03 05 21 -27 43 -76 10 -16 45 -67 -11 -05
co 3 10 12 06 16 -47 11 10 -22 -07 -02 21 08 03 -06 07 -21 12 21 -15
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -08 -117 20 -55 59 -07 -08 140 14 06 -37 -57 04 -19 33 56 09 -77 66
co 2 75 -41 47 -58 73 -46 14 -58 13 56 -59 -182 231 -141 -03 -214 194 -47 -27
co 3 -11 -114 -07 -85 254 -144 -35 183 -15 -16 -02 04 -43 28 -10 64 -12 -84 91
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -04 13 -05 06 -02 -01 -01 -08 07 -01 04 07 03 05 -08 -08 -03 09 -03
dpco 2 -37 10 -17 06 -05 02 -04 -02 03 11 -14 19 -35 03 -08 20 -31 -06 -03
dpco 3 05 04 03 07 -20 04 04 -09 -04 -01 10 04 01 -03 03 -10 06 09 -06
Lambdas Total x y z: -0,03 1,38 0,10 0,42

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:19,102 √J0m:20,559 √Mm:47,694 λ:-0,03 |dp|m:0,0440 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:18,225 √J0m:19,683 √Mm:46,646 λ:-0,03 |dp|m:0,0440 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:17,345 √J0m:18,807 √Mm:45,614 λ:-0,03 |dp|m:0,0440 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:16,462 √J0m:17,932 √Mm:44,597 λ:-0,03 |dp|m:0,0440 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:15,577 √J0m:17,056 √Mm:43,597 λ:-0,03 |dp|m:0,0440 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:14,687 √J0m:16,181 √Mm:42,614 λ:-0,03 |dp|m:0,0440 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:13,793 √J0m:15,307 √Mm:41,651 λ:-0,03 |dp|m:0,0440 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:12,893 √J0m:14,433 √Mm:40,708 λ:-0,03 |dp|m:0,0440 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:11,986 √J0m:13,560 √Mm:39,787 λ:-0,03 |dp|m:0,0440 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:11,071 √J0m:12,688 √Mm:38,888 λ:-0,03 |dp|m:0,0440 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:10,145 √J0m:11,817 √Mm:38,015 λ:-0,03 |dp|m:0,0440 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:9,206 √J0m:10,947 √Mm:37,167 λ:-0,03 |dp|m:0,0440 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:8,247 √J0m:10,079 √Mm:36,347 λ:-0,03 |dp|m:0,0440 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:7,263 √J0m:9,213 √Mm:35,557 λ:-0,03 |dp|m:0,0440 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:6,240 √J0m:8,349 √Mm:34,799 λ:-0,03 |dp|m:0,0440 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:5,157 √J0m:7,489 √Mm:34,074 λ:-0,03 |dp|m:0,0440 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:3,962 √J0m:6,634 √Mm:33,385 λ:-0,03 |dp|m:0,0440 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:2,503 √J0m:5,787 √Mm:32,733 λ:-0,03 |dp|m:0,0440 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:4,950 √Mm:32,120 λ:-0,03 |dp|m:0,0440 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:4,132 √Mm:31,550 λ:-0,03 |dp|m:0,0440 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:3,344 √Mm:31,023 λ:-0,03 |dp|m:0,0440 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:2,614 √Mm:30,542 λ:-0,03 |dp|m:0,0440 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:2,009 √Mm:30,109 λ:-0,03 |dp|m:0,0440 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:1,669 √Mm:29,725 λ:-0,03 |dp|m:0,0440 mm
Acabado Optimizado (izq). Cuadro 200 Distancia Esque. Antes y Despues Retoque:403,00 Distancias Despues con p y q: 1,00 806,00 mm


Comienzan Iteraciones para cuadro 201

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 65 -85 -182 -213 -231 162 291 220 220 -28 -107 -85 -05 79 96 48 118
co 2 -350 -01 176 -134 -231 -279 -257 -89 -142 34 87 -496 -973 -1291 -1318 -491 -973 -1291 -1318
co 3 43 -01 -36 -94 -275 -558 -633 220 414 467 428 26 149 189 171 109 149 180 273
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -14 92 -73 -33 84 05 11 63 -231 87 -02 -31 93 51 -69 -28 -64 71 -28
co 2 261 -283 -191 08 74 41 -15 -18 283 -93 -132 -386 189 244 23 -439 204 280 10
co 3 -31 26 37 -113 33 111 50 109 -145 -169 98 146 -86 -51 15 -02 -14 08 -36
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 25 13 -52 -68 -105 -112 98 82 134 109 -22 -28 -28 -22 32 31 43 52
dpco 2 -104 -78 36 -65 -95 -129 -133 -50 06 -08 08 -353 -435 -579 -653 -366 -431 -569 -656
dpco 3 13 07 -08 -78 -128 -249 -303 140 168 188 240 53 51 81 90 54 71 92 127
Lambdas Total x y z: -0,55 4,05 -0,38 2,59

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:358,412 √J0m:368,234 √Mm:114,345 λ:-0,55 |dp|m:0,8121 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:342,411 √J0m:352,248 √Mm:111,882 λ:-0,55 |dp|m:0,8121 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:326,414 √J0m:336,285 √Mm:109,471 λ:-0,55 |dp|m:0,8121 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:310,420 √J0m:320,351 √Mm:107,121 λ:-0,55 |dp|m:0,8121 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:294,430 √J0m:304,449 √Mm:104,843 λ:-0,55 |dp|m:0,8121 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:278,442 √J0m:288,585 √Mm:102,646 λ:-0,55 |dp|m:0,8121 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:262,456 √J0m:272,766 √Mm:100,541 λ:-0,55 |dp|m:0,8121 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:246,472 √J0m:256,999 √Mm:98,537 λ:-0,55 |dp|m:0,8121 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:230,488 √J0m:241,295 √Mm:96,645 λ:-0,55 |dp|m:0,8121 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:214,505 √J0m:225,668 √Mm:94,875 λ:-0,55 |dp|m:0,8121 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:198,521 √J0m:210,133 √Mm:93,237 λ:-0,55 |dp|m:0,8121 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:182,535 √J0m:194,714 √Mm:91,743 λ:-0,55 |dp|m:0,8121 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:166,547 √J0m:179,441 √Mm:90,402 λ:-0,55 |dp|m:0,8121 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:150,553 √J0m:164,353 √Mm:89,223 λ:-0,55 |dp|m:0,8121 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:134,551 √J0m:149,506 √Mm:88,216 λ:-0,55 |dp|m:0,8121 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:118,538 √J0m:134,982 √Mm:87,389 λ:-0,55 |dp|m:0,8121 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:102,507 √J0m:120,896 √Mm:86,749 λ:-0,55 |dp|m:0,8121 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:86,447 √J0m:107,419 √Mm:86,303 λ:-0,55 |dp|m:0,8121 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:70,337 √J0m:94,814 √Mm:86,054 λ:-0,55 |dp|m:0,8121 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:54,130 √J0m:83,474 √Mm:86,006 λ:-0,55 |dp|m:0,8121 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:37,701 √J0m:73,985 √Mm:86,161 λ:-0,55 |dp|m:0,8121 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:20,521 √J0m:67,136 √Mm:86,519 λ:-0,55 |dp|m:0,8121 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:63,784 √Mm:87,079 λ:-0,55 |dp|m:0,8121 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 07 -53 38 24 -38 09 07 -45 117 -62 -11 19 -47 -25 40 12 32 -44 09
co 2 -131 163 100 03 -30 -08 23 15 -155 52 71 251 -54 -69 61 281 -63 -89 68
co 3 16 -15 -19 71 -04 -33 06 -75 60 71 -80 -85 41 19 -18 -05 00 -15 06
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 09 -81 02 -71 63 -11 -10 167 -20 -104 44 -100 41 -18 20 65 -09 -35 36
co 2 463 -267 24 -63 74 -27 04 42 171 -147 -75 -468 341 02 -38 -540 351 89 -85
co 3 -64 -70 -04 -121 196 -45 -57 348 -58 -82 -63 67 -62 06 01 100 -43 -67 68
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 -32 19 07 -15 04 03 -11 57 -38 -02 03 -21 -14 22 10 15 -24 07
dpco 2 -34 63 52 -03 -10 -06 12 11 -66 16 30 93 -04 -34 28 103 -08 -38 28
dpco 3 03 -12 -10 27 12 -19 -01 -14 26 30 -44 -38 16 10 -09 04 -03 -12 07
Lambdas Total x y z: -0,14 4,00 -0,13 1,12

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:53,502 √J0m:62,240 √Mm:85,895 λ:-0,14 |dp|m:0,1152 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:51,335 √J0m:60,010 √Mm:83,943 λ:-0,14 |dp|m:0,1152 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:49,172 √J0m:57,786 √Mm:81,983 λ:-0,14 |dp|m:0,1152 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:47,013 √J0m:55,569 √Mm:80,019 λ:-0,14 |dp|m:0,1152 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:44,856 √J0m:53,359 √Mm:78,051 λ:-0,14 |dp|m:0,1152 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:42,704 √J0m:51,157 √Mm:76,081 λ:-0,14 |dp|m:0,1152 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:40,554 √J0m:48,965 √Mm:74,113 λ:-0,14 |dp|m:0,1152 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:38,409 √J0m:46,784 √Mm:72,149 λ:-0,14 |dp|m:0,1152 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:36,266 √J0m:44,616 √Mm:70,190 λ:-0,14 |dp|m:0,1152 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:34,126 √J0m:42,461 √Mm:68,241 λ:-0,14 |dp|m:0,1152 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:31,990 √J0m:40,324 √Mm:66,304 λ:-0,14 |dp|m:0,1152 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:29,856 √J0m:38,205 √Mm:64,385 λ:-0,14 |dp|m:0,1152 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:27,725 √J0m:36,110 √Mm:62,487 λ:-0,14 |dp|m:0,1152 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:25,596 √J0m:34,042 √Mm:60,616 λ:-0,14 |dp|m:0,1152 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:23,468 √J0m:32,006 √Mm:58,778 λ:-0,14 |dp|m:0,1152 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:21,341 √J0m:30,008 √Mm:56,981 λ:-0,14 |dp|m:0,1152 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:19,213 √J0m:28,059 √Mm:55,231 λ:-0,14 |dp|m:0,1152 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:17,082 √J0m:26,167 √Mm:53,538 λ:-0,14 |dp|m:0,1152 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:14,944 √J0m:24,346 √Mm:51,910 λ:-0,14 |dp|m:0,1152 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:12,796 √J0m:22,613 √Mm:50,358 λ:-0,14 |dp|m:0,1152 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:10,628 √J0m:20,991 √Mm:48,893 λ:-0,14 |dp|m:0,1152 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:8,422 √J0m:19,508 √Mm:47,526 λ:-0,14 |dp|m:0,1152 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:6,133 √J0m:18,195 √Mm:46,268 λ:-0,14 |dp|m:0,1152 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:3,603 √J0m:17,094 √Mm:45,133 λ:-0,14 |dp|m:0,1152 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:16,248 √Mm:44,134 λ:-0,14 |dp|m:0,1152 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:15,697 √Mm:43,281 λ:-0,14 |dp|m:0,1152 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -03 23 -08 07 -03 00 00 -19 -19 29 -05 13 02 08 -11 -13 -04 14 -08
co 2 -51 13 -23 10 -06 06 -05 -10 01 14 -01 29 -45 13 -05 35 -45 02 01
co 3 07 14 04 06 -31 13 08 -43 -02 00 25 05 02 -05 03 -15 07 14 -12
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -04 -123 10 -31 42 -12 -06 155 -50 35 -14 -38 02 -17 25 45 10 -75 64
co 2 59 09 25 -35 53 -39 09 -65 53 12 -50 -100 156 -102 -05 -158 171 -55 -20
co 3 -09 -150 -04 -49 212 -144 -23 209 -27 -55 43 -03 -26 20 -06 49 -12 -75 82
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 14 -04 04 -02 00 00 -12 -09 14 -02 07 01 04 -06 -07 -02 08 -05
dpco 2 -26 06 -12 05 -04 04 -03 -04 00 07 00 16 -25 08 -03 20 -25 02 01
dpco 3 04 09 02 04 -19 09 04 -25 -01 01 12 03 02 -03 02 -08 04 08 -07
Lambdas Total x y z: 0,03 1,09 0,30 0,32

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:16,482 √J0m:14,722 √Mm:41,660 λ:0,03 |dp|m:0,0377 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:15,739 √J0m:13,972 √Mm:40,744 λ:0,03 |dp|m:0,0377 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:15,001 √J0m:13,222 √Mm:39,842 λ:0,03 |dp|m:0,0377 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:14,267 √J0m:12,472 √Mm:38,953 λ:0,03 |dp|m:0,0377 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:13,539 √J0m:11,723 √Mm:38,079 λ:0,03 |dp|m:0,0377 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:12,817 √J0m:10,975 √Mm:37,220 λ:0,03 |dp|m:0,0377 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:12,103 √J0m:10,228 √Mm:36,379 λ:0,03 |dp|m:0,0377 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:11,397 √J0m:9,481 √Mm:35,555 λ:0,03 |dp|m:0,0377 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:10,702 √J0m:8,737 √Mm:34,750 λ:0,03 |dp|m:0,0377 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:10,020 √J0m:7,994 √Mm:33,965 λ:0,03 |dp|m:0,0377 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:9,354 √J0m:7,253 √Mm:33,202 λ:0,03 |dp|m:0,0377 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:8,706 √J0m:6,516 √Mm:32,462 λ:0,03 |dp|m:0,0377 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:8,083 √J0m:5,783 √Mm:31,747 λ:0,03 |dp|m:0,0377 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:7,489 √J0m:5,057 √Mm:31,058 λ:0,03 |dp|m:0,0377 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:6,933 √J0m:4,340 √Mm:30,396 λ:0,03 |dp|m:0,0377 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:6,424 √J0m:3,638 √Mm:29,764 λ:0,03 |dp|m:0,0377 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:5,974 √J0m:2,963 √Mm:29,163 λ:0,03 |dp|m:0,0377 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:5,597 √J0m:2,336 √Mm:28,596 λ:0,03 |dp|m:0,0377 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:5,309 √J0m:1,809 √Mm:28,063 λ:0,03 |dp|m:0,0377 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:5,126 √J0m:1,493 √Mm:27,567 λ:0,03 |dp|m:0,0377 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:5,057 √J0m:1,524 √Mm:27,110 λ:0,03 |dp|m:0,0377 mm
Acabado Optimizado (izq). Cuadro 201 Distancia Esque. Antes y Despues Retoque:394,00 Distancias Despues con p y q: 1,00 788,00 mm


Comienzan Iteraciones para cuadro 202

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 65 -85 -195 -217 -231 162 273 375 405 -28 -111 -85 -05 79 96 48 114
co 2 -354 -01 171 -138 -213 -284 -257 -89 -129 -76 -58 -496 -973 -1291 -1318 -491 -973 -1291 -1318
co 3 43 -01 -36 -94 -301 -580 -642 220 401 556 613 21 154 189 171 105 149 180 273
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -14 97 -76 -32 85 -01 12 68 -10 -63 -77 -36 100 48 -69 -30 -64 72 -28
co 2 253 -275 -194 42 26 64 -26 -13 120 -31 -45 -383 183 245 23 -436 204 279 11
co 3 -29 27 39 -110 29 100 59 135 -30 -67 -139 156 -97 -47 15 04 -19 11 -39
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 31 08 -53 -70 -109 -112 103 133 167 178 -25 -24 -27 -25 29 27 47 48
dpco 2 -96 -89 23 -55 -98 -121 -137 -49 -26 -48 -44 -371 -428 -567 -651 -386 -421 -556 -655
dpco 3 12 08 -06 -82 -141 -258 -302 153 191 256 262 61 46 79 90 54 69 94 124
Lambdas Total x y z: -0,64 6,77 -0,37 2,86

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:365,056 √J0m:376,432 √Mm:114,482 λ:-0,64 |dp|m:0,8254 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:348,827 √J0m:360,213 √Mm:112,000 λ:-0,64 |dp|m:0,8254 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:332,601 √J0m:344,022 √Mm:109,575 λ:-0,64 |dp|m:0,8254 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:316,377 √J0m:327,862 √Mm:107,223 λ:-0,64 |dp|m:0,8254 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:300,152 √J0m:311,738 √Mm:104,957 λ:-0,64 |dp|m:0,8254 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:283,925 √J0m:295,657 √Mm:102,790 λ:-0,64 |dp|m:0,8254 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:267,694 √J0m:279,626 √Mm:100,736 λ:-0,64 |dp|m:0,8254 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:251,456 √J0m:263,653 √Mm:98,807 λ:-0,64 |dp|m:0,8254 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:235,209 √J0m:247,751 √Mm:97,016 λ:-0,64 |dp|m:0,8254 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:218,949 √J0m:231,933 √Mm:95,375 λ:-0,64 |dp|m:0,8254 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:202,672 √J0m:216,218 √Mm:93,896 λ:-0,64 |dp|m:0,8254 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:186,374 √J0m:200,630 √Mm:92,590 λ:-0,64 |dp|m:0,8254 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:170,045 √J0m:185,202 √Mm:91,468 λ:-0,64 |dp|m:0,8254 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:153,677 √J0m:169,977 √Mm:90,538 λ:-0,64 |dp|m:0,8254 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:137,253 √J0m:155,014 √Mm:89,810 λ:-0,64 |dp|m:0,8254 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:120,750 √J0m:140,398 √Mm:89,291 λ:-0,64 |dp|m:0,8254 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:104,128 √J0m:126,249 √Mm:88,986 λ:-0,64 |dp|m:0,8254 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:87,321 √J0m:112,744 √Mm:88,899 λ:-0,64 |dp|m:0,8254 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:70,192 √J0m:100,142 √Mm:89,031 λ:-0,64 |dp|m:0,8254 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:52,426 √J0m:88,828 √Mm:89,385 λ:-0,64 |dp|m:0,8254 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:33,009 √J0m:79,358 √Mm:89,957 λ:-0,64 |dp|m:0,8254 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:72,455 √Mm:90,745 λ:-0,64 |dp|m:0,8254 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:68,897 √Mm:91,745 λ:-0,64 |dp|m:0,8254 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:69,202 √Mm:92,950 λ:-0,64 |dp|m:0,8254 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 08 -69 47 31 -40 23 15 -64 -20 07 14 28 -59 -25 50 14 36 -55 09
co 2 -143 195 120 -16 03 -17 44 18 -72 30 38 321 -32 -44 116 358 -47 -68 124
co 3 16 -19 -24 87 10 -13 22 -118 -19 -08 37 -112 53 14 -28 -13 -02 -26 00
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 23 -95 01 -66 43 -17 -03 207 -48 29 -83 -118 45 -23 25 69 -10 -30 31
co 2 522 -311 25 -35 49 -22 -01 06 -06 38 -42 -568 397 23 -62 -649 415 108 -108
co 3 -70 -81 -04 -98 155 -74 -26 329 -60 15 -103 82 -66 06 02 120 -57 -70 72
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 06 -42 24 10 -17 10 07 -15 -14 06 00 04 -26 -15 27 13 17 -30 07
dpco 2 -29 72 62 -11 06 -10 22 09 -37 18 15 114 17 -20 53 125 11 -25 53
dpco 3 02 -16 -12 36 18 -13 09 -32 -14 -03 10 -49 21 08 -14 03 -06 -19 06
Lambdas Total x y z: -0,17 3,68 -0,15 1,37

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:60,204 √J0m:70,924 √Mm:92,277 λ:-0,17 |dp|m:0,1256 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:57,907 √J0m:68,534 √Mm:90,222 λ:-0,17 |dp|m:0,1256 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:55,610 √J0m:66,153 √Mm:88,188 λ:-0,17 |dp|m:0,1256 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:53,313 √J0m:63,783 √Mm:86,178 λ:-0,17 |dp|m:0,1256 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:51,017 √J0m:61,423 √Mm:84,192 λ:-0,17 |dp|m:0,1256 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:48,721 √J0m:59,076 √Mm:82,232 λ:-0,17 |dp|m:0,1256 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:46,426 √J0m:56,743 √Mm:80,301 λ:-0,17 |dp|m:0,1256 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:44,131 √J0m:54,426 √Mm:78,400 λ:-0,17 |dp|m:0,1256 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:41,838 √J0m:52,127 √Mm:76,531 λ:-0,17 |dp|m:0,1256 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:39,545 √J0m:49,849 √Mm:74,697 λ:-0,17 |dp|m:0,1256 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:37,254 √J0m:47,593 √Mm:72,900 λ:-0,17 |dp|m:0,1256 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:34,964 √J0m:45,365 √Mm:71,143 λ:-0,17 |dp|m:0,1256 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:32,676 √J0m:43,168 √Mm:69,428 λ:-0,17 |dp|m:0,1256 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:30,391 √J0m:41,007 √Mm:67,759 λ:-0,17 |dp|m:0,1256 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:28,109 √J0m:38,887 √Mm:66,138 λ:-0,17 |dp|m:0,1256 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:25,832 √J0m:36,817 √Mm:64,571 λ:-0,17 |dp|m:0,1256 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:23,559 √J0m:34,806 √Mm:63,059 λ:-0,17 |dp|m:0,1256 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:21,293 √J0m:32,863 √Mm:61,609 λ:-0,17 |dp|m:0,1256 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:19,036 √J0m:31,002 √Mm:60,224 λ:-0,17 |dp|m:0,1256 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:16,792 √J0m:29,238 √Mm:58,910 λ:-0,17 |dp|m:0,1256 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:14,566 √J0m:27,590 √Mm:57,671 λ:-0,17 |dp|m:0,1256 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:12,367 √J0m:26,080 √Mm:56,513 λ:-0,17 |dp|m:0,1256 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:10,213 √J0m:24,733 √Mm:55,443 λ:-0,17 |dp|m:0,1256 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:8,139 √J0m:23,578 √Mm:54,465 λ:-0,17 |dp|m:0,1256 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:6,222 √J0m:22,643 √Mm:53,587 λ:-0,17 |dp|m:0,1256 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:4,659 √J0m:21,958 √Mm:52,813 λ:-0,17 |dp|m:0,1256 mm
LINE SEARCH. Vez:27 Sal:44,0 Incr:1,0 √J1m:3,901 √J0m:21,544 √Mm:52,150 λ:-0,17 |dp|m:0,1256 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -07 35 -11 06 01 -02 -03 -27 14 -08 14 17 05 11 -17 -17 -06 19 -08
co 2 -73 18 -33 11 -11 08 -10 -05 18 -15 00 41 -73 06 -14 49 -73 -06 -07
co 3 10 21 06 00 -34 18 00 -40 17 -01 12 09 01 -05 06 -21 12 20 -15
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -07 -142 16 -08 17 -12 01 201 -47 28 -45 -58 05 -23 33 56 13 -80 64
co 2 59 -21 35 -09 49 -43 -01 -90 45 12 -24 -165 203 -121 -06 -234 233 -75 -20
co 3 -09 -159 -05 -11 183 -175 03 286 -83 88 -109 -01 -37 22 -08 62 -16 -79 89
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -03 16 -05 03 00 -01 -01 -12 07 -04 06 08 02 05 -08 -08 -03 09 -04
dpco 2 -36 09 -16 05 -05 04 -05 -04 09 -07 00 19 -35 02 -07 22 -34 -04 -04
dpco 3 05 09 03 00 -15 07 00 -17 07 00 05 05 00 -02 03 -10 06 09 -06
Lambdas Total x y z: -0,02 1,05 0,15 0,34

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:19,283 √J0m:20,532 √Mm:50,478 λ:-0,02 |dp|m:0,0445 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:18,395 √J0m:19,645 √Mm:49,366 λ:-0,02 |dp|m:0,0445 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:17,505 √J0m:18,759 √Mm:48,268 λ:-0,02 |dp|m:0,0445 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:16,613 √J0m:17,873 √Mm:47,185 λ:-0,02 |dp|m:0,0445 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:15,717 √J0m:16,986 √Mm:46,117 λ:-0,02 |dp|m:0,0445 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:14,819 √J0m:16,101 √Mm:45,066 λ:-0,02 |dp|m:0,0445 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:13,916 √J0m:15,215 √Mm:44,034 λ:-0,02 |dp|m:0,0445 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:13,009 √J0m:14,330 √Mm:43,020 λ:-0,02 |dp|m:0,0445 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:12,097 √J0m:13,446 √Mm:42,028 λ:-0,02 |dp|m:0,0445 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:11,177 √J0m:12,562 √Mm:41,058 λ:-0,02 |dp|m:0,0445 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:10,248 √J0m:11,680 √Mm:40,111 λ:-0,02 |dp|m:0,0445 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:9,307 √J0m:10,798 √Mm:39,191 λ:-0,02 |dp|m:0,0445 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:8,350 √J0m:9,917 √Mm:38,297 λ:-0,02 |dp|m:0,0445 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:7,372 √J0m:9,038 √Mm:37,433 λ:-0,02 |dp|m:0,0445 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:6,361 √J0m:8,161 √Mm:36,600 λ:-0,02 |dp|m:0,0445 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:5,301 √J0m:7,288 √Mm:35,800 λ:-0,02 |dp|m:0,0445 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:4,152 √J0m:6,418 √Mm:35,035 λ:-0,02 |dp|m:0,0445 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:2,808 √J0m:5,555 √Mm:34,308 λ:-0,02 |dp|m:0,0445 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:0,198 √J0m:4,701 √Mm:33,622 λ:-0,02 |dp|m:0,0445 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:3,863 √Mm:32,977 λ:-0,02 |dp|m:0,0445 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:3,054 √Mm:32,377 λ:-0,02 |dp|m:0,0445 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:2,306 √Mm:31,824 λ:-0,02 |dp|m:0,0445 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:1,698 √Mm:31,320 λ:-0,02 |dp|m:0,0445 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:1,425 √Mm:30,868 λ:-0,02 |dp|m:0,0445 mm
Acabado Optimizado (izq). Cuadro 202 Distancia Esque. Antes y Despues Retoque:403,00 Distancias Despues con p y q: 1,00 806,00 mm


Comienzan Iteraciones para cuadro 203

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 65 -85 -191 -217 -235 162 273 388 423 -28 -107 -89 -05 79 96 48 114
co 2 -354 -01 171 -138 -209 -279 -262 -89 -129 -67 -45 -496 -973 -1291 -1318 -491 -973 -1291 -1318
co 3 43 -01 -36 -98 -279 -558 -646 215 401 538 591 21 154 189 171 105 149 180 273
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -14 102 -76 -53 101 06 08 61 17 -74 -87 -32 88 52 -66 -30 -64 72 -28
co 2 253 -274 -194 28 37 47 -08 -09 133 -35 -56 -385 183 248 20 -436 204 279 11
co 3 -29 27 39 -125 45 118 41 132 -47 -60 -129 156 -97 -45 13 04 -19 11 -39
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 32 09 -59 -64 -107 -115 100 142 170 184 -24 -26 -28 -24 30 28 46 48
dpco 2 -98 -87 25 -60 -93 -125 -133 -48 -23 -45 -40 -369 -429 -567 -652 -383 -422 -558 -655
dpco 3 13 08 -06 -88 -125 -242 -310 149 186 250 255 60 46 80 90 54 69 93 124
Lambdas Total x y z: -0,63 6,22 -0,37 2,88

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:364,245 √J0m:375,516 √Mm:114,985 λ:-0,63 |dp|m:0,8239 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:348,038 √J0m:359,320 √Mm:112,497 λ:-0,63 |dp|m:0,8239 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:331,833 √J0m:343,151 √Mm:110,066 λ:-0,63 |dp|m:0,8239 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:315,629 √J0m:327,013 √Mm:107,707 λ:-0,63 |dp|m:0,8239 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:299,425 √J0m:310,910 √Mm:105,433 λ:-0,63 |dp|m:0,8239 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:283,218 √J0m:294,849 √Mm:103,258 λ:-0,63 |dp|m:0,8239 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:267,006 √J0m:278,836 √Mm:101,195 λ:-0,63 |dp|m:0,8239 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:250,787 √J0m:262,881 √Mm:99,256 λ:-0,63 |dp|m:0,8239 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:234,558 √J0m:246,995 √Mm:97,453 λ:-0,63 |dp|m:0,8239 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:218,316 √J0m:231,191 √Mm:95,799 λ:-0,63 |dp|m:0,8239 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:202,056 √J0m:215,488 √Mm:94,305 λ:-0,63 |dp|m:0,8239 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:185,774 √J0m:199,910 √Mm:92,983 λ:-0,63 |dp|m:0,8239 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:169,460 √J0m:184,488 √Mm:91,842 λ:-0,63 |dp|m:0,8239 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:153,105 √J0m:169,265 √Mm:90,892 λ:-0,63 |dp|m:0,8239 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:136,692 √J0m:154,300 √Mm:90,142 λ:-0,63 |dp|m:0,8239 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:120,196 √J0m:139,676 √Mm:89,598 λ:-0,63 |dp|m:0,8239 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:103,578 √J0m:125,513 √Mm:89,267 λ:-0,63 |dp|m:0,8239 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:86,766 √J0m:111,984 √Mm:89,151 λ:-0,63 |dp|m:0,8239 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:69,618 √J0m:99,349 √Mm:89,255 λ:-0,63 |dp|m:0,8239 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:51,800 √J0m:87,996 √Mm:89,577 λ:-0,63 |dp|m:0,8239 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:32,218 √J0m:78,481 √Mm:90,118 λ:-0,63 |dp|m:0,8239 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:71,542 √Mm:90,873 λ:-0,63 |dp|m:0,8239 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:67,972 √Mm:91,840 λ:-0,63 |dp|m:0,8239 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:68,303 √Mm:93,011 λ:-0,63 |dp|m:0,8239 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 08 -71 46 45 -51 18 18 -58 -39 13 18 25 -51 -27 46 13 35 -54 08
co 2 -140 190 117 -05 -05 -05 32 15 -80 31 43 316 -30 -43 118 351 -44 -64 124
co 3 16 -19 -23 96 -03 -26 36 -113 -08 -12 30 -110 52 13 -26 -13 -02 -26 00
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 23 -70 01 -114 78 -08 -16 198 -35 27 -91 -115 46 -28 30 69 -10 -30 31
co 2 509 -293 23 -82 94 -28 00 07 -04 38 -46 -556 387 28 -65 -635 407 104 -106
co 3 -68 -51 -03 -186 230 01 -107 297 -30 -11 -89 80 -66 06 01 118 -56 -69 71
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 06 -41 23 13 -19 08 08 -13 -22 09 02 03 -22 -16 26 12 17 -30 07
dpco 2 -29 71 61 -09 05 -04 16 08 -40 18 18 113 16 -19 53 124 11 -24 54
dpco 3 02 -13 -12 33 17 -13 10 -33 -06 -07 08 -49 21 07 -13 03 -05 -18 06
Lambdas Total x y z: -0,16 3,45 -0,14 1,17

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:59,463 √J0m:70,099 √Mm:92,303 λ:-0,16 |dp|m:0,1244 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:57,180 √J0m:67,726 √Mm:90,244 λ:-0,16 |dp|m:0,1244 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:54,897 √J0m:65,361 √Mm:88,203 λ:-0,16 |dp|m:0,1244 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:52,615 √J0m:63,006 √Mm:86,184 λ:-0,16 |dp|m:0,1244 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:50,334 √J0m:60,661 √Mm:84,186 λ:-0,16 |dp|m:0,1244 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:48,052 √J0m:58,329 √Mm:82,212 λ:-0,16 |dp|m:0,1244 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:45,772 √J0m:56,009 √Mm:80,264 λ:-0,16 |dp|m:0,1244 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:43,492 √J0m:53,705 √Mm:78,344 λ:-0,16 |dp|m:0,1244 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:41,212 √J0m:51,418 √Mm:76,453 λ:-0,16 |dp|m:0,1244 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:38,933 √J0m:49,151 √Mm:74,595 λ:-0,16 |dp|m:0,1244 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:36,656 √J0m:46,906 √Mm:72,770 λ:-0,16 |dp|m:0,1244 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:34,379 √J0m:44,686 √Mm:70,983 λ:-0,16 |dp|m:0,1244 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:32,104 √J0m:42,497 √Mm:69,235 λ:-0,16 |dp|m:0,1244 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:29,830 √J0m:40,342 √Mm:67,531 λ:-0,16 |dp|m:0,1244 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:27,559 √J0m:38,227 √Mm:65,874 λ:-0,16 |dp|m:0,1244 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:25,289 √J0m:36,160 √Mm:64,266 λ:-0,16 |dp|m:0,1244 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:23,023 √J0m:34,150 √Mm:62,713 λ:-0,16 |dp|m:0,1244 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:20,761 √J0m:32,206 √Mm:61,219 λ:-0,16 |dp|m:0,1244 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:18,504 √J0m:30,341 √Mm:59,789 λ:-0,16 |dp|m:0,1244 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:16,254 √J0m:28,572 √Mm:58,428 λ:-0,16 |dp|m:0,1244 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:14,014 √J0m:26,916 √Mm:57,140 λ:-0,16 |dp|m:0,1244 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:11,790 √J0m:25,397 √Mm:55,933 λ:-0,16 |dp|m:0,1244 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:9,591 √J0m:24,040 √Mm:54,812 λ:-0,16 |dp|m:0,1244 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:7,439 √J0m:22,874 √Mm:53,783 λ:-0,16 |dp|m:0,1244 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:5,390 √J0m:21,929 √Mm:52,853 λ:-0,16 |dp|m:0,1244 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:3,620 √J0m:21,235 √Mm:52,027 λ:-0,16 |dp|m:0,1244 mm
LINE SEARCH. Vez:27 Sal:44,0 Incr:1,0 √J1m:2,733 √J0m:20,817 √Mm:51,313 λ:-0,16 |dp|m:0,1244 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -06 30 -11 12 -04 -03 -01 -26 16 -08 14 17 03 12 -17 -17 -06 19 -08
co 2 -69 14 -32 18 -18 07 -07 -05 19 -15 -01 37 -70 04 -14 45 -71 -06 -08
co 3 10 14 06 15 -45 06 13 -33 08 05 11 10 01 -04 06 -20 12 20 -14
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -05 -120 13 -62 63 -03 -11 178 -23 22 -49 -54 07 -36 43 55 13 -79 64
co 2 51 09 30 -52 73 -62 16 -81 45 13 -31 -156 194 -115 -07 -222 224 -73 -20
co 3 -07 -129 -05 -91 249 -115 -56 254 -62 73 -100 -02 -35 23 -09 60 -16 -79 88
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -03 15 -05 06 -01 -01 -01 -12 08 -04 07 08 01 06 -08 -08 -03 09 -04
dpco 2 -34 07 -16 09 -08 03 -04 -03 10 -07 -01 18 -34 02 -07 21 -34 -03 -04
dpco 3 05 07 03 07 -21 02 06 -15 04 03 05 05 00 -02 03 -10 06 09 -07
Lambdas Total x y z: -0,01 1,13 0,17 0,35

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:19,119 √J0m:19,809 √Mm:49,610 λ:-0,01 |dp|m:0,0442 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:18,236 √J0m:18,927 √Mm:48,517 λ:-0,01 |dp|m:0,0442 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:17,351 √J0m:18,045 √Mm:47,438 λ:-0,01 |dp|m:0,0442 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:16,465 √J0m:17,163 √Mm:46,373 λ:-0,01 |dp|m:0,0442 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:15,577 √J0m:16,281 √Mm:45,324 λ:-0,01 |dp|m:0,0442 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:14,688 √J0m:15,399 √Mm:44,291 λ:-0,01 |dp|m:0,0442 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:13,796 √J0m:14,518 √Mm:43,275 λ:-0,01 |dp|m:0,0442 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:12,902 √J0m:13,637 √Mm:42,279 λ:-0,01 |dp|m:0,0442 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:12,004 √J0m:12,756 √Mm:41,302 λ:-0,01 |dp|m:0,0442 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:11,103 √J0m:11,876 √Mm:40,347 λ:-0,01 |dp|m:0,0442 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:10,196 √J0m:10,996 √Mm:39,416 λ:-0,01 |dp|m:0,0442 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:9,283 √J0m:10,117 √Mm:38,509 λ:-0,01 |dp|m:0,0442 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:8,361 √J0m:9,239 √Mm:37,629 λ:-0,01 |dp|m:0,0442 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:7,427 √J0m:8,362 √Mm:36,777 λ:-0,01 |dp|m:0,0442 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:6,477 √J0m:7,487 √Mm:35,955 λ:-0,01 |dp|m:0,0442 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:5,500 √J0m:6,614 √Mm:35,165 λ:-0,01 |dp|m:0,0442 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:4,480 √J0m:5,744 √Mm:34,410 λ:-0,01 |dp|m:0,0442 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:3,379 √J0m:4,879 √Mm:33,692 λ:-0,01 |dp|m:0,0442 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:2,070 √J0m:4,023 √Mm:33,012 λ:-0,01 |dp|m:0,0442 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:3,181 √Mm:32,373 λ:-0,01 |dp|m:0,0442 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:2,370 √Mm:31,778 λ:-0,01 |dp|m:0,0442 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:1,636 √Mm:31,228 λ:-0,01 |dp|m:0,0442 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:1,139 √Mm:30,726 λ:-0,01 |dp|m:0,0442 mm
Acabado Optimizado (izq). Cuadro 203 Distancia Esque. Antes y Despues Retoque:402,00 Distancias Despues con p y q: 1,00 804,00 mm


Comienzan Iteraciones para cuadro 204

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 65 -85 -191 -222 -235 162 268 392 436 -23 -107 -89 -10 79 96 48 114
co 2 -354 -01 176 -138 -248 -288 -262 -89 -125 -58 -36 -500 -973 -1291 -1318 -496 -973 -1291 -1318
co 3 48 -01 -36 -94 -288 -571 -642 220 392 525 573 26 154 198 180 105 154 185 277
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -13 94 -73 -28 75 07 09 75 12 -63 -104 -41 94 55 -69 -27 -64 72 -28
co 2 250 -277 -191 12 74 41 -20 -11 136 -40 -54 -384 190 244 23 -439 207 279 11
co 3 -37 32 37 -98 13 110 53 144 -70 -64 -114 150 -88 -54 15 12 -24 11 -39
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 29 10 -51 -72 -109 -115 105 138 176 185 -25 -24 -27 -27 31 28 46 48
dpco 2 -98 -88 28 -65 -101 -131 -137 -48 -19 -42 -35 -371 -427 -569 -652 -386 -421 -558 -655
dpco 3 12 10 -06 -78 -140 -251 -304 155 174 242 251 60 49 82 95 56 69 96 126
Lambdas Total x y z: -0,63 6,46 -0,37 3,13

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:364,714 √J0m:375,985 √Mm:115,043 λ:-0,63 |dp|m:0,8250 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:348,480 √J0m:359,766 √Mm:112,567 λ:-0,63 |dp|m:0,8250 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:332,249 √J0m:343,574 √Mm:110,154 λ:-0,63 |dp|m:0,8250 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:316,016 √J0m:327,413 √Mm:107,819 λ:-0,63 |dp|m:0,8250 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:299,781 √J0m:311,287 √Mm:105,576 λ:-0,63 |dp|m:0,8250 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:283,541 √J0m:295,203 √Mm:103,436 λ:-0,63 |dp|m:0,8250 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:267,295 √J0m:279,167 √Mm:101,412 λ:-0,63 |dp|m:0,8250 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:251,039 √J0m:263,188 √Mm:99,516 λ:-0,63 |dp|m:0,8250 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:234,771 √J0m:247,278 √Mm:97,762 λ:-0,63 |dp|m:0,8250 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:218,487 √J0m:231,451 √Mm:96,159 λ:-0,63 |dp|m:0,8250 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:202,181 √J0m:215,724 √Mm:94,719 λ:-0,63 |dp|m:0,8250 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:185,847 √J0m:200,122 √Mm:93,454 λ:-0,63 |dp|m:0,8250 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:169,477 √J0m:184,675 √Mm:92,372 λ:-0,63 |dp|m:0,8250 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:153,057 √J0m:169,428 √Mm:91,483 λ:-0,63 |dp|m:0,8250 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:136,568 √J0m:154,438 √Mm:90,794 λ:-0,63 |dp|m:0,8250 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:119,982 √J0m:139,789 √Mm:90,313 λ:-0,63 |dp|m:0,8250 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:103,250 √J0m:125,599 √Mm:90,043 λ:-0,63 |dp|m:0,8250 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:86,287 √J0m:112,045 √Mm:89,990 λ:-0,63 |dp|m:0,8250 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:68,922 √J0m:99,384 √Mm:90,153 λ:-0,63 |dp|m:0,8250 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:50,740 √J0m:88,006 √Mm:90,534 λ:-0,63 |dp|m:0,8250 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:30,305 √J0m:78,468 √Mm:91,131 λ:-0,63 |dp|m:0,8250 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:71,512 √Mm:91,940 λ:-0,63 |dp|m:0,8250 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:67,935 √Mm:92,957 λ:-0,63 |dp|m:0,8250 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:68,271 √Mm:94,176 λ:-0,63 |dp|m:0,8250 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 08 -65 44 28 -33 18 17 -68 -35 04 29 31 -54 -29 49 11 35 -54 08
co 2 -138 192 115 06 -27 00 40 17 -82 33 41 317 -34 -40 116 354 -46 -64 124
co 3 21 -22 -22 77 20 -19 27 -122 09 -08 22 -107 46 18 -28 -19 01 -26 -01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 19 -100 02 -61 41 -12 -08 250 -81 26 -85 -117 48 -21 23 69 -09 -30 31
co 2 511 -313 38 -39 45 -22 04 21 -18 42 -49 -575 408 12 -58 -658 423 101 -106
co 3 -68 -87 -06 -89 141 -35 -56 348 -86 10 -89 85 -72 06 03 123 -60 -69 71
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 05 -40 22 09 -13 08 08 -15 -24 04 08 06 -23 -16 26 11 17 -30 06
dpco 2 -30 72 60 00 -10 -02 20 10 -42 20 17 114 14 -19 54 126 09 -24 54
dpco 3 05 -18 -12 32 21 -12 09 -34 -02 -03 04 -47 17 09 -14 00 -04 -18 05
Lambdas Total x y z: -0,15 3,00 -0,14 1,35

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:59,667 √J0m:70,059 √Mm:93,486 λ:-0,15 |dp|m:0,1255 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:57,353 √J0m:67,660 √Mm:91,401 λ:-0,15 |dp|m:0,1255 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:55,039 √J0m:65,271 √Mm:89,335 λ:-0,15 |dp|m:0,1255 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:52,725 √J0m:62,890 √Mm:87,291 λ:-0,15 |dp|m:0,1255 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:50,410 √J0m:60,520 √Mm:85,269 λ:-0,15 |dp|m:0,1255 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:48,096 √J0m:58,162 √Mm:83,272 λ:-0,15 |dp|m:0,1255 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:45,782 √J0m:55,817 √Mm:81,301 λ:-0,15 |dp|m:0,1255 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:43,467 √J0m:53,486 √Mm:79,359 λ:-0,15 |dp|m:0,1255 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:41,153 √J0m:51,173 √Mm:77,446 λ:-0,15 |dp|m:0,1255 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:38,838 √J0m:48,879 √Mm:75,566 λ:-0,15 |dp|m:0,1255 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:36,524 √J0m:46,607 √Mm:73,720 λ:-0,15 |dp|m:0,1255 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:34,209 √J0m:44,361 √Mm:71,912 λ:-0,15 |dp|m:0,1255 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:31,895 √J0m:42,145 √Mm:70,145 λ:-0,15 |dp|m:0,1255 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:29,581 √J0m:39,964 √Mm:68,421 λ:-0,15 |dp|m:0,1255 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:27,266 √J0m:37,823 √Mm:66,743 λ:-0,15 |dp|m:0,1255 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:24,952 √J0m:35,730 √Mm:65,116 λ:-0,15 |dp|m:0,1255 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:22,638 √J0m:33,694 √Mm:63,544 λ:-0,15 |dp|m:0,1255 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:20,323 √J0m:31,726 √Mm:62,031 λ:-0,15 |dp|m:0,1255 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:18,008 √J0m:29,839 √Mm:60,582 λ:-0,15 |dp|m:0,1255 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:15,692 √J0m:28,050 √Mm:59,202 λ:-0,15 |dp|m:0,1255 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:13,374 √J0m:26,379 √Mm:57,896 λ:-0,15 |dp|m:0,1255 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:11,052 √J0m:24,850 √Mm:56,671 λ:-0,15 |dp|m:0,1255 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:8,722 √J0m:23,489 √Mm:55,532 λ:-0,15 |dp|m:0,1255 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:6,376 √J0m:22,329 √Mm:54,486 λ:-0,15 |dp|m:0,1255 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:3,982 √J0m:21,401 √Mm:53,540 λ:-0,15 |dp|m:0,1255 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:1,289 √J0m:20,737 √Mm:52,699 λ:-0,15 |dp|m:0,1255 mm
LINE SEARCH. Vez:27 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:20,362 √Mm:51,969 λ:-0,15 |dp|m:0,1255 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -05 34 -11 05 00 -02 -03 -32 24 -06 09 15 03 11 -16 -16 -06 18 -08
co 2 -65 15 -34 06 -02 04 -10 -08 22 -16 00 36 -70 07 -16 43 -70 -04 -09
co 3 08 22 06 -01 -31 11 04 -38 14 00 12 09 03 -05 06 -19 11 19 -13
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -04 -148 17 -03 17 -13 -03 208 -55 59 -73 -53 09 -25 32 56 12 -78 63
co 2 38 -14 40 -05 24 -31 09 -99 52 19 -29 -166 205 -121 -05 -233 229 -74 -19
co 3 -07 -161 -05 -03 167 -146 -16 307 -113 72 -85 03 -41 25 -08 64 -18 -77 86
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -03 16 -05 03 00 -01 -01 -15 12 -03 04 07 02 05 -08 -08 -03 09 -04
dpco 2 -32 07 -17 03 -01 02 -05 -04 11 -08 00 17 -34 03 -08 20 -34 -02 -04
dpco 3 04 10 03 -01 -15 05 02 -18 07 00 06 04 01 -03 03 -09 05 09 -06
Lambdas Total x y z: -0,01 0,91 0,17 0,35

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:18,880 √J0m:19,422 √Mm:50,238 λ:-0,01 |dp|m:0,0437 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:18,007 √J0m:18,550 √Mm:49,130 λ:-0,01 |dp|m:0,0437 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:17,134 √J0m:17,678 √Mm:48,035 λ:-0,01 |dp|m:0,0437 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:16,259 √J0m:16,807 √Mm:46,954 λ:-0,01 |dp|m:0,0437 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:15,383 √J0m:15,935 √Mm:45,887 λ:-0,01 |dp|m:0,0437 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:14,505 √J0m:15,064 √Mm:44,836 λ:-0,01 |dp|m:0,0437 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:13,626 √J0m:14,193 √Mm:43,802 λ:-0,01 |dp|m:0,0437 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:12,745 √J0m:13,322 √Mm:42,785 λ:-0,01 |dp|m:0,0437 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:11,862 √J0m:12,452 √Mm:41,789 λ:-0,01 |dp|m:0,0437 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:10,975 √J0m:11,582 √Mm:40,812 λ:-0,01 |dp|m:0,0437 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:10,085 √J0m:10,713 √Mm:39,859 λ:-0,01 |dp|m:0,0437 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:9,189 √J0m:9,844 √Mm:38,929 λ:-0,01 |dp|m:0,0437 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:8,288 √J0m:8,976 √Mm:38,024 λ:-0,01 |dp|m:0,0437 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:7,377 √J0m:8,109 √Mm:37,147 λ:-0,01 |dp|m:0,0437 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:6,453 √J0m:7,243 √Mm:36,299 λ:-0,01 |dp|m:0,0437 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:5,510 √J0m:6,380 √Mm:35,483 λ:-0,01 |dp|m:0,0437 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:4,536 √J0m:5,520 √Mm:34,700 λ:-0,01 |dp|m:0,0437 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:3,505 √J0m:4,665 √Mm:33,952 λ:-0,01 |dp|m:0,0437 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:2,344 √J0m:3,818 √Mm:33,243 λ:-0,01 |dp|m:0,0437 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:0,439 √J0m:2,985 √Mm:32,574 λ:-0,01 |dp|m:0,0437 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:2,185 √Mm:31,947 λ:-0,01 |dp|m:0,0437 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:1,470 √Mm:31,365 λ:-0,01 |dp|m:0,0437 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:1,036 √Mm:30,831 λ:-0,01 |dp|m:0,0437 mm
Acabado Optimizado (izq). Cuadro 204 Distancia Esque. Antes y Despues Retoque:403,00 Distancias Despues con p y q: 1,00 805,00 mm


Comienzan Iteraciones para cuadro 205

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 65 -85 -195 -226 -240 162 268 401 445 -28 -111 -94 -10 74 96 48 114
co 2 -359 -01 171 -138 -209 -279 -262 -89 -125 -54 -32 -500 -973 -1295 -1318 -496 -973 -1291 -1318
co 3 43 -01 -36 -98 -284 -562 -642 215 392 516 560 21 158 207 185 101 154 185 277
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -13 102 -76 -52 98 08 08 67 26 -65 -111 -37 93 53 -66 -27 -69 72 -28
co 2 248 -269 -194 32 34 49 -11 -08 139 -41 -57 -385 191 244 17 -432 206 279 11
co 3 -28 26 39 -120 41 109 50 141 -82 -54 -111 162 -93 -59 17 13 -29 11 -39
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 31 09 -59 -67 -111 -117 102 142 180 188 -25 -27 -30 -26 29 26 46 48
dpco 2 -102 -85 25 -59 -94 -124 -134 -47 -19 -40 -34 -371 -427 -571 -653 -383 -422 -558 -655
dpco 3 13 08 -06 -87 -129 -247 -305 152 170 241 245 61 50 85 98 54 68 96 126
Lambdas Total x y z: -0,63 5,71 -0,36 2,87

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:364,496 √J0m:375,705 √Mm:115,072 λ:-0,63 |dp|m:0,8246 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:348,271 √J0m:359,492 √Mm:112,584 λ:-0,63 |dp|m:0,8246 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:332,049 √J0m:343,306 √Mm:110,153 λ:-0,63 |dp|m:0,8246 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:315,828 √J0m:327,151 √Mm:107,794 λ:-0,63 |dp|m:0,8246 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:299,606 √J0m:311,031 √Mm:105,520 λ:-0,63 |dp|m:0,8246 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:283,381 √J0m:294,952 √Mm:103,344 λ:-0,63 |dp|m:0,8246 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:267,152 √J0m:278,922 √Mm:101,279 λ:-0,63 |dp|m:0,8246 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:250,916 √J0m:262,948 √Mm:99,337 λ:-0,63 |dp|m:0,8246 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:234,670 √J0m:247,043 √Mm:97,531 λ:-0,63 |dp|m:0,8246 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:218,411 √J0m:231,219 √Mm:95,871 λ:-0,63 |dp|m:0,8246 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:202,134 √J0m:215,496 √Mm:94,371 λ:-0,63 |dp|m:0,8246 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:185,835 √J0m:199,897 √Mm:93,041 λ:-0,63 |dp|m:0,8246 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:169,505 √J0m:184,453 √Mm:91,891 λ:-0,63 |dp|m:0,8246 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:153,134 √J0m:169,207 √Mm:90,932 λ:-0,63 |dp|m:0,8246 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:136,706 √J0m:154,218 √Mm:90,170 λ:-0,63 |dp|m:0,8246 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:120,196 √J0m:139,568 √Mm:89,614 λ:-0,63 |dp|m:0,8246 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:103,565 √J0m:125,376 √Mm:89,270 λ:-0,63 |dp|m:0,8246 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:86,742 √J0m:111,817 √Mm:89,140 λ:-0,63 |dp|m:0,8246 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:69,585 √J0m:99,151 √Mm:89,229 λ:-0,63 |dp|m:0,8246 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:51,764 √J0m:87,765 √Mm:89,536 λ:-0,63 |dp|m:0,8246 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:32,191 √J0m:78,221 √Mm:90,061 λ:-0,63 |dp|m:0,8246 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:71,261 √Mm:90,800 λ:-0,63 |dp|m:0,8246 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:67,690 √Mm:91,750 λ:-0,63 |dp|m:0,8246 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:68,040 √Mm:92,905 λ:-0,63 |dp|m:0,8246 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 07 -70 46 44 -48 17 19 -63 -45 05 32 28 -53 -27 47 11 38 -54 08
co 2 -135 186 116 -08 -02 -06 34 14 -83 34 43 315 -34 -39 120 347 -45 -63 124
co 3 15 -18 -23 92 00 -19 30 -119 18 -15 20 -113 48 20 -30 -19 04 -26 -01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 19 -73 01 -106 74 -16 -10 239 -78 40 -99 -121 50 -25 27 66 -13 -31 31
co 2 492 -272 20 -71 83 -26 -01 17 -14 49 -58 -559 414 -01 -56 -630 413 101 -105
co 3 -64 -65 -03 -166 217 -35 -75 325 -76 10 -87 90 -79 11 02 120 -61 -69 71
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 05 -41 23 14 -18 07 09 -13 -28 05 08 05 -22 -15 25 11 18 -29 06
dpco 2 -29 72 60 -10 05 -05 17 09 -43 21 17 114 15 -19 56 125 10 -24 54
dpco 3 02 -14 -12 33 17 -12 09 -34 03 -07 03 -50 18 11 -15 00 -03 -18 05
Lambdas Total x y z: -0,16 2,72 -0,13 1,11

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:59,608 √J0m:69,851 √Mm:92,185 λ:-0,16 |dp|m:0,1255 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:57,290 √J0m:67,452 √Mm:90,130 λ:-0,16 |dp|m:0,1255 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:54,972 √J0m:65,061 √Mm:88,095 λ:-0,16 |dp|m:0,1255 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:52,654 √J0m:62,680 √Mm:86,083 λ:-0,16 |dp|m:0,1255 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:50,336 √J0m:60,309 √Mm:84,094 λ:-0,16 |dp|m:0,1255 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:48,017 √J0m:57,950 √Mm:82,130 λ:-0,16 |dp|m:0,1255 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:45,698 √J0m:55,604 √Mm:80,193 λ:-0,16 |dp|m:0,1255 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:43,379 √J0m:53,273 √Mm:78,285 λ:-0,16 |dp|m:0,1255 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:41,059 √J0m:50,959 √Mm:76,408 λ:-0,16 |dp|m:0,1255 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:38,739 √J0m:48,665 √Mm:74,564 λ:-0,16 |dp|m:0,1255 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:36,418 √J0m:46,393 √Mm:72,757 λ:-0,16 |dp|m:0,1255 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:34,097 √J0m:44,146 √Mm:70,987 λ:-0,16 |dp|m:0,1255 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:31,775 √J0m:41,930 √Mm:69,260 λ:-0,16 |dp|m:0,1255 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:29,452 √J0m:39,749 √Mm:67,577 λ:-0,16 |dp|m:0,1255 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:27,127 √J0m:37,609 √Mm:65,943 λ:-0,16 |dp|m:0,1255 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:24,801 √J0m:35,517 √Mm:64,361 λ:-0,16 |dp|m:0,1255 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:22,472 √J0m:33,482 √Mm:62,836 λ:-0,16 |dp|m:0,1255 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:20,139 √J0m:31,517 √Mm:61,372 λ:-0,16 |dp|m:0,1255 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:17,801 √J0m:29,634 √Mm:59,975 λ:-0,16 |dp|m:0,1255 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:15,455 √J0m:27,849 √Mm:58,649 λ:-0,16 |dp|m:0,1255 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:13,096 √J0m:26,185 √Mm:57,401 λ:-0,16 |dp|m:0,1255 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:10,715 √J0m:24,663 √Mm:56,236 λ:-0,16 |dp|m:0,1255 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:8,291 √J0m:23,314 √Mm:55,161 λ:-0,16 |dp|m:0,1255 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:5,771 √J0m:22,167 √Mm:54,181 λ:-0,16 |dp|m:0,1255 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:2,908 √J0m:21,256 √Mm:53,305 λ:-0,16 |dp|m:0,1255 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:20,612 √Mm:52,537 λ:-0,16 |dp|m:0,1255 mm
LINE SEARCH. Vez:27 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:20,261 √Mm:51,884 λ:-0,16 |dp|m:0,1255 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -05 30 -11 10 -03 -01 -02 -32 25 -09 12 17 03 11 -16 -15 -06 18 -08
co 2 -63 09 -31 15 -15 06 -08 -07 22 -17 01 34 -72 09 -17 40 -69 -05 -09
co 3 09 17 06 10 -42 11 07 -35 11 01 12 09 04 -07 07 -19 11 19 -13
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -03 -126 11 -50 56 -13 -05 193 -49 69 -80 -55 08 -35 42 48 11 -78 63
co 2 30 35 25 -45 67 -56 10 -93 45 23 -31 -154 215 -136 -04 -211 224 -73 -19
co 3 -04 -139 -04 -73 235 -145 -29 286 -109 82 -91 00 -45 33 -12 55 -19 -78 86
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -03 15 -05 05 -01 -01 -01 -15 13 -04 06 08 01 05 -08 -08 -03 09 -04
dpco 2 -32 05 -15 08 -08 03 -04 -04 11 -09 01 17 -35 04 -09 20 -34 -03 -04
dpco 3 04 08 03 05 -20 05 04 -17 05 01 06 05 02 -03 03 -09 05 09 -06
Lambdas Total x y z: -0,01 0,96 0,19 0,32

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:18,981 √J0m:19,341 √Mm:50,231 λ:-0,01 |dp|m:0,0439 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:18,103 √J0m:18,464 √Mm:49,123 λ:-0,01 |dp|m:0,0439 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:17,225 √J0m:17,588 √Mm:48,027 λ:-0,01 |dp|m:0,0439 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:16,346 √J0m:16,711 √Mm:46,945 λ:-0,01 |dp|m:0,0439 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:15,466 √J0m:15,834 √Mm:45,877 λ:-0,01 |dp|m:0,0439 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:14,585 √J0m:14,958 √Mm:44,825 λ:-0,01 |dp|m:0,0439 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:13,704 √J0m:14,082 √Mm:43,788 λ:-0,01 |dp|m:0,0439 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:12,821 √J0m:13,206 √Mm:42,770 λ:-0,01 |dp|m:0,0439 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:11,937 √J0m:12,330 √Mm:41,770 λ:-0,01 |dp|m:0,0439 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:11,050 √J0m:11,455 √Mm:40,791 λ:-0,01 |dp|m:0,0439 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:10,161 √J0m:10,580 √Mm:39,833 λ:-0,01 |dp|m:0,0439 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:9,269 √J0m:9,706 √Mm:38,898 λ:-0,01 |dp|m:0,0439 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:8,373 √J0m:8,833 √Mm:37,989 λ:-0,01 |dp|m:0,0439 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:7,472 √J0m:7,960 √Mm:37,106 λ:-0,01 |dp|m:0,0439 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:6,562 √J0m:7,089 √Mm:36,252 λ:-0,01 |dp|m:0,0439 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:5,641 √J0m:6,220 √Mm:35,428 λ:-0,01 |dp|m:0,0439 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:4,701 √J0m:5,354 √Mm:34,637 λ:-0,01 |dp|m:0,0439 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:3,728 √J0m:4,493 √Mm:33,881 λ:-0,01 |dp|m:0,0439 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:2,687 √J0m:3,639 √Mm:33,162 λ:-0,01 |dp|m:0,0439 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:1,437 √J0m:2,801 √Mm:32,482 λ:-0,01 |dp|m:0,0439 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:1,997 √Mm:31,845 λ:-0,01 |dp|m:0,0439 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:1,293 √Mm:31,251 λ:-0,01 |dp|m:0,0439 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:0,948 √Mm:30,704 λ:-0,01 |dp|m:0,0439 mm
Acabado Optimizado (izq). Cuadro 205 Distancia Esque. Antes y Despues Retoque:402,00 Distancias Despues con p y q: 1,00 804,00 mm


Comienzan Iteraciones para cuadro 206

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 65 -85 -200 -235 -240 162 295 463 520 -28 -116 -94 -14 74 96 48 114
co 2 -359 -01 171 -138 -217 -293 -262 -89 -138 -54 -28 -500 -973 -1295 -1318 -496 -973 -1291 -1318
co 3 43 -01 -36 -98 -288 -562 -642 220 428 489 511 26 162 215 198 105 158 189 282
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -13 99 -76 -48 91 17 02 54 83 -73 -141 -39 100 55 -72 -25 -69 72 -28
co 2 248 -268 -194 28 33 60 -18 -08 153 -45 -67 -381 191 240 19 -435 206 279 11
co 3 -28 24 39 -110 30 114 45 103 -126 -28 -56 158 -89 -60 15 11 -29 11 -39
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 31 08 -58 -71 -112 -119 99 174 208 215 -26 -26 -29 -30 29 26 47 48
dpco 2 -100 -87 23 -60 -98 -127 -136 -47 -20 -41 -35 -372 -425 -571 -653 -388 -420 -556 -655
dpco 3 13 07 -06 -84 -135 -244 -306 143 173 236 238 64 53 88 104 56 70 98 128
Lambdas Total x y z: -0,64 4,53 -0,38 3,36

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:366,639 √J0m:377,767 √Mm:113,541 λ:-0,64 |dp|m:0,8288 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:350,345 √J0m:361,484 √Mm:111,085 λ:-0,64 |dp|m:0,8288 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:334,055 √J0m:345,229 √Mm:108,685 λ:-0,64 |dp|m:0,8288 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:317,769 √J0m:329,006 √Mm:106,355 λ:-0,64 |dp|m:0,8288 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:301,483 √J0m:312,820 √Mm:104,108 λ:-0,64 |dp|m:0,8288 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:285,198 √J0m:296,678 √Mm:101,957 λ:-0,64 |dp|m:0,8288 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:268,911 √J0m:280,585 √Mm:99,917 λ:-0,64 |dp|m:0,8288 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:252,621 √J0m:264,553 √Mm:97,999 λ:-0,64 |dp|m:0,8288 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:236,325 √J0m:248,592 √Mm:96,217 λ:-0,64 |dp|m:0,8288 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:220,020 √J0m:232,717 √Mm:94,582 λ:-0,64 |dp|m:0,8288 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:203,704 √J0m:216,946 √Mm:93,107 λ:-0,64 |dp|m:0,8288 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:187,373 √J0m:201,306 √Mm:91,803 λ:-0,64 |dp|m:0,8288 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:171,020 √J0m:185,827 √Mm:90,680 λ:-0,64 |dp|m:0,8288 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:154,639 √J0m:170,554 √Mm:89,748 λ:-0,64 |dp|m:0,8288 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:138,217 √J0m:155,549 √Mm:89,016 λ:-0,64 |dp|m:0,8288 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:121,738 √J0m:140,897 √Mm:88,492 λ:-0,64 |dp|m:0,8288 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:105,172 √J0m:126,719 √Mm:88,180 λ:-0,64 |dp|m:0,8288 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:88,472 √J0m:113,194 √Mm:88,086 λ:-0,64 |dp|m:0,8288 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:71,540 √J0m:100,587 √Mm:88,211 λ:-0,64 |dp|m:0,8288 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:54,158 √J0m:89,286 √Mm:88,556 λ:-0,64 |dp|m:0,8288 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:35,673 √J0m:79,849 √Mm:89,120 λ:-0,64 |dp|m:0,8288 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:11,670 √J0m:73,002 √Mm:89,900 λ:-0,64 |dp|m:0,8288 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:69,514 √Mm:90,891 λ:-0,64 |dp|m:0,8288 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:69,890 √Mm:92,088 λ:-0,64 |dp|m:0,8288 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 08 -70 47 42 -44 12 23 -55 -88 05 47 30 -59 -29 52 10 39 -55 08
co 2 -140 189 120 -06 -02 -13 39 15 -94 37 50 319 -38 -40 118 357 -48 -68 124
co 3 15 -17 -24 88 08 -25 32 -95 47 -29 -11 -114 47 21 -31 -18 04 -27 -01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 22 -69 01 -92 60 -14 -07 163 35 18 -120 -123 51 -18 21 68 -12 -30 31
co 2 505 -282 20 -58 68 -28 04 02 12 49 -67 -569 424 -09 -51 -652 425 105 -108
co 3 -69 -53 -03 -136 172 -07 -82 220 23 -42 -45 96 -82 09 04 128 -65 -70 72
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 06 -41 24 13 -17 05 11 -14 -41 04 14 05 -25 -16 28 11 19 -30 07
dpco 2 -27 71 62 -08 05 -09 20 07 -46 23 19 112 17 -21 55 124 12 -25 53
dpco 3 02 -13 -12 32 18 -13 09 -29 25 -18 -10 -49 16 11 -15 02 -03 -19 06
Lambdas Total x y z: -0,17 3,80 -0,15 1,83

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:61,034 √J0m:71,635 √Mm:91,426 λ:-0,17 |dp|m:0,1276 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:58,697 √J0m:69,208 √Mm:89,384 λ:-0,17 |dp|m:0,1276 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:56,361 √J0m:66,789 √Mm:87,360 λ:-0,17 |dp|m:0,1276 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:54,027 √J0m:64,381 √Mm:85,356 λ:-0,17 |dp|m:0,1276 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:51,695 √J0m:61,984 √Mm:83,372 λ:-0,17 |dp|m:0,1276 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:49,365 √J0m:59,600 √Mm:81,411 λ:-0,17 |dp|m:0,1276 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:47,037 √J0m:57,231 √Mm:79,474 λ:-0,17 |dp|m:0,1276 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:44,712 √J0m:54,877 √Mm:77,563 λ:-0,17 |dp|m:0,1276 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:42,390 √J0m:52,543 √Mm:75,681 λ:-0,17 |dp|m:0,1276 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:40,072 √J0m:50,229 √Mm:73,829 λ:-0,17 |dp|m:0,1276 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:37,757 √J0m:47,939 √Mm:72,010 λ:-0,17 |dp|m:0,1276 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:35,448 √J0m:45,678 √Mm:70,227 λ:-0,17 |dp|m:0,1276 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:33,144 √J0m:43,448 √Mm:68,483 λ:-0,17 |dp|m:0,1276 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:30,848 √J0m:41,255 √Mm:66,781 λ:-0,17 |dp|m:0,1276 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:28,560 √J0m:39,106 √Mm:65,125 λ:-0,17 |dp|m:0,1276 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:26,282 √J0m:37,009 √Mm:63,518 λ:-0,17 |dp|m:0,1276 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:24,018 √J0m:34,971 √Mm:61,967 λ:-0,17 |dp|m:0,1276 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:21,771 √J0m:33,005 √Mm:60,474 λ:-0,17 |dp|m:0,1276 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:19,547 √J0m:31,125 √Mm:59,047 λ:-0,17 |dp|m:0,1276 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:17,353 √J0m:29,345 √Mm:57,690 λ:-0,17 |dp|m:0,1276 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:15,203 √J0m:27,687 √Mm:56,409 λ:-0,17 |dp|m:0,1276 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:13,117 √J0m:26,173 √Mm:55,212 λ:-0,17 |dp|m:0,1276 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:11,131 √J0m:24,829 √Mm:54,105 λ:-0,17 |dp|m:0,1276 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:9,305 √J0m:23,684 √Mm:53,095 λ:-0,17 |dp|m:0,1276 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:7,754 √J0m:22,769 √Mm:52,190 λ:-0,17 |dp|m:0,1276 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:6,668 √J0m:22,112 √Mm:51,396 λ:-0,17 |dp|m:0,1276 mm
LINE SEARCH. Vez:27 Sal:44,0 Incr:1,0 √J1m:6,293 √J0m:21,737 √Mm:50,721 λ:-0,17 |dp|m:0,1276 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -06 31 -11 09 -02 00 -04 -21 13 -05 14 18 03 11 -16 -16 -07 19 -08
co 2 -72 15 -32 13 -14 09 -10 -04 19 -19 02 44 -79 11 -17 52 -77 -06 -06
co 3 11 15 06 08 -37 07 10 -24 -15 16 12 07 06 -07 06 -22 12 21 -15
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -05 -122 13 -35 44 -18 -01 133 19 79 -102 -62 10 -22 31 54 11 -81 65
co 2 47 07 30 -35 62 -68 22 -56 19 19 -35 -180 241 -148 -02 -248 250 -78 -21
co 3 -07 -133 -05 -50 201 -119 -41 173 -06 44 -52 09 -53 33 -08 67 -20 -80 89
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -03 14 -05 04 -01 00 -02 -09 07 -01 06 08 02 05 -08 -08 -03 09 -03
dpco 2 -36 07 -16 06 -06 04 -05 -03 10 -09 01 20 -37 04 -08 23 -35 -04 -03
dpco 3 05 06 03 03 -16 02 04 -10 -08 08 05 03 02 -03 03 -10 06 09 -06
Lambdas Total x y z: -0,03 1,21 0,07 0,59

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:19,230 √J0m:20,775 √Mm:49,079 λ:-0,03 |dp|m:0,0442 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:18,347 √J0m:19,894 √Mm:48,000 λ:-0,03 |dp|m:0,0442 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:17,462 √J0m:19,012 √Mm:46,935 λ:-0,03 |dp|m:0,0442 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:16,573 √J0m:18,131 √Mm:45,887 λ:-0,03 |dp|m:0,0442 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:15,682 √J0m:17,250 √Mm:44,854 λ:-0,03 |dp|m:0,0442 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:14,786 √J0m:16,369 √Mm:43,840 λ:-0,03 |dp|m:0,0442 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:13,885 √J0m:15,489 √Mm:42,845 λ:-0,03 |dp|m:0,0442 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:12,979 √J0m:14,610 √Mm:41,870 λ:-0,03 |dp|m:0,0442 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:12,065 √J0m:13,731 √Mm:40,916 λ:-0,03 |dp|m:0,0442 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:11,143 √J0m:12,853 √Mm:39,986 λ:-0,03 |dp|m:0,0442 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:10,209 √J0m:11,976 √Mm:39,081 λ:-0,03 |dp|m:0,0442 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:9,260 √J0m:11,100 √Mm:38,202 λ:-0,03 |dp|m:0,0442 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:8,292 √J0m:10,226 √Mm:37,351 λ:-0,03 |dp|m:0,0442 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:7,297 √J0m:9,354 √Mm:36,531 λ:-0,03 |dp|m:0,0442 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:6,260 √J0m:8,484 √Mm:35,742 λ:-0,03 |dp|m:0,0442 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:5,159 √J0m:7,618 √Mm:34,988 λ:-0,03 |dp|m:0,0442 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:3,938 √J0m:6,757 √Mm:34,270 λ:-0,03 |dp|m:0,0442 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:2,423 √J0m:5,902 √Mm:33,590 λ:-0,03 |dp|m:0,0442 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:5,058 √Mm:32,952 λ:-0,03 |dp|m:0,0442 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:4,231 √Mm:32,356 λ:-0,03 |dp|m:0,0442 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:3,432 √Mm:31,805 λ:-0,03 |dp|m:0,0442 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:2,687 √Mm:31,301 λ:-0,03 |dp|m:0,0442 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:2,057 √Mm:30,847 λ:-0,03 |dp|m:0,0442 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:1,675 √Mm:30,444 λ:-0,03 |dp|m:0,0442 mm
Acabado Optimizado (izq). Cuadro 206 Distancia Esque. Antes y Despues Retoque:405,00 Distancias Despues con p y q: 1,00 809,00 mm


Comienzan Iteraciones para cuadro 207

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 65 -85 -200 -235 -244 162 295 467 511 -28 -116 -107 -23 74 96 48 114
co 2 -359 -01 171 -138 -217 -288 -266 -89 -125 -94 -45 -500 -973 -1304 -1331 -496 -973 -1291 -1318
co 3 43 -01 -36 -98 -288 -566 -642 215 414 503 511 21 162 238 220 105 154 189 282
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -13 102 -76 -48 92 12 05 62 82 -113 -111 -40 88 60 -66 -25 -69 71 -28
co 2 248 -269 -194 28 37 54 -16 04 75 79 -122 -381 203 225 20 -436 208 278 11
co 3 -28 26 39 -110 32 105 53 108 -98 -96 -24 165 -79 -71 13 07 -20 07 -39
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 32 08 -58 -70 -114 -120 101 174 197 220 -27 -29 -34 -33 29 26 47 48
dpco 2 -99 -88 23 -60 -97 -127 -138 -44 -38 -21 -62 -373 -421 -579 -659 -389 -419 -556 -655
dpco 3 13 08 -06 -85 -134 -249 -304 143 176 220 248 64 56 96 114 55 70 97 128
Lambdas Total x y z: -0,65 4,55 -0,38 3,25

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:367,897 √J0m:379,045 √Mm:113,445 λ:-0,65 |dp|m:0,8316 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:351,546 √J0m:362,708 √Mm:111,002 λ:-0,65 |dp|m:0,8316 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:335,199 √J0m:346,398 √Mm:108,617 λ:-0,65 |dp|m:0,8316 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:318,854 √J0m:330,121 √Mm:106,306 λ:-0,65 |dp|m:0,8316 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:302,510 √J0m:313,881 √Mm:104,082 λ:-0,65 |dp|m:0,8316 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:286,164 √J0m:297,685 √Mm:101,959 λ:-0,65 |dp|m:0,8316 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:269,816 √J0m:281,539 √Mm:99,949 λ:-0,65 |dp|m:0,8316 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:253,463 √J0m:265,454 √Mm:98,066 λ:-0,65 |dp|m:0,8316 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:237,101 √J0m:249,440 √Mm:96,323 λ:-0,65 |dp|m:0,8316 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:220,730 √J0m:233,512 √Mm:94,732 λ:-0,65 |dp|m:0,8316 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:204,343 √J0m:217,690 √Mm:93,306 λ:-0,65 |dp|m:0,8316 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:187,937 √J0m:201,999 √Mm:92,056 λ:-0,65 |dp|m:0,8316 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:171,505 √J0m:186,470 √Mm:90,993 λ:-0,65 |dp|m:0,8316 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:155,036 √J0m:171,149 √Mm:90,127 λ:-0,65 |dp|m:0,8316 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:138,517 √J0m:156,096 √Mm:89,467 λ:-0,65 |dp|m:0,8316 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:121,926 √J0m:141,398 √Mm:89,020 λ:-0,65 |dp|m:0,8316 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:105,228 √J0m:127,177 √Mm:88,791 λ:-0,65 |dp|m:0,8316 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:88,360 √J0m:113,613 √Mm:88,784 λ:-0,65 |dp|m:0,8316 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:71,202 √J0m:100,970 √Mm:89,001 λ:-0,65 |dp|m:0,8316 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:53,471 √J0m:89,640 √Mm:89,442 λ:-0,65 |dp|m:0,8316 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:34,290 √J0m:80,181 √Mm:90,106 λ:-0,65 |dp|m:0,8316 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:4,400 √J0m:73,321 √Mm:90,988 λ:-0,65 |dp|m:0,8316 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:69,829 √Mm:92,083 λ:-0,65 |dp|m:0,8316 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:70,211 √Mm:93,386 λ:-0,65 |dp|m:0,8316 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 08 -72 47 43 -45 15 21 -60 -88 34 28 31 -51 -32 49 10 39 -56 09
co 2 -141 192 121 -06 -05 -09 38 06 -41 -47 91 321 -47 -29 119 360 -50 -69 124
co 3 15 -18 -24 88 06 -18 27 -98 28 18 -34 -119 40 27 -31 -15 -01 -24 00
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 24 -69 01 -96 65 -18 -07 167 41 -30 -81 -131 59 -23 23 68 -12 -30 31
co 2 508 -291 22 -59 72 -26 -01 -03 39 -70 35 -578 472 -50 -53 -660 431 105 -109
co 3 -67 -47 -03 -141 190 -44 -62 221 28 -35 -60 104 -104 20 06 129 -66 -71 73
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 06 -42 24 14 -17 06 10 -17 -41 15 07 05 -21 -18 27 10 19 -30 07
dpco 2 -30 73 62 -08 03 -07 19 03 -17 -29 48 114 14 -19 55 127 09 -26 53
dpco 3 02 -13 -12 33 18 -12 08 -31 16 06 -22 -51 12 15 -15 03 -06 -18 06
Lambdas Total x y z: -0,16 3,96 -0,14 1,73

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:61,557 √J0m:71,931 √Mm:92,801 λ:-0,16 |dp|m:0,1294 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:59,174 √J0m:69,465 √Mm:90,734 λ:-0,16 |dp|m:0,1294 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:56,791 √J0m:67,007 √Mm:88,689 λ:-0,16 |dp|m:0,1294 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:54,408 √J0m:64,560 √Mm:86,665 λ:-0,16 |dp|m:0,1294 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:52,027 √J0m:62,124 √Mm:84,663 λ:-0,16 |dp|m:0,1294 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:49,648 √J0m:59,701 √Mm:82,683 λ:-0,16 |dp|m:0,1294 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:47,271 √J0m:57,292 √Mm:80,725 λ:-0,16 |dp|m:0,1294 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:44,897 √J0m:54,900 √Mm:78,792 λ:-0,16 |dp|m:0,1294 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:42,526 √J0m:52,525 √Mm:76,882 λ:-0,16 |dp|m:0,1294 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:40,160 √J0m:50,172 √Mm:74,999 λ:-0,16 |dp|m:0,1294 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:37,799 √J0m:47,843 √Mm:73,143 λ:-0,16 |dp|m:0,1294 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:35,444 √J0m:45,542 √Mm:71,317 λ:-0,16 |dp|m:0,1294 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:33,096 √J0m:43,274 √Mm:69,524 λ:-0,16 |dp|m:0,1294 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:30,758 √J0m:41,043 √Mm:67,766 λ:-0,16 |dp|m:0,1294 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:28,430 √J0m:38,856 √Mm:66,049 λ:-0,16 |dp|m:0,1294 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:26,116 √J0m:36,721 √Mm:64,376 λ:-0,16 |dp|m:0,1294 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:23,817 √J0m:34,648 √Mm:62,753 λ:-0,16 |dp|m:0,1294 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:21,539 √J0m:32,648 √Mm:61,185 λ:-0,16 |dp|m:0,1294 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:19,289 √J0m:30,737 √Mm:59,678 λ:-0,16 |dp|m:0,1294 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:17,074 √J0m:28,930 √Mm:58,240 λ:-0,16 |dp|m:0,1294 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:14,911 √J0m:27,250 √Mm:56,877 λ:-0,16 |dp|m:0,1294 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:12,825 √J0m:25,720 √Mm:55,597 λ:-0,16 |dp|m:0,1294 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:10,857 √J0m:24,370 √Mm:54,408 λ:-0,16 |dp|m:0,1294 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:9,084 √J0m:23,230 √Mm:53,318 λ:-0,16 |dp|m:0,1294 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:7,639 √J0m:22,334 √Mm:52,336 λ:-0,16 |dp|m:0,1294 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:6,735 √J0m:21,710 √Mm:51,469 λ:-0,16 |dp|m:0,1294 mm
LINE SEARCH. Vez:27 Sal:44,0 Incr:1,0 √J1m:6,595 √J0m:21,383 √Mm:50,725 λ:-0,16 |dp|m:0,1294 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -06 30 -11 09 -02 00 -03 -19 12 -02 10 19 00 12 -16 -16 -07 19 -08
co 2 -68 13 -32 13 -13 07 -09 -01 02 25 -28 40 -83 17 -17 47 -74 -05 -07
co 3 10 13 06 07 -39 13 06 -21 -12 03 20 07 11 -10 06 -22 13 20 -14
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -04 -117 13 -36 46 -19 -02 141 30 -20 -29 -61 15 -38 42 52 11 -80 64
co 2 39 15 30 -36 62 -55 09 -58 11 51 -55 -176 272 -180 -04 -236 242 -78 -20
co 3 -05 -124 -05 -51 215 -153 -20 184 -10 -22 -01 05 -70 53 -10 63 -20 -77 88
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -03 14 -05 04 -01 00 -02 -08 06 -01 05 09 00 06 -08 -07 -03 09 -04
dpco 2 -34 07 -16 06 -06 03 -04 -01 01 13 -14 18 -39 07 -09 22 -35 -03 -04
dpco 3 05 06 03 03 -18 05 03 -09 -06 01 10 04 05 -05 03 -10 06 09 -06
Lambdas Total x y z: -0,02 1,48 0,08 0,52

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:19,382 √J0m:20,475 √Mm:49,022 λ:-0,02 |dp|m:0,0447 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:18,488 √J0m:19,583 √Mm:47,946 λ:-0,02 |dp|m:0,0447 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:17,593 √J0m:18,691 √Mm:46,886 λ:-0,02 |dp|m:0,0447 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:16,695 √J0m:17,799 √Mm:45,843 λ:-0,02 |dp|m:0,0447 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:15,795 √J0m:16,908 √Mm:44,818 λ:-0,02 |dp|m:0,0447 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:14,891 √J0m:16,017 √Mm:43,812 λ:-0,02 |dp|m:0,0447 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:13,984 √J0m:15,126 √Mm:42,826 λ:-0,02 |dp|m:0,0447 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:13,073 √J0m:14,236 √Mm:41,863 λ:-0,02 |dp|m:0,0447 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:12,156 √J0m:13,346 √Mm:40,922 λ:-0,02 |dp|m:0,0447 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:11,233 √J0m:12,457 √Mm:40,006 λ:-0,02 |dp|m:0,0447 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:10,301 √J0m:11,569 √Mm:39,116 λ:-0,02 |dp|m:0,0447 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:9,358 √J0m:10,681 √Mm:38,254 λ:-0,02 |dp|m:0,0447 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:8,400 √J0m:9,795 √Mm:37,422 λ:-0,02 |dp|m:0,0447 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:7,423 √J0m:8,911 √Mm:36,621 λ:-0,02 |dp|m:0,0447 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:6,415 √J0m:8,028 √Mm:35,854 λ:-0,02 |dp|m:0,0447 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:5,362 √J0m:7,149 √Mm:35,122 λ:-0,02 |dp|m:0,0447 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:4,228 √J0m:6,274 √Mm:34,428 λ:-0,02 |dp|m:0,0447 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:2,922 √J0m:5,405 √Mm:33,773 λ:-0,02 |dp|m:0,0447 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:0,853 √J0m:4,545 √Mm:33,160 λ:-0,02 |dp|m:0,0447 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:3,702 √Mm:32,591 λ:-0,02 |dp|m:0,0447 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:2,890 √Mm:32,068 λ:-0,02 |dp|m:0,0447 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:2,145 √Mm:31,592 λ:-0,02 |dp|m:0,0447 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:1,564 √Mm:31,166 λ:-0,02 |dp|m:0,0447 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:1,374 √Mm:30,791 λ:-0,02 |dp|m:0,0447 mm
Acabado Optimizado (izq). Cuadro 207 Distancia Esque. Antes y Despues Retoque:406,00 Distancias Despues con p y q: 1,00 812,00 mm


Comienzan Iteraciones para cuadro 208

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 65 -85 -173 -226 -244 162 291 463 507 -28 -116 -107 -23 74 96 48 114
co 2 -359 -01 171 -138 -306 -301 -266 -94 -120 -94 -54 -500 -973 -1304 -1331 -496 -973 -1291 -1318
co 3 48 -01 -32 -98 -231 -518 -633 220 419 511 516 26 171 246 229 109 162 198 291
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -13 98 -76 -25 60 26 02 65 80 -93 -128 -40 88 60 -66 -25 -69 71 -28
co 2 247 -267 -195 -64 172 00 -03 12 61 78 -116 -379 201 225 20 -435 207 278 11
co 3 -32 31 34 -60 -21 146 12 117 -99 -109 -16 168 -83 -71 13 11 -25 07 -39
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 30 09 -51 -68 -105 -121 102 170 202 213 -26 -30 -35 -32 29 26 46 48
dpco 2 -101 -85 24 -89 -99 -151 -134 -43 -41 -22 -63 -370 -423 -581 -659 -385 -421 -558 -655
dpco 3 14 09 -05 -68 -122 -213 -313 147 178 221 253 66 59 101 119 58 73 101 133
Lambdas Total x y z: -0,63 4,96 -0,39 3,21

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:367,838 √J0m:378,704 √Mm:113,385 λ:-0,63 |dp|m:0,8319 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:351,470 √J0m:362,352 √Mm:110,956 λ:-0,63 |dp|m:0,8319 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:335,104 √J0m:346,027 √Mm:108,591 λ:-0,63 |dp|m:0,8319 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:318,738 √J0m:329,733 √Mm:106,303 λ:-0,63 |dp|m:0,8319 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:302,373 √J0m:313,476 √Mm:104,104 λ:-0,63 |dp|m:0,8319 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:286,005 √J0m:297,261 √Mm:102,008 λ:-0,63 |dp|m:0,8319 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:269,634 √J0m:281,096 √Mm:100,026 λ:-0,63 |dp|m:0,8319 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:253,256 √J0m:264,989 √Mm:98,171 λ:-0,63 |dp|m:0,8319 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:236,870 √J0m:248,953 √Mm:96,454 λ:-0,63 |dp|m:0,8319 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:220,473 √J0m:233,000 √Mm:94,889 λ:-0,63 |dp|m:0,8319 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:204,060 √J0m:217,151 √Mm:93,487 λ:-0,63 |dp|m:0,8319 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:187,626 √J0m:201,429 √Mm:92,259 λ:-0,63 |dp|m:0,8319 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:171,164 √J0m:185,867 √Mm:91,215 λ:-0,63 |dp|m:0,8319 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:154,665 √J0m:170,509 √Mm:90,365 λ:-0,63 |dp|m:0,8319 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:138,112 √J0m:155,414 √Mm:89,717 λ:-0,63 |dp|m:0,8319 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:121,485 √J0m:140,668 √Mm:89,278 λ:-0,63 |dp|m:0,8319 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:104,745 √J0m:126,393 √Mm:89,053 λ:-0,63 |dp|m:0,8319 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:87,828 √J0m:112,768 √Mm:89,046 λ:-0,63 |dp|m:0,8319 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:70,604 √J0m:100,059 √Mm:89,259 λ:-0,63 |dp|m:0,8319 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:52,772 √J0m:88,659 √Mm:89,691 λ:-0,63 |dp|m:0,8319 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:33,369 √J0m:79,139 √Mm:90,341 λ:-0,63 |dp|m:0,8319 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:72,244 √Mm:91,206 λ:-0,63 |dp|m:0,8319 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:68,768 √Mm:92,280 λ:-0,63 |dp|m:0,8319 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:69,229 √Mm:93,557 λ:-0,63 |dp|m:0,8319 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 07 -68 46 26 -24 04 23 -61 -84 18 38 30 -50 -31 48 10 38 -54 08
co 2 -136 185 118 58 -89 30 29 01 -30 -45 86 313 -42 -25 119 351 -46 -64 124
co 3 17 -22 -20 51 37 -50 55 -103 27 25 -41 -119 40 25 -32 -19 01 -25 -02
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 19 -83 01 -92 65 17 -33 181 25 -33 -72 -127 57 -23 23 68 -12 -31 31
co 2 491 -262 17 -96 86 -57 45 -07 35 -83 52 -555 456 -52 -50 -640 419 100 -106
co 3 -68 -74 -02 -139 159 145 -205 241 05 -04 -78 104 -104 20 06 129 -65 -70 73
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 05 -40 23 06 -07 03 09 -17 -40 07 14 06 -20 -17 26 10 18 -29 06
dpco 2 -31 73 60 22 -38 11 18 00 -12 -29 47 115 13 -17 56 128 08 -24 54
dpco 3 03 -16 -10 15 31 -14 12 -34 14 12 -26 -52 12 14 -16 00 -04 -18 04
Lambdas Total x y z: -0,15 3,87 -0,13 1,27

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:61,248 √J0m:71,042 √Mm:92,941 λ:-0,15 |dp|m:0,1304 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:58,813 √J0m:68,540 √Mm:90,872 λ:-0,15 |dp|m:0,1304 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:56,378 √J0m:66,045 √Mm:88,823 λ:-0,15 |dp|m:0,1304 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:53,942 √J0m:63,560 √Mm:86,796 λ:-0,15 |dp|m:0,1304 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:51,506 √J0m:61,084 √Mm:84,790 λ:-0,15 |dp|m:0,1304 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:49,070 √J0m:58,621 √Mm:82,805 λ:-0,15 |dp|m:0,1304 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:46,635 √J0m:56,170 √Mm:80,840 λ:-0,15 |dp|m:0,1304 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:44,201 √J0m:53,735 √Mm:78,897 λ:-0,15 |dp|m:0,1304 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:41,768 √J0m:51,316 √Mm:76,976 λ:-0,15 |dp|m:0,1304 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:39,337 √J0m:48,917 √Mm:75,078 λ:-0,15 |dp|m:0,1304 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:36,908 √J0m:46,541 √Mm:73,204 λ:-0,15 |dp|m:0,1304 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:34,482 √J0m:44,190 √Mm:71,357 λ:-0,15 |dp|m:0,1304 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:32,058 √J0m:41,870 √Mm:69,541 λ:-0,15 |dp|m:0,1304 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:29,638 √J0m:39,586 √Mm:67,759 λ:-0,15 |dp|m:0,1304 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:27,220 √J0m:37,345 √Mm:66,016 λ:-0,15 |dp|m:0,1304 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:24,805 √J0m:35,154 √Mm:64,318 λ:-0,15 |dp|m:0,1304 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:22,394 √J0m:33,024 √Mm:62,670 λ:-0,15 |dp|m:0,1304 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:19,984 √J0m:30,968 √Mm:61,080 λ:-0,15 |dp|m:0,1304 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:17,578 √J0m:29,000 √Mm:59,556 λ:-0,15 |dp|m:0,1304 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:15,173 √J0m:27,141 √Mm:58,103 λ:-0,15 |dp|m:0,1304 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:12,769 √J0m:25,413 √Mm:56,732 λ:-0,15 |dp|m:0,1304 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:10,365 √J0m:23,847 √Mm:55,450 λ:-0,15 |dp|m:0,1304 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:7,960 √J0m:22,474 √Mm:54,266 λ:-0,15 |dp|m:0,1304 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:5,546 √J0m:21,334 √Mm:53,190 λ:-0,15 |dp|m:0,1304 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:3,099 √J0m:20,464 √Mm:52,229 λ:-0,15 |dp|m:0,1304 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:19,901 √Mm:51,392 λ:-0,15 |dp|m:0,1304 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -05 28 -09 11 -07 -04 01 -21 11 02 06 17 -01 10 -13 -14 -05 16 -07
co 2 -62 12 -25 06 01 05 -13 01 -01 23 -25 40 -73 14 -13 48 -66 -06 -04
co 3 09 17 04 15 -35 -16 26 -23 -06 -04 21 04 11 -08 05 -19 11 17 -13
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -03 -118 08 -27 43 -05 -21 154 18 -02 -42 -55 13 -33 37 49 10 -74 60
co 2 34 39 19 -52 32 -46 48 -64 10 60 -63 -157 251 -167 -05 -219 225 -68 -21
co 3 -05 -139 -02 -36 172 -01 -146 209 -22 -32 08 04 -65 49 -09 60 -20 -73 84
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -02 15 -04 06 -04 -02 01 -12 06 01 03 09 -01 05 -07 -07 -03 08 -04
dpco 2 -31 06 -13 03 00 03 -07 01 00 11 -12 21 -39 08 -07 26 -35 -02 -02
dpco 3 05 10 02 08 -19 -08 14 -13 -03 -02 11 02 06 -05 03 -10 06 09 -07
Lambdas Total x y z: 0,02 1,52 0,15 0,57

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:19,784 √J0m:18,759 √Mm:49,585 λ:0,02 |dp|m:0,0456 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:18,877 √J0m:17,848 √Mm:48,499 λ:0,02 |dp|m:0,0456 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:17,973 √J0m:16,938 √Mm:47,432 λ:0,02 |dp|m:0,0456 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:17,072 √J0m:16,028 √Mm:46,384 λ:0,02 |dp|m:0,0456 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:16,174 √J0m:15,117 √Mm:45,357 λ:0,02 |dp|m:0,0456 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:15,279 √J0m:14,208 √Mm:44,352 λ:0,02 |dp|m:0,0456 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:14,390 √J0m:13,298 √Mm:43,370 λ:0,02 |dp|m:0,0456 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:13,505 √J0m:12,389 √Mm:42,413 λ:0,02 |dp|m:0,0456 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:12,627 √J0m:11,480 √Mm:41,483 λ:0,02 |dp|m:0,0456 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:11,757 √J0m:10,572 √Mm:40,581 λ:0,02 |dp|m:0,0456 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:10,897 √J0m:9,665 √Mm:39,709 λ:0,02 |dp|m:0,0456 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:10,049 √J0m:8,759 √Mm:38,869 λ:0,02 |dp|m:0,0456 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:9,218 √J0m:7,854 √Mm:38,063 λ:0,02 |dp|m:0,0456 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:8,406 √J0m:6,951 √Mm:37,293 λ:0,02 |dp|m:0,0456 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:7,622 √J0m:6,051 √Mm:36,560 λ:0,02 |dp|m:0,0456 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:6,873 √J0m:5,155 √Mm:35,867 λ:0,02 |dp|m:0,0456 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:6,174 √J0m:4,266 √Mm:35,217 λ:0,02 |dp|m:0,0456 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:5,544 √J0m:3,389 √Mm:34,610 λ:0,02 |dp|m:0,0456 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:5,007 √J0m:2,538 √Mm:34,050 λ:0,02 |dp|m:0,0456 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:4,596 √J0m:1,748 √Mm:33,537 λ:0,02 |dp|m:0,0456 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:4,349 √J0m:1,156 √Mm:33,075 λ:0,02 |dp|m:0,0456 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:4,292 √J0m:1,132 √Mm:32,665 λ:0,02 |dp|m:0,0456 mm
Acabado Optimizado (izq). Cuadro 208 Distancia Esque. Antes y Despues Retoque:405,00 Distancias Despues con p y q: 1,00 810,00 mm


Comienzan Iteraciones para cuadro 209

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 70 -85 -195 -244 -253 162 273 379 454 -28 -116 -107 -23 74 96 48 114
co 2 -359 -01 171 -138 -262 -297 -270 -94 -107 -164 -138 -500 -969 -1304 -1331 -496 -973 -1291 -1318
co 3 48 -01 -32 -98 -275 -558 -637 220 375 520 564 21 176 255 238 109 162 207 295
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -13 102 -80 -38 74 21 05 103 -34 -31 -115 -40 88 61 -66 -22 -69 74 -31
co 2 246 -270 -192 -08 94 34 -16 19 -60 117 -42 -377 205 219 20 -438 209 275 12
co 3 -36 32 34 -88 07 113 47 149 -49 -134 -69 177 -91 -72 13 10 -17 01 -41
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 32 10 -54 -74 -115 -125 114 126 180 191 -27 -30 -34 -32 30 26 47 47
dpco 2 -102 -86 25 -71 -101 -138 -140 -41 -73 -45 -82 -370 -419 -583 -659 -386 -420 -559 -655
dpco 3 12 10 -05 -77 -135 -243 -304 157 172 218 260 67 59 105 123 58 76 104 135
Lambdas Total x y z: -0,63 5,58 -0,36 2,66

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:367,621 √J0m:378,696 √Mm:114,271 λ:-0,63 |dp|m:0,8317 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:351,256 √J0m:362,345 √Mm:111,805 λ:-0,63 |dp|m:0,8317 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:334,893 √J0m:346,020 √Mm:109,405 λ:-0,63 |dp|m:0,8317 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:318,530 √J0m:329,727 √Mm:107,084 λ:-0,63 |dp|m:0,8317 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:302,164 √J0m:313,469 √Mm:104,858 λ:-0,63 |dp|m:0,8317 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:285,793 √J0m:297,253 √Mm:102,739 λ:-0,63 |dp|m:0,8317 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:269,416 √J0m:281,085 √Mm:100,742 λ:-0,63 |dp|m:0,8317 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:253,028 √J0m:264,975 √Mm:98,879 λ:-0,63 |dp|m:0,8317 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:236,627 √J0m:248,934 √Mm:97,163 λ:-0,63 |dp|m:0,8317 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:220,210 √J0m:232,976 √Mm:95,606 λ:-0,63 |dp|m:0,8317 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:203,769 √J0m:217,120 √Mm:94,220 λ:-0,63 |dp|m:0,8317 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:187,299 √J0m:201,389 √Mm:93,016 λ:-0,63 |dp|m:0,8317 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:170,790 √J0m:185,815 √Mm:92,004 λ:-0,63 |dp|m:0,8317 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:154,228 √J0m:170,442 √Mm:91,193 λ:-0,63 |dp|m:0,8317 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:137,594 √J0m:155,328 √Mm:90,592 λ:-0,63 |dp|m:0,8317 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:120,855 √J0m:140,558 √Mm:90,206 λ:-0,63 |dp|m:0,8317 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:103,962 √J0m:126,253 √Mm:90,040 λ:-0,63 |dp|m:0,8317 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:86,821 √J0m:112,588 √Mm:90,097 λ:-0,63 |dp|m:0,8317 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:69,250 √J0m:99,830 √Mm:90,378 λ:-0,63 |dp|m:0,8317 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:50,802 √J0m:88,369 √Mm:90,883 λ:-0,63 |dp|m:0,8317 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:29,892 √J0m:78,776 √Mm:91,609 λ:-0,63 |dp|m:0,8317 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:71,801 √Mm:92,551 λ:-0,63 |dp|m:0,8317 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:68,254 √Mm:93,705 λ:-0,63 |dp|m:0,8317 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:68,667 √Mm:95,063 λ:-0,63 |dp|m:0,8317 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 07 -71 49 35 -32 10 22 -88 -04 -16 35 31 -50 -31 48 08 38 -56 10
co 2 -135 188 117 19 -39 06 38 -04 53 -65 43 313 -46 -22 119 354 -48 -62 123
co 3 20 -22 -20 71 23 -23 31 -126 -03 41 -08 -126 46 25 -33 -18 -04 -21 -01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 22 -99 01 -80 55 -13 -11 259 -63 -48 -29 -129 59 -21 22 69 -11 -28 29
co 2 490 -278 22 -56 58 -28 08 -84 85 -18 16 -567 483 -73 -47 -649 427 92 -102
co 3 -65 -92 -03 -111 155 -10 -81 381 -106 -44 -40 113 -118 27 06 138 -72 -64 68
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 05 -43 24 11 -12 04 10 -25 -06 -12 15 06 -21 -17 26 09 18 -30 07
dpco 2 -32 74 60 06 -15 01 20 -08 33 -34 23 115 12 -16 56 130 07 -24 54
dpco 3 05 -18 -10 27 23 -12 10 -35 -09 17 -07 -55 14 14 -16 01 -08 -15 04
Lambdas Total x y z: -0,15 2,86 -0,12 1,07

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:60,516 √J0m:70,506 √Mm:94,493 λ:-0,15 |dp|m:0,1283 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:58,130 √J0m:68,046 √Mm:92,389 λ:-0,15 |dp|m:0,1283 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:55,743 √J0m:65,595 √Mm:90,307 λ:-0,15 |dp|m:0,1283 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:53,355 √J0m:63,153 √Mm:88,249 λ:-0,15 |dp|m:0,1283 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:50,966 √J0m:60,722 √Mm:86,216 λ:-0,15 |dp|m:0,1283 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:48,576 √J0m:58,302 √Mm:84,209 λ:-0,15 |dp|m:0,1283 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:46,185 √J0m:55,895 √Mm:82,232 λ:-0,15 |dp|m:0,1283 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:43,792 √J0m:53,502 √Mm:80,285 λ:-0,15 |dp|m:0,1283 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:41,397 √J0m:51,127 √Mm:78,372 λ:-0,15 |dp|m:0,1283 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:38,999 √J0m:48,771 √Mm:76,494 λ:-0,15 |dp|m:0,1283 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:36,600 √J0m:46,438 √Mm:74,653 λ:-0,15 |dp|m:0,1283 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:34,197 √J0m:44,130 √Mm:72,854 λ:-0,15 |dp|m:0,1283 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:31,791 √J0m:41,852 √Mm:71,099 λ:-0,15 |dp|m:0,1283 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:29,379 √J0m:39,610 √Mm:69,391 λ:-0,15 |dp|m:0,1283 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:26,962 √J0m:37,409 √Mm:67,736 λ:-0,15 |dp|m:0,1283 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:24,536 √J0m:35,258 √Mm:66,135 λ:-0,15 |dp|m:0,1283 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:22,099 √J0m:33,166 √Mm:64,596 λ:-0,15 |dp|m:0,1283 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:19,647 √J0m:31,145 √Mm:63,121 λ:-0,15 |dp|m:0,1283 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:17,173 √J0m:29,210 √Mm:61,718 λ:-0,15 |dp|m:0,1283 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:14,664 √J0m:27,379 √Mm:60,391 λ:-0,15 |dp|m:0,1283 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:12,098 √J0m:25,674 √Mm:59,147 λ:-0,15 |dp|m:0,1283 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:9,429 √J0m:24,122 √Mm:57,992 λ:-0,15 |dp|m:0,1283 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:6,531 √J0m:22,755 √Mm:56,933 λ:-0,15 |dp|m:0,1283 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:2,748 √J0m:21,606 √Mm:55,976 λ:-0,15 |dp|m:0,1283 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:20,714 √Mm:55,129 λ:-0,15 |dp|m:0,1283 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:20,112 √Mm:54,396 λ:-0,15 |dp|m:0,1283 mm
LINE SEARCH. Vez:27 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:19,826 √Mm:53,786 λ:-0,15 |dp|m:0,1283 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -06 34 -11 06 -03 00 -03 -26 12 12 -03 16 01 11 -15 -14 -07 18 -08
co 2 -57 07 -31 06 -01 04 -10 16 -28 18 -13 30 -77 18 -19 35 -66 -02 -10
co 3 07 22 05 04 -33 07 07 -40 20 -02 09 09 11 -11 07 -21 14 17 -12
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -143 12 -15 35 -23 -03 252 -91 05 -24 -53 12 -36 40 49 12 -74 59
co 2 10 51 26 -23 30 -36 16 -61 -26 28 -12 -146 262 -186 -03 -204 218 -78 -16
co 3 -02 -167 -03 -20 178 -126 -36 336 -122 -17 -11 04 -70 56 -10 63 -22 -62 76
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -03 18 -06 03 -01 00 -02 -14 06 06 -01 08 00 06 -08 -07 -03 09 -04
dpco 2 -29 03 -16 03 -01 02 -05 08 -14 09 -06 15 -39 10 -10 18 -34 -01 -05
dpco 3 04 11 03 02 -17 04 04 -21 10 -01 05 04 06 -05 03 -11 07 09 -06
Lambdas Total x y z: 0,01 0,86 0,20 0,36

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:19,426 √J0m:18,973 √Mm:52,140 λ:0,01 |dp|m:0,0449 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:18,530 √J0m:18,075 √Mm:50,988 λ:0,01 |dp|m:0,0449 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:17,635 √J0m:17,178 √Mm:49,849 λ:0,01 |dp|m:0,0449 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:16,741 √J0m:16,281 √Mm:48,723 λ:0,01 |dp|m:0,0449 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:15,849 √J0m:15,384 √Mm:47,612 λ:0,01 |dp|m:0,0449 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:14,958 √J0m:14,487 √Mm:46,516 λ:0,01 |dp|m:0,0449 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:14,068 √J0m:13,590 √Mm:45,436 λ:0,01 |dp|m:0,0449 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:13,181 √J0m:12,694 √Mm:44,373 λ:0,01 |dp|m:0,0449 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:12,297 √J0m:11,798 √Mm:43,329 λ:0,01 |dp|m:0,0449 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:11,416 √J0m:10,902 √Mm:42,306 λ:0,01 |dp|m:0,0449 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:10,539 √J0m:10,007 √Mm:41,303 λ:0,01 |dp|m:0,0449 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:9,667 √J0m:9,112 √Mm:40,324 λ:0,01 |dp|m:0,0449 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:8,801 √J0m:8,218 √Mm:39,370 λ:0,01 |dp|m:0,0449 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:7,945 √J0m:7,325 √Mm:38,442 λ:0,01 |dp|m:0,0449 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:7,101 √J0m:6,434 √Mm:37,543 λ:0,01 |dp|m:0,0449 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:6,274 √J0m:5,545 √Mm:36,673 λ:0,01 |dp|m:0,0449 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:5,472 √J0m:4,660 √Mm:35,837 λ:0,01 |dp|m:0,0449 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:4,707 √J0m:3,780 √Mm:35,034 λ:0,01 |dp|m:0,0449 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:4,001 √J0m:2,913 √Mm:34,269 λ:0,01 |dp|m:0,0449 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:3,391 √J0m:2,072 √Mm:33,543 λ:0,01 |dp|m:0,0449 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:2,938 √J0m:1,310 √Mm:32,859 λ:0,01 |dp|m:0,0449 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:2,721 √J0m:0,868 √Mm:32,218 λ:0,01 |dp|m:0,0449 mm
Acabado Optimizado (izq). Cuadro 209 Distancia Esque. Antes y Despues Retoque:405,00 Distancias Despues con p y q: 1,00 810,00 mm


Comienzan Iteraciones para cuadro 210

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 12 -01 65 -89 -191 -244 -257 158 282 476 511 -32 -120 -111 -28 70 87 43 114
co 2 -350 -01 176 -134 -257 -293 -266 -45 -111 -98 -41 -496 -964 -1300 -1326 -487 -969 -1287 -1313
co 3 48 -01 -32 -94 -262 -544 -633 277 397 520 520 26 176 260 242 109 162 211 299
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -10 59 -73 -32 72 23 05 162 -27 -100 -87 -44 89 61 -66 -29 -60 70 -31
co 2 256 -250 -192 -18 104 30 -12 -101 123 126 -139 -381 209 217 20 -431 205 276 11
co 3 -34 20 33 -95 14 120 39 118 -87 -120 -02 172 -85 -75 13 10 -12 -06 -38
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 03 18 10 -55 -73 -115 -127 129 133 207 229 -29 -33 -37 -34 26 25 43 48
dpco 2 -96 -77 29 -72 -97 -137 -137 -54 -18 -10 -63 -365 -418 -583 -657 -376 -421 -559 -653
dpco 3 13 06 -06 -76 -127 -235 -304 175 172 223 259 65 62 107 125 58 78 104 138
Lambdas Total x y z: -0,61 4,77 -0,37 3,21

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:367,784 √J0m:378,432 √Mm:113,721 λ:-0,61 |dp|m:0,8324 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:351,385 √J0m:362,058 √Mm:111,331 λ:-0,61 |dp|m:0,8324 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:334,982 √J0m:345,712 √Mm:109,033 λ:-0,61 |dp|m:0,8324 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:318,572 √J0m:329,395 √Mm:106,840 λ:-0,61 |dp|m:0,8324 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:302,154 √J0m:313,113 √Mm:104,762 λ:-0,61 |dp|m:0,8324 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:285,726 √J0m:296,872 √Mm:102,812 λ:-0,61 |dp|m:0,8324 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:269,284 √J0m:280,679 √Mm:101,000 λ:-0,61 |dp|m:0,8324 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:252,824 √J0m:264,543 √Mm:99,338 λ:-0,61 |dp|m:0,8324 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:236,344 √J0m:248,474 √Mm:97,838 λ:-0,61 |dp|m:0,8324 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:219,835 √J0m:232,486 √Mm:96,511 λ:-0,61 |dp|m:0,8324 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:203,291 √J0m:216,599 √Mm:95,369 λ:-0,61 |dp|m:0,8324 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:186,700 √J0m:200,834 √Mm:94,421 λ:-0,61 |dp|m:0,8324 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:170,049 √J0m:185,224 √Mm:93,676 λ:-0,61 |dp|m:0,8324 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:153,317 √J0m:169,812 √Mm:93,144 λ:-0,61 |dp|m:0,8324 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:136,472 √J0m:154,657 √Mm:92,829 λ:-0,61 |dp|m:0,8324 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:119,465 √J0m:139,841 √Mm:92,737 λ:-0,61 |dp|m:0,8324 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:102,215 √J0m:125,486 √Mm:92,870 λ:-0,61 |dp|m:0,8324 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:84,571 √J0m:111,769 √Mm:93,230 λ:-0,61 |dp|m:0,8324 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:66,220 √J0m:98,955 √Mm:93,814 λ:-0,61 |dp|m:0,8324 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:46,324 √J0m:87,444 √Mm:94,620 λ:-0,61 |dp|m:0,8324 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:20,853 √J0m:77,814 √Mm:95,644 λ:-0,61 |dp|m:0,8324 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:70,838 √Mm:96,880 λ:-0,61 |dp|m:0,8324 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:67,345 √Mm:98,321 λ:-0,61 |dp|m:0,8324 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:67,875 √Mm:99,958 λ:-0,61 |dp|m:0,8324 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 05 -40 43 31 -30 09 22 -125 -10 20 08 33 -48 -30 47 13 32 -51 09
co 2 -138 169 112 25 -45 09 35 73 -72 -75 98 307 -45 -17 119 340 -41 -58 124
co 3 18 -13 -19 73 17 -27 37 -108 19 29 -50 -119 40 25 -33 -18 -08 -17 -04
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 04 -162 02 -76 70 -09 -18 429 -232 51 -66 -131 57 -21 22 63 -12 -35 36
co 2 495 -280 18 -69 76 -35 13 26 -24 -48 46 -563 480 -81 -43 -605 396 93 -102
co 3 -76 -204 -02 -119 182 13 -109 501 -199 53 -63 110 -119 29 06 126 -66 -69 72
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 03 -29 22 11 -11 04 10 -39 -18 13 00 09 -21 -16 25 10 15 -28 07
dpco 2 -42 70 57 09 -18 03 18 38 -37 -40 52 123 03 -13 57 137 01 -24 56
dpco 3 05 -18 -10 30 18 -13 13 -27 -01 17 -29 -53 13 14 -16 -02 -08 -12 02
Lambdas Total x y z: -0,11 1,17 -0,08 0,72

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:61,546 √J0m:69,707 √Mm:99,546 λ:-0,11 |dp|m:0,1349 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:58,954 √J0m:67,080 √Mm:97,334 λ:-0,11 |dp|m:0,1349 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:56,359 √J0m:64,459 √Mm:95,146 λ:-0,11 |dp|m:0,1349 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:53,760 √J0m:61,844 √Mm:92,982 λ:-0,11 |dp|m:0,1349 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:51,156 √J0m:59,238 √Mm:90,844 λ:-0,11 |dp|m:0,1349 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:48,548 √J0m:56,639 √Mm:88,729 λ:-0,11 |dp|m:0,1349 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:45,936 √J0m:54,051 √Mm:86,637 λ:-0,11 |dp|m:0,1349 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:43,318 √J0m:51,474 √Mm:84,568 λ:-0,11 |dp|m:0,1349 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:40,694 √J0m:48,910 √Mm:82,521 λ:-0,11 |dp|m:0,1349 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:38,065 √J0m:46,361 √Mm:80,495 λ:-0,11 |dp|m:0,1349 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:35,428 √J0m:43,831 √Mm:78,490 λ:-0,11 |dp|m:0,1349 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:32,782 √J0m:41,321 √Mm:76,510 λ:-0,11 |dp|m:0,1349 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:30,124 √J0m:38,837 √Mm:74,557 λ:-0,11 |dp|m:0,1349 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:27,449 √J0m:36,384 √Mm:72,635 λ:-0,11 |dp|m:0,1349 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:24,752 √J0m:33,968 √Mm:70,752 λ:-0,11 |dp|m:0,1349 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:22,023 √J0m:31,598 √Mm:68,913 λ:-0,11 |dp|m:0,1349 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:19,247 √J0m:29,284 √Mm:67,128 λ:-0,11 |dp|m:0,1349 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:16,397 √J0m:27,042 √Mm:65,404 λ:-0,11 |dp|m:0,1349 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:13,425 √J0m:24,891 √Mm:63,751 λ:-0,11 |dp|m:0,1349 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:10,223 √J0m:22,857 √Mm:62,178 λ:-0,11 |dp|m:0,1349 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:6,454 √J0m:20,973 √Mm:60,694 λ:-0,11 |dp|m:0,1349 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:19,284 √Mm:59,311 λ:-0,11 |dp|m:0,1349 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:17,845 √Mm:58,036 λ:-0,11 |dp|m:0,1349 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:16,720 √Mm:56,880 λ:-0,11 |dp|m:0,1349 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:15,977 √Mm:55,853 λ:-0,11 |dp|m:0,1349 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 26 -06 05 -04 00 -01 -35 30 -09 07 11 00 07 -09 -10 -03 12 -06
co 2 -41 10 -18 05 -03 03 -07 -14 13 17 -20 25 -53 12 -12 26 -43 -03 -05
co 3 07 27 03 04 -25 02 08 -46 22 -11 15 03 09 -07 04 -13 09 11 -08
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -162 07 -18 43 -20 -08 287 -176 75 -23 -42 07 -26 31 35 08 -66 57
co 2 26 01 17 -24 38 -39 20 -136 106 67 -62 -110 214 -157 -04 -133 152 -52 -18
co 3 -04 -258 -02 -26 177 -94 -57 386 -150 23 10 -02 -57 49 -07 41 -17 -58 70
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 17 -03 03 -03 00 00 -25 20 -07 04 07 00 04 -06 -06 -02 08 -04
dpco 2 -21 05 -10 03 -02 03 -04 -03 04 07 -08 16 -32 10 -06 17 -26 00 -02
dpco 3 04 21 02 03 -17 04 06 -34 15 -06 07 02 06 -05 02 -08 05 07 -06
Lambdas Total x y z: 0,05 0,61 0,51 0,28

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:19,383 √J0m:14,815 √Mm:53,760 λ:0,05 |dp|m:0,0433 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:18,556 √J0m:13,963 √Mm:52,566 λ:0,05 |dp|m:0,0433 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:17,738 √J0m:13,112 √Mm:51,380 λ:0,05 |dp|m:0,0433 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:16,930 √J0m:12,264 √Mm:50,205 λ:0,05 |dp|m:0,0433 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:16,135 √J0m:11,418 √Mm:49,039 λ:0,05 |dp|m:0,0433 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:15,355 √J0m:10,575 √Mm:47,886 λ:0,05 |dp|m:0,0433 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:14,592 √J0m:9,737 √Mm:46,745 λ:0,05 |dp|m:0,0433 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:13,848 √J0m:8,904 √Mm:45,618 λ:0,05 |dp|m:0,0433 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:13,127 √J0m:8,078 √Mm:44,505 λ:0,05 |dp|m:0,0433 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:12,433 √J0m:7,261 √Mm:43,409 λ:0,05 |dp|m:0,0433 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:11,770 √J0m:6,457 √Mm:42,330 λ:0,05 |dp|m:0,0433 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:11,145 √J0m:5,671 √Mm:41,270 λ:0,05 |dp|m:0,0433 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:10,565 √J0m:4,912 √Mm:40,230 λ:0,05 |dp|m:0,0433 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:10,036 √J0m:4,196 √Mm:39,213 λ:0,05 |dp|m:0,0433 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:9,567 √J0m:3,546 √Mm:38,219 λ:0,05 |dp|m:0,0433 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:9,168 √J0m:3,008 √Mm:37,252 λ:0,05 |dp|m:0,0433 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:8,848 √J0m:2,649 √Mm:36,312 λ:0,05 |dp|m:0,0433 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:8,616 √J0m:2,547 √Mm:35,403 λ:0,05 |dp|m:0,0433 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:8,479 √J0m:2,732 √Mm:34,526 λ:0,05 |dp|m:0,0433 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:8,442 √J0m:3,152 √Mm:33,685 λ:0,05 |dp|m:0,0433 mm
Acabado Optimizado (izq). Cuadro 210 Distancia Esque. Antes y Despues Retoque:404,00 Distancias Despues con p y q: 3,00 809,00 mm


Comienzan Iteraciones para cuadro 211

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 70 -85 -200 -244 -253 162 286 481 516 -23 -116 -107 -23 74 92 52 118
co 2 -346 -01 176 -134 -209 -288 -266 -45 -111 -98 -41 -491 -960 -1300 -1326 -483 -982 -1287 -1313
co 3 48 -01 -32 -94 -275 -549 -633 277 397 525 520 26 180 264 246 109 162 215 304
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -14 69 -77 -52 95 19 04 162 -31 -96 -87 -49 92 61 -66 -31 -58 69 -31
co 2 260 -260 -189 31 33 55 -12 -102 123 126 -139 -374 209 213 20 -414 176 287 12
co 3 -35 17 32 -113 38 111 45 121 -86 -132 08 176 -89 -73 13 07 00 -11 -41
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 21 11 -59 -70 -116 -125 132 133 210 231 -27 -29 -35 -32 27 28 48 49
dpco 2 -92 -82 29 -57 -94 -127 -137 -54 -17 -10 -64 -363 -414 -583 -657 -371 -436 -554 -653
dpco 3 13 05 -06 -82 -126 -240 -302 176 172 221 263 68 62 109 127 57 81 104 139
Lambdas Total x y z: -0,63 4,32 -0,38 2,87

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:367,985 √J0m:378,732 √Mm:113,272 λ:-0,63 |dp|m:0,8325 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:351,593 √J0m:362,364 √Mm:110,883 λ:-0,63 |dp|m:0,8325 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:335,197 √J0m:346,022 √Mm:108,581 λ:-0,63 |dp|m:0,8325 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:318,797 √J0m:329,711 √Mm:106,377 λ:-0,63 |dp|m:0,8325 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:302,391 √J0m:313,436 √Mm:104,284 λ:-0,63 |dp|m:0,8325 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:285,976 √J0m:297,203 √Mm:102,312 λ:-0,63 |dp|m:0,8325 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:269,550 √J0m:281,018 √Mm:100,474 λ:-0,63 |dp|m:0,8325 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:253,109 √J0m:264,891 √Mm:98,782 λ:-0,63 |dp|m:0,8325 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:236,649 √J0m:248,834 √Mm:97,249 λ:-0,63 |dp|m:0,8325 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:220,165 √J0m:232,859 √Mm:95,886 λ:-0,63 |dp|m:0,8325 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:203,649 √J0m:216,986 √Mm:94,706 λ:-0,63 |dp|m:0,8325 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:187,092 √J0m:201,239 √Mm:93,720 λ:-0,63 |dp|m:0,8325 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:170,480 √J0m:185,649 √Mm:92,938 λ:-0,63 |dp|m:0,8325 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:153,793 √J0m:170,261 √Mm:92,369 λ:-0,63 |dp|m:0,8325 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:137,005 √J0m:155,134 √Mm:92,020 λ:-0,63 |dp|m:0,8325 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:120,069 √J0m:140,351 √Mm:91,896 λ:-0,63 |dp|m:0,8325 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:102,913 √J0m:126,036 √Mm:92,001 λ:-0,63 |dp|m:0,8325 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:85,402 √J0m:112,366 √Mm:92,335 λ:-0,63 |dp|m:0,8325 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:67,259 √J0m:99,607 √Mm:92,899 λ:-0,63 |dp|m:0,8325 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:47,766 √J0m:88,157 √Mm:93,689 λ:-0,63 |dp|m:0,8325 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:23,808 √J0m:78,588 √Mm:94,701 λ:-0,63 |dp|m:0,8325 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:71,659 √Mm:95,929 λ:-0,63 |dp|m:0,8325 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:68,180 √Mm:97,366 λ:-0,63 |dp|m:0,8325 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:68,676 √Mm:99,005 λ:-0,63 |dp|m:0,8325 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 08 -48 46 44 -45 11 22 -128 -07 18 08 36 -52 -31 48 14 30 -53 10
co 2 -144 179 113 -08 -02 -09 35 74 -74 -77 100 306 -48 -17 119 333 -23 -69 123
co 3 19 -12 -19 87 01 -22 32 -111 19 39 -58 -124 44 24 -34 -15 -16 -14 -02
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 05 -164 03 -87 78 -17 -11 435 -237 47 -59 -130 59 -21 21 59 -10 -32 32
co 2 527 -320 26 -66 85 -30 00 36 -31 -46 44 -561 494 -94 -43 -534 279 156 -109
co 3 -85 -195 -03 -137 204 -15 -89 510 -206 56 -64 114 -123 32 05 114 -46 -82 75
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 -33 23 17 -18 05 11 -40 -17 12 01 11 -23 -17 25 10 15 -28 07
dpco 2 -43 72 58 -07 04 -06 17 39 -38 -41 52 122 03 -14 57 137 04 -26 55
dpco 3 05 -17 -10 36 12 -12 11 -27 -02 22 -32 -56 15 14 -17 -01 -11 -11 03
Lambdas Total x y z: -0,11 1,09 -0,07 0,66

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:62,294 √J0m:70,404 √Mm:98,620 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:59,671 √J0m:67,746 √Mm:96,431 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:57,043 √J0m:65,094 √Mm:94,269 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:54,411 √J0m:62,449 √Mm:92,135 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:51,775 √J0m:59,812 √Mm:90,028 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:49,134 √J0m:57,184 √Mm:87,947 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:46,488 √J0m:54,565 √Mm:85,891 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:43,836 √J0m:51,959 √Mm:83,860 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:41,179 √J0m:49,366 √Mm:81,852 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:38,516 √J0m:46,789 √Mm:79,865 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:35,846 √J0m:44,231 √Mm:77,900 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:33,167 √J0m:41,695 √Mm:75,958 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:30,477 √J0m:39,185 √Mm:74,042 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:27,771 √J0m:36,706 √Mm:72,157 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:25,044 √J0m:34,267 √Mm:70,309 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:22,287 √J0m:31,874 √Mm:68,506 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:19,482 √J0m:29,541 √Mm:66,757 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:16,607 √J0m:27,282 √Mm:65,072 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:13,612 √J0m:25,117 √Mm:63,459 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:10,392 √J0m:23,073 √Mm:61,930 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:6,622 √J0m:21,184 √Mm:60,493 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:19,497 √Mm:59,160 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:18,066 √Mm:57,941 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:16,958 √Mm:56,845 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:16,239 √Mm:55,883 λ:-0,11 |dp|m:0,1366 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 28 -07 05 -03 01 -02 -37 31 -08 06 11 00 07 -10 -09 -03 12 -05
co 2 -46 15 -20 09 -10 05 -05 -15 15 17 -20 27 -56 14 -12 20 -32 -10 -04
co 3 08 26 03 05 -26 05 07 -49 23 -13 16 03 09 -08 04 -12 08 12 -09
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -04 -174 12 -27 50 -20 -04 295 -182 80 -22 -39 08 -26 31 31 04 -55 52
co 2 48 -29 26 -18 61 -59 14 -138 110 64 -59 -107 226 -170 -04 -75 57 -07 -20
co 3 -08 -260 -02 -39 191 -108 -42 390 -155 24 14 -01 -60 51 -07 34 -07 -63 69
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 19 -04 03 -03 01 -01 -26 20 -06 04 07 00 04 -06 -06 -02 07 -04
dpco 2 -24 08 -10 05 -07 04 -03 -04 04 07 -08 16 -34 12 -06 12 -18 -05 -01
dpco 3 04 20 02 03 -18 05 04 -35 16 -07 08 02 06 -05 02 -07 04 08 -06
Lambdas Total x y z: 0,05 0,57 0,61 0,26

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:19,621 √J0m:15,097 √Mm:53,857 λ:0,05 |dp|m:0,0439 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:18,782 √J0m:14,234 √Mm:52,660 λ:0,05 |dp|m:0,0439 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:17,953 √J0m:13,373 √Mm:51,471 λ:0,05 |dp|m:0,0439 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:17,134 √J0m:12,514 √Mm:50,292 λ:0,05 |dp|m:0,0439 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:16,327 √J0m:11,658 √Mm:49,123 λ:0,05 |dp|m:0,0439 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:15,535 √J0m:10,805 √Mm:47,966 λ:0,05 |dp|m:0,0439 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:14,760 √J0m:9,956 √Mm:46,821 λ:0,05 |dp|m:0,0439 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:14,004 √J0m:9,113 √Mm:45,690 λ:0,05 |dp|m:0,0439 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:13,270 √J0m:8,277 √Mm:44,573 λ:0,05 |dp|m:0,0439 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:12,564 √J0m:7,450 √Mm:43,473 λ:0,05 |dp|m:0,0439 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:11,889 √J0m:6,637 √Mm:42,390 λ:0,05 |dp|m:0,0439 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:11,252 √J0m:5,841 √Mm:41,325 λ:0,05 |dp|m:0,0439 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:10,659 √J0m:5,073 √Mm:40,282 λ:0,05 |dp|m:0,0439 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:10,117 √J0m:4,346 √Mm:39,260 λ:0,05 |dp|m:0,0439 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:9,637 √J0m:3,685 √Mm:38,263 λ:0,05 |dp|m:0,0439 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:9,226 √J0m:3,132 √Mm:37,292 λ:0,05 |dp|m:0,0439 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:8,896 √J0m:2,753 √Mm:36,349 λ:0,05 |dp|m:0,0439 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:8,654 √J0m:2,625 √Mm:35,438 λ:0,05 |dp|m:0,0439 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:8,510 √J0m:2,781 √Mm:34,559 λ:0,05 |dp|m:0,0439 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:8,467 √J0m:3,182 √Mm:33,716 λ:0,05 |dp|m:0,0439 mm
Acabado Optimizado (izq). Cuadro 211 Distancia Esque. Antes y Despues Retoque:405,00 Distancias Despues con p y q: 3,00 810,00 mm


Comienzan Iteraciones para cuadro 212

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 70 -89 -204 -244 -257 162 286 481 525 -23 -116 -107 -23 74 92 52 123
co 2 -346 -01 176 -134 -209 -288 -270 -45 -111 -85 -36 -491 -960 -1300 -1326 -483 -982 -1287 -1313
co 3 48 -01 -32 -94 -275 -549 -628 282 397 525 525 26 180 268 251 114 167 220 308
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -14 65 -77 -50 97 13 08 170 -38 -68 -112 -49 92 61 -66 -28 -58 69 -31
co 2 260 -256 -189 28 33 55 -11 -105 138 97 -123 -374 211 211 20 -417 176 288 11
co 3 -35 16 32 -115 37 107 50 121 -84 -121 -03 176 -87 -76 13 05 00 -14 -38
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 20 11 -60 -72 -118 -126 134 131 219 227 -27 -29 -34 -32 28 28 48 52
dpco 2 -91 -81 29 -58 -94 -127 -139 -56 -12 -12 -57 -363 -414 -584 -657 -372 -436 -553 -653
dpco 3 13 05 -06 -83 -126 -241 -299 179 172 225 262 68 63 111 130 59 83 106 142
Lambdas Total x y z: -0,63 4,18 -0,38 2,97

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:368,386 √J0m:379,154 √Mm:113,276 λ:-0,63 |dp|m:0,8335 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:351,973 √J0m:362,766 √Mm:110,893 λ:-0,63 |dp|m:0,8335 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:335,555 √J0m:346,405 √Mm:108,605 λ:-0,63 |dp|m:0,8335 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:319,131 √J0m:330,075 √Mm:106,423 λ:-0,63 |dp|m:0,8335 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:302,697 √J0m:313,781 √Mm:104,361 λ:-0,63 |dp|m:0,8335 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:286,253 √J0m:297,528 √Mm:102,431 λ:-0,63 |dp|m:0,8335 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:269,793 √J0m:281,323 √Mm:100,645 λ:-0,63 |dp|m:0,8335 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:253,314 √J0m:265,177 √Mm:99,015 λ:-0,63 |dp|m:0,8335 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:236,812 √J0m:249,099 √Mm:97,553 λ:-0,63 |dp|m:0,8335 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:220,280 √J0m:233,104 √Mm:96,271 λ:-0,63 |dp|m:0,8335 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:203,710 √J0m:217,211 √Mm:95,179 λ:-0,63 |dp|m:0,8335 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:187,090 √J0m:201,444 √Mm:94,287 λ:-0,63 |dp|m:0,8335 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:170,404 √J0m:185,834 √Mm:93,604 λ:-0,63 |dp|m:0,8335 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:153,632 √J0m:170,425 √Mm:93,137 λ:-0,63 |dp|m:0,8335 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:136,738 √J0m:155,276 √Mm:92,891 λ:-0,63 |dp|m:0,8335 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:119,672 √J0m:140,472 √Mm:92,872 λ:-0,63 |dp|m:0,8335 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:102,345 √J0m:126,135 √Mm:93,081 λ:-0,63 |dp|m:0,8335 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:84,597 √J0m:112,442 √Mm:93,518 λ:-0,63 |dp|m:0,8335 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:66,087 √J0m:99,661 √Mm:94,182 λ:-0,63 |dp|m:0,8335 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:45,902 √J0m:88,187 √Mm:95,069 λ:-0,63 |dp|m:0,8335 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:19,361 √J0m:78,597 √Mm:96,174 λ:-0,63 |dp|m:0,8335 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:71,650 √Mm:97,492 λ:-0,63 |dp|m:0,8335 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:68,160 √Mm:99,013 λ:-0,63 |dp|m:0,8335 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:68,655 √Mm:100,731 λ:-0,63 |dp|m:0,8335 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 08 -45 46 43 -47 15 21 -133 -03 -01 25 36 -52 -31 48 12 31 -53 09
co 2 -145 177 113 -06 -02 -09 35 77 -84 -58 89 307 -50 -16 119 336 -23 -70 124
co 3 19 -11 -19 89 02 -19 29 -112 18 31 -51 -124 42 25 -34 -15 -17 -12 -05
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 03 -166 03 -91 78 -17 -11 448 -263 72 -65 -130 60 -20 21 61 -09 -37 37
co 2 524 -313 24 -68 86 -27 -03 66 -65 -51 50 -565 500 -99 -42 -542 281 160 -113
co 3 -85 -203 -03 -142 206 -31 -74 526 -224 89 -84 115 -127 34 06 120 -47 -85 78
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 -31 23 17 -19 07 10 -43 -15 03 09 11 -23 -17 25 09 15 -28 06
dpco 2 -45 72 58 -06 04 -06 17 42 -45 -32 47 124 01 -13 57 140 03 -27 56
dpco 3 05 -16 -10 37 12 -11 10 -28 -02 20 -30 -56 14 14 -17 -01 -11 -11 02
Lambdas Total x y z: -0,10 1,02 -0,06 0,64

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:62,475 √J0m:70,367 √Mm:100,377 λ:-0,10 |dp|m:0,1375 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:59,826 √J0m:67,684 √Mm:98,136 λ:-0,10 |dp|m:0,1375 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:57,174 √J0m:65,007 √Mm:95,913 λ:-0,10 |dp|m:0,1375 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:54,519 √J0m:62,337 √Mm:93,709 λ:-0,10 |dp|m:0,1375 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:51,860 √J0m:59,674 √Mm:91,524 λ:-0,10 |dp|m:0,1375 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:49,198 √J0m:57,020 √Mm:89,358 λ:-0,10 |dp|m:0,1375 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:46,533 √J0m:54,375 √Mm:87,210 λ:-0,10 |dp|m:0,1375 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:43,863 √J0m:51,741 √Mm:85,082 λ:-0,10 |dp|m:0,1375 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:41,188 √J0m:49,120 √Mm:82,974 λ:-0,10 |dp|m:0,1375 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:38,507 √J0m:46,514 √Mm:80,887 λ:-0,10 |dp|m:0,1375 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:35,819 √J0m:43,925 √Mm:78,823 λ:-0,10 |dp|m:0,1375 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:33,121 √J0m:41,357 √Mm:76,785 λ:-0,10 |dp|m:0,1375 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:30,411 √J0m:38,815 √Mm:74,779 λ:-0,10 |dp|m:0,1375 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:27,683 √J0m:36,303 √Mm:72,810 λ:-0,10 |dp|m:0,1375 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:24,931 √J0m:33,828 √Mm:70,884 λ:-0,10 |dp|m:0,1375 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:22,145 √J0m:31,399 √Mm:69,010 λ:-0,10 |dp|m:0,1375 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:19,309 √J0m:29,028 √Mm:67,194 λ:-0,10 |dp|m:0,1375 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:16,395 √J0m:26,729 √Mm:65,447 λ:-0,10 |dp|m:0,1375 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:13,351 √J0m:24,524 √Mm:63,776 λ:-0,10 |dp|m:0,1375 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:10,055 √J0m:22,439 √Mm:62,192 λ:-0,10 |dp|m:0,1375 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:6,113 √J0m:20,513 √Mm:60,704 λ:-0,10 |dp|m:0,1375 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:18,792 √Mm:59,322 λ:-0,10 |dp|m:0,1375 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:17,339 √Mm:58,057 λ:-0,10 |dp|m:0,1375 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:16,226 √Mm:56,918 λ:-0,10 |dp|m:0,1375 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:15,526 √Mm:55,914 λ:-0,10 |dp|m:0,1375 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 26 -07 05 -03 00 -02 -34 32 -08 04 10 00 07 -09 -09 -03 12 -06
co 2 -42 12 -19 09 -10 05 -05 -19 20 14 -19 23 -52 14 -12 16 -30 -09 -04
co 3 07 26 03 04 -25 06 05 -47 24 -15 17 04 09 -08 04 -12 08 12 -09
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -03 -169 10 -28 45 -16 -05 293 -184 99 -38 -35 06 -26 30 31 04 -60 58
co 2 38 -15 23 -22 60 -54 09 -142 109 74 -64 -96 218 -169 -04 -69 51 -06 -20
co 3 -06 -263 -02 -40 188 -119 -30 387 -150 26 16 -03 -59 53 -07 36 -06 -65 71
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 19 -04 03 -03 00 -01 -27 22 -07 03 06 00 04 -06 -06 -02 08 -05
dpco 2 -22 06 -10 05 -07 04 -03 -05 06 05 -07 15 -33 13 -06 10 -17 -04 -02
dpco 3 04 21 02 03 -19 07 03 -36 17 -08 08 02 06 -06 02 -07 04 08 -07
Lambdas Total x y z: 0,07 0,56 0,67 0,27

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:19,967 √J0m:14,435 √Mm:53,851 λ:0,07 |dp|m:0,0440 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:19,138 √J0m:13,577 √Mm:52,651 λ:0,07 |dp|m:0,0440 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:18,320 √J0m:12,722 √Mm:51,459 λ:0,07 |dp|m:0,0440 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:17,515 √J0m:11,871 √Mm:50,275 λ:0,07 |dp|m:0,0440 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:16,725 √J0m:11,024 √Mm:49,100 λ:0,07 |dp|m:0,0440 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:15,952 √J0m:10,183 √Mm:47,935 λ:0,07 |dp|m:0,0440 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:15,199 √J0m:9,349 √Mm:46,780 λ:0,07 |dp|m:0,0440 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:14,469 √J0m:8,525 √Mm:45,638 λ:0,07 |dp|m:0,0440 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:13,765 √J0m:7,713 √Mm:44,508 λ:0,07 |dp|m:0,0440 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:13,093 √J0m:6,917 √Mm:43,393 λ:0,07 |dp|m:0,0440 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:12,456 √J0m:6,145 √Mm:42,294 λ:0,07 |dp|m:0,0440 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:11,861 √J0m:5,407 √Mm:41,212 λ:0,07 |dp|m:0,0440 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:11,315 √J0m:4,717 √Mm:40,148 λ:0,07 |dp|m:0,0440 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:10,825 √J0m:4,101 √Mm:39,106 λ:0,07 |dp|m:0,0440 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:10,398 √J0m:3,597 √Mm:38,085 λ:0,07 |dp|m:0,0440 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:10,044 √J0m:3,258 √Mm:37,089 λ:0,07 |dp|m:0,0440 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:9,769 √J0m:3,136 √Mm:36,119 λ:0,07 |dp|m:0,0440 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:9,582 √J0m:3,257 √Mm:35,178 λ:0,07 |dp|m:0,0440 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:9,486 √J0m:3,596 √Mm:34,268 λ:0,07 |dp|m:0,0440 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:9,485 √J0m:4,099 √Mm:33,392 λ:0,07 |dp|m:0,0440 mm
Acabado Optimizado (izq). Cuadro 212 Distancia Esque. Antes y Despues Retoque:405,00 Distancias Despues con p y q: 4,00 811,00 mm


Comienzan Iteraciones para cuadro 213

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 21 -01 70 -85 -191 -240 -253 162 295 450 525 -19 -116 -107 -63 79 96 61 132
co 2 -346 -01 176 -138 -270 -297 -270 -41 -116 -50 -28 -491 -960 -1300 -1375 -478 -982 -1287 -1313
co 3 52 -01 -32 -89 -275 -558 -620 282 392 489 534 30 189 286 295 118 171 233 326
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -18 72 -77 -23 62 14 12 172 -16 -85 -118 -53 95 30 -37 -32 -53 61 -28
co 2 258 -258 -189 -01 97 39 -26 -114 209 -55 -36 -370 211 167 64 -413 173 287 10
co 3 -39 23 32 -86 00 103 59 101 -56 -60 -70 179 -85 -59 -08 01 09 -24 -36
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 23 09 -50 -75 -115 -123 138 142 197 223 -27 -26 -44 -44 29 31 51 57
dpco 2 -87 -86 25 -69 -103 -136 -144 -58 11 -43 -26 -368 -410 -595 -666 -376 -434 -548 -653
dpco 3 13 07 -05 -73 -137 -245 -290 174 178 225 244 74 66 123 145 60 89 109 151
Lambdas Total x y z: -0,66 4,63 -0,40 3,68

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:370,415 √J0m:381,595 √Mm:112,745 λ:-0,66 |dp|m:0,8372 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:353,943 √J0m:365,148 √Mm:110,373 λ:-0,66 |dp|m:0,8372 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:337,466 √J0m:348,729 √Mm:108,095 λ:-0,66 |dp|m:0,8372 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:320,983 √J0m:332,343 √Mm:105,926 λ:-0,66 |dp|m:0,8372 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:304,491 √J0m:315,994 √Mm:103,880 λ:-0,66 |dp|m:0,8372 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:287,986 √J0m:299,689 √Mm:101,971 λ:-0,66 |dp|m:0,8372 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:271,465 √J0m:283,435 √Mm:100,210 λ:-0,66 |dp|m:0,8372 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:254,924 √J0m:267,242 √Mm:98,611 λ:-0,66 |dp|m:0,8372 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:238,358 √J0m:251,121 √Mm:97,184 λ:-0,66 |dp|m:0,8372 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:221,760 √J0m:235,088 √Mm:95,942 λ:-0,66 |dp|m:0,8372 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:205,122 √J0m:219,161 √Mm:94,893 λ:-0,66 |dp|m:0,8372 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:188,432 √J0m:203,365 √Mm:94,048 λ:-0,66 |dp|m:0,8372 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:171,674 √J0m:187,734 √Mm:93,413 λ:-0,66 |dp|m:0,8372 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:154,826 √J0m:172,312 √Mm:92,995 λ:-0,66 |dp|m:0,8372 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:137,852 √J0m:157,161 √Mm:92,800 λ:-0,66 |dp|m:0,8372 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:120,700 √J0m:142,367 √Mm:92,829 λ:-0,66 |dp|m:0,8372 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:103,280 √J0m:128,055 √Mm:93,086 λ:-0,66 |dp|m:0,8372 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:85,426 √J0m:114,406 √Mm:93,568 λ:-0,66 |dp|m:0,8372 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:66,792 √J0m:101,685 √Mm:94,275 λ:-0,66 |dp|m:0,8372 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:46,443 √J0m:90,288 √Mm:95,202 λ:-0,66 |dp|m:0,8372 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:19,623 √J0m:80,776 √Mm:96,344 λ:-0,66 |dp|m:0,8372 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:73,881 √Mm:97,695 λ:-0,66 |dp|m:0,8372 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:70,375 √Mm:99,248 λ:-0,66 |dp|m:0,8372 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:70,766 √Mm:100,993 λ:-0,66 |dp|m:0,8372 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 11 -53 49 25 -26 14 17 -141 -18 17 33 40 -58 -11 34 15 29 -51 07
co 2 -153 188 120 14 -44 02 46 87 -140 45 29 318 -57 09 91 348 -28 -80 124
co 3 23 -17 -20 72 27 -19 19 -102 01 -05 -02 -133 43 14 -24 -13 -24 -06 -06
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 03 -182 03 -45 43 -18 -05 401 -128 -34 -48 -139 70 -21 15 61 -11 -41 42
co 2 553 -342 28 -34 41 -19 02 124 -132 37 -22 -592 553 -100 -78 -549 282 177 -125
co 3 -96 -201 -04 -65 130 -58 -30 470 -114 -30 -31 126 -148 36 19 124 -52 -100 92
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 06 -37 25 10 -11 06 08 -47 -16 06 14 12 -25 -07 18 11 14 -28 06
dpco 2 -45 74 62 05 -20 00 23 51 -78 25 13 125 03 -01 41 142 02 -30 55
dpco 3 06 -20 -10 32 21 -13 08 -24 -06 -04 -03 -59 13 09 -11 01 -15 -09 02
Lambdas Total x y z: -0,12 1,46 -0,08 0,91

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:63,693 √J0m:72,277 √Mm:100,651 λ:-0,12 |dp|m:0,1393 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:61,030 √J0m:69,569 √Mm:98,382 λ:-0,12 |dp|m:0,1393 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:58,368 √J0m:66,867 √Mm:96,118 λ:-0,12 |dp|m:0,1393 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:55,706 √J0m:64,173 √Mm:93,858 λ:-0,12 |dp|m:0,1393 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:53,045 √J0m:61,486 √Mm:91,604 λ:-0,12 |dp|m:0,1393 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:50,384 √J0m:58,809 √Mm:89,357 λ:-0,12 |dp|m:0,1393 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:47,724 √J0m:56,143 √Mm:87,120 λ:-0,12 |dp|m:0,1393 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:45,063 √J0m:53,489 √Mm:84,896 λ:-0,12 |dp|m:0,1393 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:42,401 √J0m:50,849 √Mm:82,688 λ:-0,12 |dp|m:0,1393 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:39,737 √J0m:48,225 √Mm:80,500 λ:-0,12 |dp|m:0,1393 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:37,070 √J0m:45,621 √Mm:78,337 λ:-0,12 |dp|m:0,1393 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:34,399 √J0m:43,039 √Mm:76,204 λ:-0,12 |dp|m:0,1393 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:31,722 √J0m:40,485 √Mm:74,107 λ:-0,12 |dp|m:0,1393 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:29,036 √J0m:37,964 √Mm:72,051 λ:-0,12 |dp|m:0,1393 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:26,338 √J0m:35,482 √Mm:70,043 λ:-0,12 |dp|m:0,1393 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:23,622 √J0m:33,048 √Mm:68,091 λ:-0,12 |dp|m:0,1393 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:20,881 √J0m:30,675 √Mm:66,202 λ:-0,12 |dp|m:0,1393 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:18,101 √J0m:28,377 √Mm:64,384 λ:-0,12 |dp|m:0,1393 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:15,262 √J0m:26,174 √Mm:62,646 λ:-0,12 |dp|m:0,1393 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:12,319 √J0m:24,093 √Mm:60,998 λ:-0,12 |dp|m:0,1393 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:9,172 √J0m:22,166 √Mm:59,450 λ:-0,12 |dp|m:0,1393 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:5,479 √J0m:20,439 √Mm:58,010 λ:-0,12 |dp|m:0,1393 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:18,965 √Mm:56,690 λ:-0,12 |dp|m:0,1393 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:17,809 √Mm:55,501 λ:-0,12 |dp|m:0,1393 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:17,034 √Mm:54,451 λ:-0,12 |dp|m:0,1393 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:16,694 √Mm:53,552 λ:-0,12 |dp|m:0,1393 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -03 35 -10 01 -01 00 -02 -28 21 02 00 11 01 05 -08 -11 -04 15 -07
co 2 -47 11 -26 02 03 02 -09 -33 44 -14 -02 21 -65 12 -07 10 -33 -09 -06
co 3 09 31 04 -05 -23 12 00 -45 15 05 05 08 12 -08 02 -15 12 15 -11
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -04 -183 15 12 16 -26 00 261 -75 32 -44 -40 07 01 04 30 04 -68 64
co 2 36 -47 32 17 02 -13 00 -109 103 02 -10 -106 236 -182 -04 -54 44 -10 -21
co 3 -07 -273 -03 19 142 -157 02 347 -58 18 -26 -02 -70 53 00 35 -07 -75 83
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 24 -05 00 -01 01 -01 -24 13 00 02 07 00 02 -04 -07 -02 10 -06
dpco 2 -25 07 -14 00 01 02 -04 -13 19 -07 -01 14 -41 13 -03 07 -18 -04 -02
dpco 3 05 25 02 -03 -17 11 00 -35 10 02 03 04 09 -06 01 -09 06 10 -09
Lambdas Total x y z: 0,07 0,77 0,63 0,29

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:21,114 √J0m:15,901 √Mm:51,659 λ:0,07 |dp|m:0,0468 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:20,228 √J0m:14,989 √Mm:50,515 λ:0,07 |dp|m:0,0468 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:19,355 √J0m:14,081 √Mm:49,382 λ:0,07 |dp|m:0,0468 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:18,494 √J0m:13,177 √Mm:48,261 λ:0,07 |dp|m:0,0468 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:17,649 √J0m:12,278 √Mm:47,152 λ:0,07 |dp|m:0,0468 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:16,822 √J0m:11,384 √Mm:46,058 λ:0,07 |dp|m:0,0468 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:16,015 √J0m:10,498 √Mm:44,979 λ:0,07 |dp|m:0,0468 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:15,232 √J0m:9,621 √Mm:43,917 λ:0,07 |dp|m:0,0468 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:14,477 √J0m:8,757 √Mm:42,872 λ:0,07 |dp|m:0,0468 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:13,754 √J0m:7,909 √Mm:41,847 λ:0,07 |dp|m:0,0468 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:13,068 √J0m:7,083 √Mm:40,844 λ:0,07 |dp|m:0,0468 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:12,427 √J0m:6,287 √Mm:39,863 λ:0,07 |dp|m:0,0468 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:11,837 √J0m:5,537 √Mm:38,907 λ:0,07 |dp|m:0,0468 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:11,305 √J0m:4,850 √Mm:37,978 λ:0,07 |dp|m:0,0468 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:10,842 √J0m:4,260 √Mm:37,077 λ:0,07 |dp|m:0,0468 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:10,456 √J0m:3,811 √Mm:36,209 λ:0,07 |dp|m:0,0468 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:10,155 √J0m:3,557 √Mm:35,374 λ:0,07 |dp|m:0,0468 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:9,948 √J0m:3,540 √Mm:34,575 λ:0,07 |dp|m:0,0468 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:9,841 √J0m:3,764 √Mm:33,816 λ:0,07 |dp|m:0,0468 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:9,837 √J0m:4,189 √Mm:33,099 λ:0,07 |dp|m:0,0468 mm
Acabado Optimizado (izq). Cuadro 213 Distancia Esque. Antes y Despues Retoque:407,00 Distancias Despues con p y q: 4,00 816,00 mm


Comienzan Iteraciones para cuadro 214

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 21 -01 70 -85 -187 -240 -257 162 295 423 467 -23 -120 -111 -54 79 96 70 136
co 2 -346 -01 176 -138 -266 -297 -270 -41 -116 -36 -10 -496 -960 -1295 -1362 -478 -982 -1282 -1313
co 3 52 -01 -32 -89 -248 -531 -620 282 392 511 556 34 189 291 286 118 171 233 322
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -18 72 -77 -38 75 21 07 172 -48 -66 -107 -55 97 41 -48 -32 -45 56 -30
co 2 258 -258 -189 -21 116 27 -11 -114 228 -45 -66 -378 215 176 56 -413 168 289 14
co 3 -39 23 32 -94 10 122 38 101 -24 -55 -107 172 -79 -75 03 01 11 -23 -40
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 05 22 11 -54 -70 -113 -126 135 133 191 200 -29 -30 -43 -42 29 34 52 59
dpco 2 -92 -81 29 -76 -97 -140 -139 -56 14 -32 -26 -366 -412 -593 -663 -368 -438 -551 -652
dpco 3 14 07 -06 -74 -121 -227 -298 173 189 239 244 71 70 122 144 60 89 109 148
Lambdas Total x y z: -0,63 4,83 -0,38 3,53

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:368,585 √J0m:379,491 √Mm:114,061 λ:-0,63 |dp|m:0,8341 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:352,155 √J0m:363,087 √Mm:111,661 λ:-0,63 |dp|m:0,8341 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:335,721 √J0m:346,709 √Mm:109,351 λ:-0,63 |dp|m:0,8341 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:319,281 √J0m:330,362 √Mm:107,145 λ:-0,63 |dp|m:0,8341 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:302,831 √J0m:314,050 √Mm:105,056 λ:-0,63 |dp|m:0,8341 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:286,369 √J0m:297,779 √Mm:103,097 λ:-0,63 |dp|m:0,8341 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:269,892 √J0m:281,556 √Mm:101,280 λ:-0,63 |dp|m:0,8341 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:253,395 √J0m:265,390 √Mm:99,616 λ:-0,63 |dp|m:0,8341 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:236,875 √J0m:249,292 √Mm:98,117 λ:-0,63 |dp|m:0,8341 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:220,324 √J0m:233,276 √Mm:96,794 λ:-0,63 |dp|m:0,8341 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:203,735 √J0m:217,361 √Mm:95,656 λ:-0,63 |dp|m:0,8341 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:187,096 √J0m:201,569 √Mm:94,712 λ:-0,63 |dp|m:0,8341 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:170,392 √J0m:185,933 √Mm:93,972 λ:-0,63 |dp|m:0,8341 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:153,602 √J0m:170,495 √Mm:93,440 λ:-0,63 |dp|m:0,8341 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:136,692 √J0m:155,315 √Mm:93,123 λ:-0,63 |dp|m:0,8341 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:119,611 √J0m:140,476 √Mm:93,025 λ:-0,63 |dp|m:0,8341 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:102,273 √J0m:126,098 √Mm:93,148 λ:-0,63 |dp|m:0,8341 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:84,518 √J0m:112,359 √Mm:93,492 λ:-0,63 |dp|m:0,8341 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:66,009 √J0m:99,523 √Mm:94,057 λ:-0,63 |dp|m:0,8341 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:45,842 √J0m:87,988 √Mm:94,840 λ:-0,63 |dp|m:0,8341 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:19,388 √J0m:78,329 √Mm:95,837 λ:-0,63 |dp|m:0,8341 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:71,313 √Mm:97,041 λ:-0,63 |dp|m:0,8341 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:67,767 √Mm:98,448 λ:-0,63 |dp|m:0,8341 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:68,232 √Mm:100,048 λ:-0,63 |dp|m:0,8341 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 11 -50 46 35 -33 09 21 -135 03 04 27 40 -55 -17 39 14 21 -45 07
co 2 -144 178 113 29 -53 11 35 83 -146 35 46 310 -52 08 98 332 -17 -71 122
co 3 22 -16 -19 74 18 -31 36 -98 -23 -13 18 -122 36 23 -31 -13 -25 -08 -05
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -166 03 -83 76 -05 -21 362 -98 14 -92 -145 68 -22 19 62 -12 -39 39
co 2 521 -312 26 -80 86 -36 14 115 -117 65 -60 -589 530 -94 -68 -512 247 182 -120
co 3 -92 -194 -03 -130 191 21 -113 494 -132 10 -81 126 -146 36 14 114 -44 -94 83
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 05 -34 23 13 -13 04 09 -48 -04 02 09 12 -24 -10 20 10 10 -25 06
dpco 2 -44 73 58 10 -22 03 18 47 -79 21 20 124 02 -01 45 139 04 -26 55
dpco 3 06 -18 -10 30 19 -14 12 -23 -18 -06 05 -54 10 13 -15 00 -15 -09 02
Lambdas Total x y z: -0,11 1,60 -0,07 0,75

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:62,014 √J0m:69,960 √Mm:99,587 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:59,382 √J0m:67,292 √Mm:97,345 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:56,750 √J0m:64,629 √Mm:95,107 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:54,117 √J0m:61,973 √Mm:92,874 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:51,483 √J0m:59,324 √Mm:90,648 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:48,848 √J0m:56,683 √Mm:88,430 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:46,210 √J0m:54,050 √Mm:86,222 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:43,570 √J0m:51,429 √Mm:84,027 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:40,927 √J0m:48,819 √Mm:81,848 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:38,278 √J0m:46,224 √Mm:79,688 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:35,623 √J0m:43,646 √Mm:77,553 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:32,959 √J0m:41,087 √Mm:75,446 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:30,283 √J0m:38,553 √Mm:73,374 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:27,591 √J0m:36,047 √Mm:71,341 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:24,877 √J0m:33,578 √Mm:69,355 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:22,132 √J0m:31,152 √Mm:67,421 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:19,340 √J0m:28,781 √Mm:65,548 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:16,479 √J0m:26,480 √Mm:63,743 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:13,503 √J0m:24,269 √Mm:62,015 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:10,311 √J0m:22,174 √Mm:60,372 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:6,595 √J0m:20,233 √Mm:58,825 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:18,492 √Mm:57,381 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:17,015 √Mm:56,053 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:15,874 √Mm:54,849 λ:-0,11 |dp|m:0,1366 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:15,146 √Mm:53,780 λ:-0,11 |dp|m:0,1366 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 27 -07 05 -04 -01 00 -24 11 -02 07 12 00 05 -08 -09 -02 11 -06
co 2 -42 12 -19 06 -03 03 -07 -26 35 -13 01 27 -57 10 -06 14 -27 -12 -03
co 3 08 26 03 05 -26 02 08 -46 19 01 07 02 13 -08 03 -12 09 12 -09
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -04 -165 11 -21 47 -16 -11 262 -83 58 -73 -47 10 -06 10 28 01 -54 54
co 2 36 -24 23 -29 41 -37 21 -108 102 25 -37 -123 230 -162 -08 -49 23 13 -25
co 3 -07 -261 -02 -30 182 -92 -58 342 -53 62 -75 03 -72 54 -01 32 -03 -67 71
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 21 -04 03 -04 00 00 -23 09 -04 07 08 -01 03 -04 -06 -01 08 -05
dpco 2 -23 07 -11 04 -03 03 -04 -08 13 -07 02 18 -38 12 -03 09 -15 -06 00
dpco 3 04 24 02 04 -20 05 07 -37 12 -02 07 01 09 -06 01 -07 05 09 -08
Lambdas Total x y z: 0,08 0,78 0,65 0,30

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:20,529 √J0m:14,027 √Mm:51,700 λ:0,08 |dp|m:0,0447 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:19,702 √J0m:13,165 √Mm:50,554 λ:0,08 |dp|m:0,0447 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:18,890 √J0m:12,309 √Mm:49,419 λ:0,08 |dp|m:0,0447 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:18,093 √J0m:11,458 √Mm:48,295 λ:0,08 |dp|m:0,0447 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:17,315 √J0m:10,614 √Mm:47,183 λ:0,08 |dp|m:0,0447 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:16,558 √J0m:9,779 √Mm:46,085 λ:0,08 |dp|m:0,0447 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:15,825 √J0m:8,955 √Mm:45,001 λ:0,08 |dp|m:0,0447 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:15,120 √J0m:8,146 √Mm:43,933 λ:0,08 |dp|m:0,0447 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:14,447 √J0m:7,356 √Mm:42,883 λ:0,08 |dp|m:0,0447 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:13,810 √J0m:6,592 √Mm:41,851 λ:0,08 |dp|m:0,0447 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:13,214 √J0m:5,866 √Mm:40,839 λ:0,08 |dp|m:0,0447 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:12,667 √J0m:5,191 √Mm:39,849 λ:0,08 |dp|m:0,0447 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:12,173 √J0m:4,592 √Mm:38,883 λ:0,08 |dp|m:0,0447 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:11,741 √J0m:4,102 √Mm:37,942 λ:0,08 |dp|m:0,0447 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:11,377 √J0m:3,762 √Mm:37,030 λ:0,08 |dp|m:0,0447 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:11,087 √J0m:3,617 √Mm:36,147 λ:0,08 |dp|m:0,0447 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:10,878 √J0m:3,688 √Mm:35,296 λ:0,08 |dp|m:0,0447 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:10,755 √J0m:3,965 √Mm:34,480 λ:0,08 |dp|m:0,0447 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:10,720 √J0m:4,409 √Mm:33,702 λ:0,08 |dp|m:0,0447 mm
Acabado Optimizado (izq). Cuadro 214 Distancia Esque. Antes y Despues Retoque:405,00 Distancias Despues con p y q: 4,00 811,00 mm


Comienzan Iteraciones para cuadro 215

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 21 -01 65 -89 -191 -244 -257 162 291 481 551 -23 -120 -111 -45 79 96 79 145
co 2 -346 -01 171 -138 -266 -301 -275 -36 -107 -32 -19 -496 -960 -1295 -1348 -478 -977 -1278 -1309
co 3 52 -01 -32 -89 -257 -540 -620 277 388 472 520 30 189 295 286 118 171 229 322
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -18 73 -76 -31 70 21 07 170 -23 -79 -117 -58 97 52 -59 -28 -37 44 -27
co 2 254 -249 -195 -17 106 34 -16 -112 197 -58 -24 -379 214 182 47 -417 169 293 12
co 3 -37 26 34 -96 11 113 46 106 -104 -08 -82 176 -80 -81 07 05 06 -21 -38
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 05 23 08 -55 -73 -115 -126 136 138 215 238 -30 -29 -39 -41 30 36 53 64
dpco 2 -91 -80 23 -75 -99 -140 -142 -54 10 -35 -17 -369 -411 -589 -659 -373 -435 -545 -650
dpco 3 14 08 -05 -75 -125 -234 -295 173 160 233 234 71 69 121 145 61 88 108 149
Lambdas Total x y z: -0,64 4,52 -0,38 3,38

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:368,557 √J0m:379,559 √Mm:113,323 λ:-0,64 |dp|m:0,8335 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:352,149 √J0m:363,176 √Mm:110,937 λ:-0,64 |dp|m:0,8335 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:335,736 √J0m:346,821 √Mm:108,648 λ:-0,64 |dp|m:0,8335 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:319,316 √J0m:330,497 √Mm:106,470 λ:-0,64 |dp|m:0,8335 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:302,884 √J0m:314,209 √Mm:104,417 λ:-0,64 |dp|m:0,8335 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:286,440 √J0m:297,963 √Mm:102,504 λ:-0,64 |dp|m:0,8335 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:269,978 √J0m:281,767 √Mm:100,741 λ:-0,64 |dp|m:0,8335 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:253,495 √J0m:265,630 √Mm:99,142 λ:-0,64 |dp|m:0,8335 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:236,984 √J0m:249,563 √Mm:97,718 λ:-0,64 |dp|m:0,8335 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:220,440 √J0m:233,581 √Mm:96,479 λ:-0,64 |dp|m:0,8335 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:203,854 √J0m:217,701 √Mm:95,436 λ:-0,64 |dp|m:0,8335 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:187,212 √J0m:201,950 √Mm:94,596 λ:-0,64 |dp|m:0,8335 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:170,498 √J0m:186,358 √Mm:93,967 λ:-0,64 |dp|m:0,8335 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:153,689 √J0m:170,969 √Mm:93,556 λ:-0,64 |dp|m:0,8335 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:136,749 √J0m:155,845 √Mm:93,367 λ:-0,64 |dp|m:0,8335 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:119,620 √J0m:141,069 √Mm:93,402 λ:-0,64 |dp|m:0,8335 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:102,207 √J0m:126,764 √Mm:93,663 λ:-0,64 |dp|m:0,8335 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:84,335 √J0m:113,109 √Mm:94,148 λ:-0,64 |dp|m:0,8335 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:65,626 √J0m:100,369 √Mm:94,857 λ:-0,64 |dp|m:0,8335 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:45,051 √J0m:88,938 √Mm:95,784 λ:-0,64 |dp|m:0,8335 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:16,751 √J0m:79,384 √Mm:96,924 λ:-0,64 |dp|m:0,8335 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:72,453 √Mm:98,271 λ:-0,64 |dp|m:0,8335 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:68,941 √Mm:99,818 λ:-0,64 |dp|m:0,8335 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:69,369 √Mm:101,556 λ:-0,64 |dp|m:0,8335 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 11 -51 47 31 -30 10 21 -136 -13 07 28 44 -56 -26 46 12 16 -39 05
co 2 -145 175 121 26 -48 06 38 83 -128 44 19 317 -55 01 102 342 -21 -79 122
co 3 21 -19 -21 76 18 -26 29 -102 35 -42 06 -127 38 28 -34 -15 -22 -08 -06
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -158 00 -81 69 -12 -14 436 -240 67 -77 -150 66 -18 16 68 -14 -46 45
co 2 507 -292 06 -72 77 -31 09 142 -135 34 -34 -618 536 -106 -54 -556 265 196 -130
co 3 -87 -188 -01 -122 181 -13 -83 444 -153 24 -32 132 -152 38 12 123 -46 -102 92
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 05 -34 24 11 -11 04 10 -45 -19 07 10 14 -25 -14 24 10 07 -22 05
dpco 2 -45 72 61 09 -20 01 20 49 -71 24 07 125 01 -05 48 141 04 -29 54
dpco 3 06 -19 -10 32 19 -14 10 -27 09 -20 01 -56 11 16 -16 -01 -13 -10 02
Lambdas Total x y z: -0,11 1,10 -0,07 0,87

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:62,699 √J0m:70,985 √Mm:101,192 λ:-0,11 |dp|m:0,1376 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:60,062 √J0m:68,306 √Mm:98,908 λ:-0,11 |dp|m:0,1376 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:57,426 √J0m:65,633 √Mm:96,626 λ:-0,11 |dp|m:0,1376 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:54,791 √J0m:62,967 √Mm:94,346 λ:-0,11 |dp|m:0,1376 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:52,156 √J0m:60,309 √Mm:92,069 λ:-0,11 |dp|m:0,1376 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:49,521 √J0m:57,659 √Mm:89,799 λ:-0,11 |dp|m:0,1376 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:46,886 √J0m:55,020 √Mm:87,538 λ:-0,11 |dp|m:0,1376 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:44,250 √J0m:52,392 √Mm:85,288 λ:-0,11 |dp|m:0,1376 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:41,612 √J0m:49,777 √Mm:83,054 λ:-0,11 |dp|m:0,1376 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:38,972 √J0m:47,178 √Mm:80,841 λ:-0,11 |dp|m:0,1376 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:36,328 √J0m:44,597 √Mm:78,653 λ:-0,11 |dp|m:0,1376 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:33,678 √J0m:42,037 √Mm:76,495 λ:-0,11 |dp|m:0,1376 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:31,019 √J0m:39,504 √Mm:74,374 λ:-0,11 |dp|m:0,1376 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:28,350 √J0m:37,001 √Mm:72,294 λ:-0,11 |dp|m:0,1376 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:25,666 √J0m:34,537 √Mm:70,264 λ:-0,11 |dp|m:0,1376 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:22,959 √J0m:32,118 √Mm:68,290 λ:-0,11 |dp|m:0,1376 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:20,222 √J0m:29,758 √Mm:66,380 λ:-0,11 |dp|m:0,1376 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:17,437 √J0m:27,471 √Mm:64,541 λ:-0,11 |dp|m:0,1376 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:14,577 √J0m:25,276 √Mm:62,783 λ:-0,11 |dp|m:0,1376 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:11,586 √J0m:23,200 √Mm:61,113 λ:-0,11 |dp|m:0,1376 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:8,322 √J0m:21,278 √Mm:59,543 λ:-0,11 |dp|m:0,1376 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:4,185 √J0m:19,555 √Mm:58,080 λ:-0,11 |dp|m:0,1376 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:18,089 √Mm:56,736 λ:-0,11 |dp|m:0,1376 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:16,945 √Mm:55,520 λ:-0,11 |dp|m:0,1376 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:16,192 √Mm:54,444 λ:-0,11 |dp|m:0,1376 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 27 -07 06 -04 00 -01 -34 32 -09 06 12 00 06 -09 -10 -01 11 -06
co 2 -42 11 -18 05 -03 03 -07 -29 35 -11 02 31 -58 13 -08 20 -30 -13 -01
co 3 08 26 03 04 -25 05 06 -40 14 03 03 02 13 -09 03 -13 09 14 -11
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -159 05 -17 41 -23 -06 266 -140 98 -56 -53 10 -06 11 34 00 -57 57
co 2 19 -11 11 -24 36 -34 15 -121 90 25 -07 -144 239 -172 -05 -80 38 18 -27
co 3 -03 -251 -01 -24 177 -118 -36 353 -105 61 -43 -01 -77 59 -02 40 -04 -77 80
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 18 -04 03 -03 01 00 -25 20 -08 04 08 00 03 -05 -06 00 07 -05
dpco 2 -22 06 -09 03 -02 03 -04 -11 15 -06 01 20 -37 12 -04 12 -16 -07 00
dpco 3 04 21 02 03 -18 06 04 -31 10 00 03 01 09 -06 02 -08 05 09 -08
Lambdas Total x y z: 0,06 0,66 0,53 0,30

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:19,848 √J0m:15,019 √Mm:52,344 λ:0,06 |dp|m:0,0442 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:19,008 √J0m:14,154 √Mm:51,181 λ:0,06 |dp|m:0,0442 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:18,178 √J0m:13,292 √Mm:50,026 λ:0,06 |dp|m:0,0442 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:17,360 √J0m:12,432 √Mm:48,880 λ:0,06 |dp|m:0,0442 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:16,555 √J0m:11,576 √Mm:47,745 λ:0,06 |dp|m:0,0442 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:15,765 √J0m:10,723 √Mm:46,620 λ:0,06 |dp|m:0,0442 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:14,993 √J0m:9,877 √Mm:45,508 λ:0,06 |dp|m:0,0442 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:14,242 √J0m:9,037 √Mm:44,409 λ:0,06 |dp|m:0,0442 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:13,516 √J0m:8,207 √Mm:43,325 λ:0,06 |dp|m:0,0442 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:12,818 √J0m:7,389 √Mm:42,256 λ:0,06 |dp|m:0,0442 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:12,153 √J0m:6,587 √Mm:41,205 λ:0,06 |dp|m:0,0442 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:11,528 √J0m:5,809 √Mm:40,172 λ:0,06 |dp|m:0,0442 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:10,949 √J0m:5,066 √Mm:39,160 λ:0,06 |dp|m:0,0442 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:10,424 √J0m:4,375 √Mm:38,170 λ:0,06 |dp|m:0,0442 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:9,961 √J0m:3,765 √Mm:37,205 λ:0,06 |dp|m:0,0442 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:9,570 √J0m:3,282 √Mm:36,266 λ:0,06 |dp|m:0,0442 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:9,259 √J0m:2,988 √Mm:35,355 λ:0,06 |dp|m:0,0442 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:9,037 √J0m:2,939 √Mm:34,476 λ:0,06 |dp|m:0,0442 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:8,911 √J0m:3,149 √Mm:33,630 λ:0,06 |dp|m:0,0442 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:8,884 √J0m:3,570 √Mm:32,820 λ:0,06 |dp|m:0,0442 mm
Acabado Optimizado (izq). Cuadro 215 Distancia Esque. Antes y Despues Retoque:405,00 Distancias Despues con p y q: 3,00 812,00 mm


Comienzan Iteraciones para cuadro 216

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 21 -01 65 -89 -209 -244 -257 162 299 330 344 -23 -120 -107 -41 79 92 83 145
co 2 -341 -01 176 -138 -195 -293 -270 -36 -111 -94 -89 -491 -955 -1291 -1344 -478 -977 -1251 -1287
co 3 52 -01 -32 -89 -270 -536 -615 277 383 569 635 34 193 295 295 123 171 224 317
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -19 70 -73 -59 107 12 07 175 -184 -14 -34 -55 100 50 -59 -33 -25 36 -26
co 2 264 -256 -192 47 04 69 -14 -114 145 -17 -13 -377 213 183 48 -418 143 318 15
co 3 -36 29 33 -125 42 109 48 90 82 -94 -159 178 -83 -71 -01 01 16 -25 -39
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 05 20 11 -62 -73 -119 -126 133 96 161 162 -28 -31 -39 -38 30 38 52 65
dpco 2 -93 -76 31 -55 -97 -126 -139 -52 -13 -52 -49 -357 -415 -592 -658 -362 -446 -532 -639
dpco 3 15 08 -06 -81 -123 -236 -293 165 216 257 271 70 72 127 147 62 90 105 147
Lambdas Total x y z: -0,59 4,11 -0,34 2,49

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:365,014 √J0m:375,666 √Mm:115,641 λ:-0,59 |dp|m:0,8270 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:348,711 √J0m:359,382 √Mm:113,169 λ:-0,59 |dp|m:0,8270 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:332,405 √J0m:343,122 √Mm:110,773 λ:-0,59 |dp|m:0,8270 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:316,094 √J0m:326,890 √Mm:108,466 λ:-0,59 |dp|m:0,8270 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:299,778 √J0m:310,690 √Mm:106,260 λ:-0,59 |dp|m:0,8270 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:283,452 √J0m:294,529 √Mm:104,168 λ:-0,59 |dp|m:0,8270 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:267,116 √J0m:278,412 √Mm:102,200 λ:-0,59 |dp|m:0,8270 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:250,765 √J0m:262,348 √Mm:100,369 λ:-0,59 |dp|m:0,8270 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:234,395 √J0m:246,347 √Mm:98,685 λ:-0,59 |dp|m:0,8270 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:218,001 √J0m:230,422 √Mm:97,161 λ:-0,59 |dp|m:0,8270 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:201,578 √J0m:214,590 √Mm:95,807 λ:-0,59 |dp|m:0,8270 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:185,115 √J0m:198,874 √Mm:94,632 λ:-0,59 |dp|m:0,8270 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:168,600 √J0m:183,303 √Mm:93,646 λ:-0,59 |dp|m:0,8270 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:152,017 √J0m:167,918 √Mm:92,858 λ:-0,59 |dp|m:0,8270 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:135,339 √J0m:152,774 √Mm:92,274 λ:-0,59 |dp|m:0,8270 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:118,524 √J0m:137,952 √Mm:91,900 λ:-0,59 |dp|m:0,8270 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:101,504 √J0m:123,566 √Mm:91,741 λ:-0,59 |dp|m:0,8270 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:84,153 √J0m:109,789 √Mm:91,800 λ:-0,59 |dp|m:0,8270 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:66,212 √J0m:96,881 √Mm:92,077 λ:-0,59 |dp|m:0,8270 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:47,005 √J0m:85,238 √Mm:92,573 λ:-0,59 |dp|m:0,8270 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:23,626 √J0m:75,447 √Mm:93,284 λ:-0,59 |dp|m:0,8270 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:68,309 √Mm:94,208 λ:-0,59 |dp|m:0,8270 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:64,709 √Mm:95,340 λ:-0,59 |dp|m:0,8270 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:65,234 √Mm:96,672 λ:-0,59 |dp|m:0,8270 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 10 -45 41 47 -49 17 21 -130 89 -24 -12 38 -53 -22 43 13 07 -32 03
co 2 -137 166 107 -17 17 -15 36 78 -83 21 17 294 -42 10 104 319 05 -81 119
co 3 18 -19 -18 90 00 -17 30 -86 -92 04 40 -119 34 17 -29 -13 -28 -06 -06
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -04 -143 02 -98 78 -14 -11 245 -07 -43 -21 -136 59 -18 18 63 -07 -52 46
co 2 504 -301 20 -70 85 -27 -02 20 -38 39 -18 -547 495 -106 -49 -486 136 285 -137
co 3 -89 -165 -03 -147 198 -20 -74 537 -167 35 -129 118 -142 37 12 108 -20 -121 96
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 05 -30 21 19 -20 08 10 -53 44 -14 -07 12 -23 -12 22 10 03 -18 04
dpco 2 -43 68 55 -12 13 -09 18 40 -43 12 08 120 04 00 49 135 09 -26 53
dpco 3 05 -18 -09 38 10 -10 11 -16 -54 04 13 -53 10 10 -14 -01 -15 -09 02
Lambdas Total x y z: -0,10 2,63 -0,07 0,62

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:59,940 √J0m:67,188 √Mm:96,033 λ:-0,10 |dp|m:0,1328 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:57,368 √J0m:64,587 √Mm:93,875 λ:-0,10 |dp|m:0,1328 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:54,795 √J0m:61,992 √Mm:91,723 λ:-0,10 |dp|m:0,1328 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:52,219 √J0m:59,401 √Mm:89,578 λ:-0,10 |dp|m:0,1328 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:49,642 √J0m:56,817 √Mm:87,442 λ:-0,10 |dp|m:0,1328 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:47,061 √J0m:54,240 √Mm:85,315 λ:-0,10 |dp|m:0,1328 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:44,478 √J0m:51,670 √Mm:83,200 λ:-0,10 |dp|m:0,1328 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:41,890 √J0m:49,110 √Mm:81,098 λ:-0,10 |dp|m:0,1328 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:39,296 √J0m:46,561 √Mm:79,012 λ:-0,10 |dp|m:0,1328 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:36,696 √J0m:44,024 √Mm:76,945 λ:-0,10 |dp|m:0,1328 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:34,086 √J0m:41,501 √Mm:74,901 λ:-0,10 |dp|m:0,1328 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:31,465 √J0m:38,997 √Mm:72,885 λ:-0,10 |dp|m:0,1328 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:28,828 √J0m:36,514 √Mm:70,900 λ:-0,10 |dp|m:0,1328 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:26,171 √J0m:34,057 √Mm:68,952 λ:-0,10 |dp|m:0,1328 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:23,485 √J0m:31,633 √Mm:67,046 λ:-0,10 |dp|m:0,1328 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:20,758 √J0m:29,248 √Mm:65,189 λ:-0,10 |dp|m:0,1328 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:17,972 √J0m:26,915 √Mm:63,388 λ:-0,10 |dp|m:0,1328 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:15,091 √J0m:24,647 √Mm:61,649 λ:-0,10 |dp|m:0,1328 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:12,049 √J0m:22,463 √Mm:59,980 λ:-0,10 |dp|m:0,1328 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:8,674 √J0m:20,393 √Mm:58,390 λ:-0,10 |dp|m:0,1328 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:4,232 √J0m:18,472 √Mm:56,888 λ:-0,10 |dp|m:0,1328 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:16,754 √Mm:55,482 λ:-0,10 |dp|m:0,1328 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:15,306 √Mm:54,182 λ:-0,10 |dp|m:0,1328 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:14,212 √Mm:52,998 λ:-0,10 |dp|m:0,1328 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:13,556 √Mm:51,940 λ:-0,10 |dp|m:0,1328 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 23 -06 04 -02 -01 -02 -09 -12 08 04 10 01 05 -08 -09 00 10 -06
co 2 -38 10 -18 10 -12 05 -05 -13 16 -07 -01 20 -50 11 -09 10 -16 -21 -01
co 3 07 22 03 04 -23 05 04 -49 32 -05 09 04 11 -07 03 -11 06 15 -10
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -04 -143 07 -35 45 -12 -05 262 -108 23 -28 -41 04 -01 08 28 -03 -49 53
co 2 40 -09 16 -25 64 -64 12 -92 78 -04 -03 -102 210 -161 -04 -43 -60 99 -34
co 3 -08 -243 -02 -46 179 -104 -33 315 -17 72 -104 -04 -65 51 00 31 11 -90 80
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 18 -03 04 -03 00 -01 -17 -01 03 03 07 00 03 -04 -06 00 08 -05
dpco 2 -21 06 -10 06 -09 06 -03 -02 04 -03 00 15 -35 13 -04 07 -05 -15 01
dpco 3 04 22 02 04 -20 07 04 -40 17 -06 09 02 09 -06 01 -07 03 12 -09
Lambdas Total x y z: 0,10 0,86 0,63 0,30

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:19,917 √J0m:12,590 √Mm:49,901 λ:0,10 |dp|m:0,0426 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:19,144 √J0m:11,781 √Mm:48,793 λ:0,10 |dp|m:0,0426 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:18,387 √J0m:10,978 √Mm:47,693 λ:0,10 |dp|m:0,0426 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:17,647 √J0m:10,184 √Mm:46,602 λ:0,10 |dp|m:0,0426 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:16,928 √J0m:9,399 √Mm:45,521 λ:0,10 |dp|m:0,0426 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:16,230 √J0m:8,627 √Mm:44,451 λ:0,10 |dp|m:0,0426 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:15,559 √J0m:7,872 √Mm:43,393 λ:0,10 |dp|m:0,0426 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:14,916 √J0m:7,138 √Mm:42,347 λ:0,10 |dp|m:0,0426 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:14,306 √J0m:6,434 √Mm:41,316 λ:0,10 |dp|m:0,0426 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:13,734 √J0m:5,770 √Mm:40,300 λ:0,10 |dp|m:0,0426 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:13,205 √J0m:5,161 √Mm:39,300 λ:0,10 |dp|m:0,0426 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:12,723 √J0m:4,629 √Mm:38,318 λ:0,10 |dp|m:0,0426 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:12,294 √J0m:4,203 √Mm:37,356 λ:0,10 |dp|m:0,0426 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:11,925 √J0m:3,919 √Mm:36,415 λ:0,10 |dp|m:0,0426 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:11,620 √J0m:3,809 √Mm:35,497 λ:0,10 |dp|m:0,0426 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:11,386 √J0m:3,886 √Mm:34,604 λ:0,10 |dp|m:0,0426 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:11,226 √J0m:4,141 √Mm:33,738 λ:0,10 |dp|m:0,0426 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:11,144 √J0m:4,544 √Mm:32,901 λ:0,10 |dp|m:0,0426 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:11,141 √J0m:5,059 √Mm:32,096 λ:0,10 |dp|m:0,0426 mm
Acabado Optimizado (izq). Cuadro 216 Distancia Esque. Antes y Despues Retoque:401,00 Distancias Despues con p y q: 5,00 803,00 mm


Comienzan Iteraciones para cuadro 217

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 21 -01 65 -89 -209 -248 -262 162 295 304 308 -23 -125 -107 -23 79 92 83 149
co 2 -341 -01 176 -138 -200 -293 -270 -36 -116 65 127 -491 -955 -1295 -1348 -478 -977 -1251 -1287
co 3 52 -01 -28 -89 -266 -536 -611 282 388 463 445 34 193 295 264 123 171 224 317
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -23 68 -74 -61 108 12 08 173 -210 -04 -14 -61 106 34 -46 -34 -25 36 -26
co 2 264 -254 -193 41 14 66 -16 -123 365 -72 -159 -373 215 198 29 -421 143 319 14
co 3 -36 31 28 -124 43 103 52 95 -81 -146 43 178 -84 -85 17 03 16 -28 -36
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 17 14 -61 -76 -121 -129 126 93 151 151 -27 -35 -45 -23 31 39 51 68
dpco 2 -102 -66 38 -58 -96 -129 -139 -50 37 14 22 -342 -422 -597 -667 -348 -452 -543 -640
dpco 3 17 08 -06 -77 -122 -241 -292 165 173 194 234 63 75 125 136 62 90 105 149
Lambdas Total x y z: -0,52 3,82 -0,35 3,02

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:360,906 √J0m:370,324 √Mm:115,275 λ:-0,52 |dp|m:0,8190 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:344,734 √J0m:354,177 √Mm:112,845 λ:-0,52 |dp|m:0,8190 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:328,560 √J0m:338,053 √Mm:110,493 λ:-0,52 |dp|m:0,8190 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:312,383 √J0m:321,954 √Mm:108,229 λ:-0,52 |dp|m:0,8190 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:296,201 √J0m:305,885 √Mm:106,062 λ:-0,52 |dp|m:0,8190 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:280,013 √J0m:289,851 √Mm:104,000 λ:-0,52 |dp|m:0,8190 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:263,818 √J0m:273,857 √Mm:102,053 λ:-0,52 |dp|m:0,8190 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:247,613 √J0m:257,912 √Mm:100,229 λ:-0,52 |dp|m:0,8190 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:231,396 √J0m:242,025 √Mm:98,537 λ:-0,52 |dp|m:0,8190 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:215,164 √J0m:226,209 √Mm:96,984 λ:-0,52 |dp|m:0,8190 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:198,913 √J0m:210,478 √Mm:95,579 λ:-0,52 |dp|m:0,8190 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:182,638 √J0m:194,855 √Mm:94,330 λ:-0,52 |dp|m:0,8190 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:166,331 √J0m:179,367 √Mm:93,243 λ:-0,52 |dp|m:0,8190 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:149,982 √J0m:164,051 √Mm:92,328 λ:-0,52 |dp|m:0,8190 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:133,575 √J0m:148,963 √Mm:91,589 λ:-0,52 |dp|m:0,8190 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:117,083 √J0m:134,177 √Mm:91,033 λ:-0,52 |dp|m:0,8190 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:100,465 √J0m:119,807 √Mm:90,665 λ:-0,52 |dp|m:0,8190 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:83,645 √J0m:106,022 √Mm:90,490 λ:-0,52 |dp|m:0,8190 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:66,468 √J0m:93,080 √Mm:90,511 λ:-0,52 |dp|m:0,8190 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:48,553 √J0m:81,388 √Mm:90,729 λ:-0,52 |dp|m:0,8190 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:28,543 √J0m:71,558 √Mm:91,146 λ:-0,52 |dp|m:0,8190 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:64,449 √Mm:91,761 λ:-0,52 |dp|m:0,8190 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:61,019 √Mm:92,572 λ:-0,52 |dp|m:0,8190 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 12 -37 37 39 -47 07 10 -104 98 -15 -10 35 -51 -13 26 14 09 -24 06
co 2 -125 139 96 -15 03 -20 24 69 -193 36 80 232 -64 -36 60 257 -24 -104 65
co 3 17 -17 -14 73 -09 -26 06 -68 22 54 -49 -100 35 30 -24 -09 -18 03 02
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -06 -135 01 -89 82 -18 -08 284 14 -133 -06 -119 54 -42 42 60 -07 -53 50
co 2 431 -239 06 -67 84 -32 00 196 -61 -40 -97 -463 433 -74 -65 -419 110 257 -114
co 3 -73 -178 -01 -133 203 -51 -50 491 -110 -42 -82 99 -126 45 -02 95 -12 -114 90
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 06 -22 18 17 -22 03 05 -45 50 -11 -05 14 -24 -07 14 08 04 -13 04
dpco 2 -52 64 48 -09 04 -11 12 40 -98 17 38 104 -22 -20 28 118 -09 -46 29
dpco 3 07 -13 -07 33 01 -14 02 -22 09 26 -26 -47 15 16 -12 -02 -10 -01 03
Lambdas Total x y z: -0,05 1,96 0,01 0,70

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:55,800 √J0m:59,352 √Mm:91,495 λ:-0,05 |dp|m:0,1272 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:53,276 √J0m:56,821 √Mm:89,376 λ:-0,05 |dp|m:0,1272 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:50,753 √J0m:54,291 √Mm:87,219 λ:-0,05 |dp|m:0,1272 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:48,231 √J0m:51,763 √Mm:85,022 λ:-0,05 |dp|m:0,1272 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:45,709 √J0m:49,236 √Mm:82,789 λ:-0,05 |dp|m:0,1272 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:43,187 √J0m:46,711 √Mm:80,523 λ:-0,05 |dp|m:0,1272 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:40,665 √J0m:44,189 √Mm:78,230 λ:-0,05 |dp|m:0,1272 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:38,140 √J0m:41,669 √Mm:75,917 λ:-0,05 |dp|m:0,1272 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:35,612 √J0m:39,151 √Mm:73,592 λ:-0,05 |dp|m:0,1272 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:33,079 √J0m:36,638 √Mm:71,264 λ:-0,05 |dp|m:0,1272 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:30,538 √J0m:34,129 √Mm:68,942 λ:-0,05 |dp|m:0,1272 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:27,986 √J0m:31,626 √Mm:66,638 λ:-0,05 |dp|m:0,1272 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:25,419 √J0m:29,130 √Mm:64,361 λ:-0,05 |dp|m:0,1272 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:22,831 √J0m:26,643 √Mm:62,122 λ:-0,05 |dp|m:0,1272 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:20,212 √J0m:24,167 √Mm:59,934 λ:-0,05 |dp|m:0,1272 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:17,548 √J0m:21,708 √Mm:57,809 λ:-0,05 |dp|m:0,1272 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:14,812 √J0m:19,270 √Mm:55,760 λ:-0,05 |dp|m:0,1272 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:11,956 √J0m:16,864 √Mm:53,803 λ:-0,05 |dp|m:0,1272 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:8,860 √J0m:14,504 √Mm:51,953 λ:-0,05 |dp|m:0,1272 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:5,105 √J0m:12,219 √Mm:50,225 λ:-0,05 |dp|m:0,1272 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:10,059 √Mm:48,637 λ:-0,05 |dp|m:0,1272 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:8,125 √Mm:47,208 λ:-0,05 |dp|m:0,1272 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:6,616 √Mm:45,954 λ:-0,05 |dp|m:0,1272 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:5,872 √Mm:44,894 λ:-0,05 |dp|m:0,1272 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 11 -04 01 00 00 -01 -05 -11 09 01 03 02 04 -05 -05 -01 05 -03
co 2 -11 -01 -10 05 -05 04 -02 -17 23 -01 -03 02 -17 08 -02 -03 -04 -03 00
co 3 02 11 01 00 -10 05 02 -20 04 -03 09 05 03 -05 03 -04 02 06 -05
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -115 -02 -32 38 -15 -04 213 -79 11 -12 -12 -08 -35 43 19 -02 -45 49
co 2 -02 57 -05 -32 56 -54 08 -79 89 61 -89 -17 132 -114 -23 03 -81 85 -25
co 3 01 -217 01 -40 161 -109 -22 287 -43 -47 34 -14 -38 59 -17 16 13 -77 68
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 16 -02 03 -03 01 00 -22 02 03 02 03 02 05 -06 -04 00 07 -06
dpco 2 -05 -06 -04 05 -07 07 -02 -02 03 -06 07 02 -20 14 01 -02 06 -09 02
dpco 3 01 25 01 04 -19 12 03 -36 06 03 02 04 05 -08 03 -04 00 10 -09
Lambdas Total x y z: 0,18 0,99 0,91 0,35

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:19,103 √J0m:5,692 √Mm:43,079 λ:0,18 |dp|m:0,0344 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:18,587 √J0m:5,255 √Mm:42,119 λ:0,18 |dp|m:0,0344 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:18,093 √J0m:4,876 √Mm:41,162 λ:0,18 |dp|m:0,0344 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:17,624 √J0m:4,571 √Mm:40,211 λ:0,18 |dp|m:0,0344 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:17,181 √J0m:4,353 √Mm:39,266 λ:0,18 |dp|m:0,0344 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:16,767 √J0m:4,238 √Mm:38,326 λ:0,18 |dp|m:0,0344 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:16,384 √J0m:4,233 √Mm:37,392 λ:0,18 |dp|m:0,0344 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:16,034 √J0m:4,339 √Mm:36,466 λ:0,18 |dp|m:0,0344 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:15,719 √J0m:4,548 √Mm:35,547 λ:0,18 |dp|m:0,0344 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:15,441 √J0m:4,846 √Mm:34,636 λ:0,18 |dp|m:0,0344 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:15,203 √J0m:5,219 √Mm:33,734 λ:0,18 |dp|m:0,0344 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:15,007 √J0m:5,652 √Mm:32,843 λ:0,18 |dp|m:0,0344 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:14,854 √J0m:6,131 √Mm:31,962 λ:0,18 |dp|m:0,0344 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:14,745 √J0m:6,647 √Mm:31,093 λ:0,18 |dp|m:0,0344 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:14,681 √J0m:7,193 √Mm:30,236 λ:0,18 |dp|m:0,0344 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:14,664 √J0m:7,761 √Mm:29,394 λ:0,18 |dp|m:0,0344 mm
Acabado Optimizado (izq). Cuadro 217 Distancia Esque. Antes y Despues Retoque:395,00 Distancias Despues con p y q: 7,00 792,00 mm


Comienzan Iteraciones para cuadro 218

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 65 -89 -204 -248 -262 167 282 207 180 -28 -125 -103 -36 74 92 87 149
co 2 -341 -01 176 -138 -222 -297 -270 -58 -111 12 52 -496 -955 -1295 -1348 -478 -982 -1251 -1287
co 3 52 -01 -32 -94 -266 -540 -615 246 375 220 171 26 189 295 313 118 167 224 317
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -15 84 -73 -57 99 15 08 137 -289 18 61 -61 106 42 -57 -29 -24 31 -26
co 2 263 -265 -192 15 47 59 -18 -73 231 -45 -96 -382 220 179 45 -413 136 320 15
co 3 -40 40 33 -115 33 108 50 131 -400 57 116 184 -89 -56 -16 00 24 -32 -39
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 05 20 15 -58 -78 -120 -129 117 71 108 105 -28 -37 -41 -32 30 40 51 68
dpco 2 -107 -65 41 -65 -99 -134 -140 -47 00 -05 03 -341 -424 -604 -663 -339 -458 -548 -640
dpco 3 16 09 -08 -75 -125 -244 -296 155 90 124 114 57 73 134 152 59 89 104 149
Lambdas Total x y z: -0,49 3,01 -0,35 1,20

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:354,363 √J0m:363,366 √Mm:115,381 λ:-0,49 |dp|m:0,8046 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:338,468 √J0m:347,497 √Mm:112,966 λ:-0,49 |dp|m:0,8046 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:322,566 √J0m:331,649 √Mm:110,653 λ:-0,49 |dp|m:0,8046 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:306,656 √J0m:315,827 √Mm:108,455 λ:-0,49 |dp|m:0,8046 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:290,735 √J0m:300,032 √Mm:106,380 λ:-0,49 |dp|m:0,8046 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:274,802 √J0m:284,272 √Mm:104,441 λ:-0,49 |dp|m:0,8046 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:258,854 √J0m:268,550 √Mm:102,647 λ:-0,49 |dp|m:0,8046 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:242,887 √J0m:252,875 √Mm:101,006 λ:-0,49 |dp|m:0,8046 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:226,897 √J0m:237,256 √Mm:99,528 λ:-0,49 |dp|m:0,8046 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:210,880 √J0m:221,704 √Mm:98,221 λ:-0,49 |dp|m:0,8046 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:194,827 √J0m:206,235 √Mm:97,092 λ:-0,49 |dp|m:0,8046 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:178,730 √J0m:190,869 √Mm:96,145 λ:-0,49 |dp|m:0,8046 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:162,576 √J0m:175,632 √Mm:95,386 λ:-0,49 |dp|m:0,8046 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:146,347 √J0m:160,563 √Mm:94,814 λ:-0,49 |dp|m:0,8046 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:130,017 √J0m:145,713 √Mm:94,431 λ:-0,49 |dp|m:0,8046 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:113,543 √J0m:131,155 √Mm:94,232 λ:-0,49 |dp|m:0,8046 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:96,858 √J0m:117,001 √Mm:94,211 λ:-0,49 |dp|m:0,8046 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:79,833 √J0m:103,414 √Mm:94,357 λ:-0,49 |dp|m:0,8046 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:62,200 √J0m:90,651 √Mm:94,658 λ:-0,49 |dp|m:0,8046 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:43,236 √J0m:79,111 √Mm:95,098 λ:-0,49 |dp|m:0,8046 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:19,388 √J0m:69,408 √Mm:95,663 λ:-0,49 |dp|m:0,8046 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:62,403 √Mm:96,344 λ:-0,49 |dp|m:0,8046 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:59,066 √Mm:97,140 λ:-0,49 |dp|m:0,8046 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 07 -43 34 34 -39 06 11 -80 132 -21 -42 33 -48 -16 31 11 07 -21 05
co 2 -116 136 89 00 -12 -14 24 41 -112 23 46 224 -59 -19 52 239 -15 -94 64
co 3 18 -20 -15 64 -02 -25 09 -81 184 -41 -69 -96 35 12 -09 -07 -22 04 02
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -107 01 -88 75 -17 -09 287 -160 -56 45 -120 48 -15 19 56 -05 -51 46
co 2 405 -221 11 -70 78 -33 05 405 -164 -169 -80 -461 442 -118 -37 -368 68 254 -106
co 3 -64 -121 -02 -128 192 -48 -53 120 -117 83 100 93 -139 40 12 84 -04 -115 88
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 03 -22 17 17 -19 03 05 -38 65 -11 -21 16 -24 -08 16 06 04 -11 03
dpco 2 -56 67 44 00 -06 -07 12 23 -57 10 23 109 -27 -10 26 117 -07 -46 32
dpco 3 09 -11 -07 31 00 -13 04 -40 91 -20 -34 -47 17 06 -05 -03 -11 01 02
Lambdas Total x y z: -0,01 2,04 0,08 1,78

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:56,516 √J0m:57,416 √Mm:95,775 λ:-0,01 |dp|m:0,1298 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:53,929 √J0m:54,821 √Mm:93,208 λ:-0,01 |dp|m:0,1298 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:51,346 √J0m:52,227 √Mm:90,386 λ:-0,01 |dp|m:0,1298 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:48,766 √J0m:49,633 √Mm:87,392 λ:-0,01 |dp|m:0,1298 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:46,187 √J0m:47,039 √Mm:84,301 λ:-0,01 |dp|m:0,1298 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:43,609 √J0m:44,445 √Mm:81,163 λ:-0,01 |dp|m:0,1298 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:41,031 √J0m:41,851 √Mm:78,008 λ:-0,01 |dp|m:0,1298 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:38,452 √J0m:39,258 √Mm:74,858 λ:-0,01 |dp|m:0,1298 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:35,872 √J0m:36,664 √Mm:71,728 λ:-0,01 |dp|m:0,1298 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:33,290 √J0m:34,071 √Mm:68,629 λ:-0,01 |dp|m:0,1298 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:30,706 √J0m:31,479 √Mm:65,573 λ:-0,01 |dp|m:0,1298 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:28,119 √J0m:28,886 √Mm:62,570 λ:-0,01 |dp|m:0,1298 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:25,528 √J0m:26,295 √Mm:59,632 λ:-0,01 |dp|m:0,1298 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:22,931 √J0m:23,704 √Mm:56,771 λ:-0,01 |dp|m:0,1298 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:20,327 √J0m:21,114 √Mm:54,001 λ:-0,01 |dp|m:0,1298 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:17,713 √J0m:18,525 √Mm:51,337 λ:-0,01 |dp|m:0,1298 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:15,081 √J0m:15,939 √Mm:48,798 λ:-0,01 |dp|m:0,1298 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:12,423 √J0m:13,356 √Mm:46,404 λ:-0,01 |dp|m:0,1298 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:9,715 √J0m:10,779 √Mm:44,179 λ:-0,01 |dp|m:0,1298 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:6,900 √J0m:8,214 √Mm:42,149 λ:-0,01 |dp|m:0,1298 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:3,745 √J0m:5,675 √Mm:40,342 λ:-0,01 |dp|m:0,1298 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:3,229 √Mm:38,789 λ:-0,01 |dp|m:0,1298 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:1,453 √Mm:37,521 λ:-0,01 |dp|m:0,1298 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 04 -02 -01 01 00 00 01 -06 02 02 00 02 01 -02 -01 00 02 -01
co 2 02 -05 -05 01 00 01 -01 -07 08 01 -02 -07 -02 02 -02 -09 00 02 -02
co 3 00 03 01 -02 -02 02 00 03 -09 01 03 04 00 -01 00 -01 01 01 -01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -79 -06 -28 30 -14 -04 180 -79 -32 35 -09 -13 00 09 07 00 -35 37
co 2 -20 99 -14 -37 41 -43 10 -73 46 48 -55 01 99 -113 -06 35 -104 83 -19
co 3 04 -136 02 -33 139 -95 -24 238 -93 -57 66 -21 -29 36 02 05 17 -68 56
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 10 00 03 -02 01 00 -18 06 04 -03 01 02 01 -02 -01 00 05 -04
dpco 2 03 -13 -01 04 -04 05 -02 04 -01 -05 05 -04 -11 13 -01 -08 11 -08 01
dpco 3 -01 16 00 02 -16 11 03 -24 05 07 -06 04 03 -04 00 -01 -01 08 -06
Lambdas Total x y z: 0,21 1,03 0,74 0,41

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:16,657 √J0m:2,667 √Mm:35,764 λ:0,21 |dp|m:0,0266 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:16,308 √J0m:2,743 √Mm:34,967 λ:0,21 |dp|m:0,0266 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:15,979 √J0m:2,916 √Mm:34,174 λ:0,21 |dp|m:0,0266 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:15,673 √J0m:3,171 √Mm:33,386 λ:0,21 |dp|m:0,0266 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:15,389 √J0m:3,489 √Mm:32,602 λ:0,21 |dp|m:0,0266 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:15,130 √J0m:3,855 √Mm:31,824 λ:0,21 |dp|m:0,0266 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:14,896 √J0m:4,256 √Mm:31,051 λ:0,21 |dp|m:0,0266 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:14,689 √J0m:4,683 √Mm:30,284 λ:0,21 |dp|m:0,0266 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:14,511 √J0m:5,131 √Mm:29,524 λ:0,21 |dp|m:0,0266 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:14,361 √J0m:5,593 √Mm:28,771 λ:0,21 |dp|m:0,0266 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:14,241 √J0m:6,067 √Mm:28,026 λ:0,21 |dp|m:0,0266 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:14,153 √J0m:6,550 √Mm:27,289 λ:0,21 |dp|m:0,0266 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:14,095 √J0m:7,040 √Mm:26,561 λ:0,21 |dp|m:0,0266 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:14,069 √J0m:7,536 √Mm:25,842 λ:0,21 |dp|m:0,0266 mm
Acabado Optimizado (izq). Cuadro 218 Distancia Esque. Antes y Despues Retoque:388,00 Distancias Despues con p y q: 7,00 777,00 mm


Comienzan Iteraciones para cuadro 219

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 65 -89 -209 -253 -266 167 282 467 472 -28 -125 -103 -36 74 92 92 154
co 2 -341 -01 176 -134 -244 -301 -270 -54 -111 -76 -10 -491 -955 -1291 -1344 -474 -977 -1251 -1282
co 3 52 -01 -32 -89 -288 -566 -615 246 375 436 432 26 189 295 322 123 167 224 317
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -14 80 -73 -25 71 07 15 134 34 -225 -13 -59 105 38 -54 -26 -19 26 -27
co 2 259 -267 -192 20 57 70 -39 -81 142 119 -163 -379 213 185 43 -417 141 317 13
co 3 -39 39 33 -89 06 98 61 127 -147 -92 08 181 -84 -51 -22 -05 26 -29 -40
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 23 11 -52 -83 -124 -128 123 151 167 232 -31 -31 -40 -34 29 40 54 69
dpco 2 -94 -80 31 -61 -105 -130 -147 -51 -14 -03 -53 -358 -415 -591 -659 -360 -447 -532 -637
dpco 3 15 11 -06 -71 -142 -254 -289 161 144 191 218 66 70 132 154 60 91 104 147
Lambdas Total x y z: -0,59 3,93 -0,35 2,98

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:363,519 √J0m:374,100 √Mm:114,908 λ:-0,59 |dp|m:0,8232 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:347,298 √J0m:357,899 √Mm:112,464 λ:-0,59 |dp|m:0,8232 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:331,077 √J0m:341,724 √Mm:110,087 λ:-0,59 |dp|m:0,8232 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:314,855 √J0m:325,578 √Mm:107,787 λ:-0,59 |dp|m:0,8232 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:298,632 √J0m:309,466 √Mm:105,573 λ:-0,59 |dp|m:0,8232 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:282,405 √J0m:293,392 √Mm:103,455 λ:-0,59 |dp|m:0,8232 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:266,173 √J0m:277,365 √Mm:101,444 λ:-0,59 |dp|m:0,8232 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:249,934 √J0m:261,391 √Mm:99,554 λ:-0,59 |dp|m:0,8232 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:233,684 √J0m:245,483 √Mm:97,798 λ:-0,59 |dp|m:0,8232 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:217,420 √J0m:229,653 √Mm:96,190 λ:-0,59 |dp|m:0,8232 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:201,135 √J0m:213,918 √Mm:94,742 λ:-0,59 |dp|m:0,8232 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:184,824 √J0m:198,303 √Mm:93,468 λ:-0,59 |dp|m:0,8232 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:168,477 √J0m:182,836 √Mm:92,380 λ:-0,59 |dp|m:0,8232 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:152,081 √J0m:167,559 √Mm:91,488 λ:-0,59 |dp|m:0,8232 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:135,617 √J0m:152,530 √Mm:90,801 λ:-0,59 |dp|m:0,8232 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:119,055 √J0m:137,829 √Mm:90,327 λ:-0,59 |dp|m:0,8232 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:102,346 √J0m:123,573 √Mm:90,071 λ:-0,59 |dp|m:0,8232 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:85,405 √J0m:109,936 √Mm:90,038 λ:-0,59 |dp|m:0,8232 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:68,055 √J0m:97,179 √Mm:90,229 λ:-0,59 |dp|m:0,8232 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:49,869 √J0m:85,696 √Mm:90,645 λ:-0,59 |dp|m:0,8232 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:29,332 √J0m:76,065 √Mm:91,284 λ:-0,59 |dp|m:0,8232 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:69,066 √Mm:92,143 λ:-0,59 |dp|m:0,8232 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:65,548 √Mm:93,215 λ:-0,59 |dp|m:0,8232 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:66,069 √Mm:94,496 λ:-0,59 |dp|m:0,8232 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 08 -52 41 25 -26 21 17 -104 -50 100 -38 41 -56 -15 39 10 03 -26 02
co 2 -134 174 107 00 -12 -15 53 58 -81 -70 107 295 -43 09 106 318 06 -81 120
co 3 20 -25 -18 67 25 -07 22 -107 58 16 -49 -120 36 04 -18 -09 -34 -04 -05
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 08 -142 03 -36 31 -26 01 417 -132 -69 -60 -137 54 -23 24 69 -08 -57 49
co 2 489 -314 28 -17 27 -21 00 40 -04 -54 18 -566 500 -99 -61 -483 124 280 -132
co 3 -79 -139 -04 -42 109 -101 06 362 -40 -75 -24 117 -152 33 23 109 -17 -121 95
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 -34 21 10 -11 09 08 -28 -32 46 -23 13 -25 -09 21 09 01 -16 04
dpco 2 -39 69 55 -01 -05 -09 26 31 -41 -38 54 116 07 -01 50 132 10 -25 52
dpco 3 06 -21 -09 31 19 -09 11 -33 27 04 -26 -54 09 04 -08 02 -18 -09 03
Lambdas Total x y z: -0,11 1,27 -0,08 1,17

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:60,191 √J0m:67,953 √Mm:93,866 λ:-0,11 |dp|m:0,1323 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:57,643 √J0m:65,373 √Mm:91,777 λ:-0,11 |dp|m:0,1323 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:55,091 √J0m:62,798 √Mm:89,710 λ:-0,11 |dp|m:0,1323 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:52,535 √J0m:60,229 √Mm:87,666 λ:-0,11 |dp|m:0,1323 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:49,974 √J0m:57,667 √Mm:85,646 λ:-0,11 |dp|m:0,1323 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:47,409 √J0m:55,114 √Mm:83,649 λ:-0,11 |dp|m:0,1323 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:44,838 √J0m:52,569 √Mm:81,675 λ:-0,11 |dp|m:0,1323 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:42,261 √J0m:50,035 √Mm:79,724 λ:-0,11 |dp|m:0,1323 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:39,679 √J0m:47,514 √Mm:77,793 λ:-0,11 |dp|m:0,1323 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:37,089 √J0m:45,007 √Mm:75,881 λ:-0,11 |dp|m:0,1323 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:34,492 √J0m:42,517 √Mm:73,987 λ:-0,11 |dp|m:0,1323 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:31,887 √J0m:40,047 √Mm:72,109 λ:-0,11 |dp|m:0,1323 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:29,270 √J0m:37,601 √Mm:70,249 λ:-0,11 |dp|m:0,1323 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:26,640 √J0m:35,184 √Mm:68,408 λ:-0,11 |dp|m:0,1323 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:23,990 √J0m:32,803 √Mm:66,589 λ:-0,11 |dp|m:0,1323 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:21,312 √J0m:30,466 √Mm:64,798 λ:-0,11 |dp|m:0,1323 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:18,592 √J0m:28,184 √Mm:63,043 λ:-0,11 |dp|m:0,1323 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:15,806 √J0m:25,971 √Mm:61,332 λ:-0,11 |dp|m:0,1323 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:12,908 √J0m:23,846 √Mm:59,676 λ:-0,11 |dp|m:0,1323 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:9,796 √J0m:21,836 √Mm:58,084 λ:-0,11 |dp|m:0,1323 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:6,146 √J0m:19,975 √Mm:56,568 λ:-0,11 |dp|m:0,1323 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:18,309 √Mm:55,138 λ:-0,11 |dp|m:0,1323 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:16,895 √Mm:53,807 λ:-0,11 |dp|m:0,1323 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:15,801 √Mm:52,584 λ:-0,11 |dp|m:0,1323 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:15,097 √Mm:51,483 λ:-0,11 |dp|m:0,1323 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 26 -06 01 00 00 -02 -39 24 -05 13 12 01 05 -09 -10 01 11 -07
co 2 -44 16 -19 02 -02 05 -08 -14 12 17 -18 31 -58 12 -08 16 -17 -24 00
co 3 07 22 03 -04 -18 14 -04 -31 -03 07 10 02 15 -05 00 -13 07 16 -12
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -04 -158 09 18 07 -28 05 249 -69 -30 03 -53 03 -02 14 33 -01 -52 55
co 2 39 -35 23 18 17 -16 -14 -111 85 60 -62 -140 235 -169 -07 -56 -63 100 -32
co 3 -07 -199 -02 29 127 -166 16 342 -124 -12 04 -05 -76 52 04 41 13 -94 82
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 18 -03 00 00 01 -01 -28 14 -02 07 08 00 03 -05 -06 00 07 -05
dpco 2 -23 09 -10 00 -01 03 -03 -03 03 07 -07 20 -37 11 -04 10 -06 -15 01
dpco 3 04 17 02 -03 -13 12 -02 -27 02 04 05 01 10 -04 00 -08 03 11 -08
Lambdas Total x y z: 0,07 0,81 0,43 0,32

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:18,873 √J0m:14,020 √Mm:49,410 λ:0,07 |dp|m:0,0418 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:18,083 √J0m:13,203 √Mm:48,318 λ:0,07 |dp|m:0,0418 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:17,304 √J0m:12,390 √Mm:47,239 λ:0,07 |dp|m:0,0418 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:16,537 √J0m:11,580 √Mm:46,172 λ:0,07 |dp|m:0,0418 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:15,785 √J0m:10,774 √Mm:45,119 λ:0,07 |dp|m:0,0418 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:15,050 √J0m:9,973 √Mm:44,081 λ:0,07 |dp|m:0,0418 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:14,334 √J0m:9,178 √Mm:43,060 λ:0,07 |dp|m:0,0418 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:13,640 √J0m:8,391 √Mm:42,055 λ:0,07 |dp|m:0,0418 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:12,971 √J0m:7,614 √Mm:41,070 λ:0,07 |dp|m:0,0418 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:12,333 √J0m:6,852 √Mm:40,104 λ:0,07 |dp|m:0,0418 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:11,730 √J0m:6,109 √Mm:39,161 λ:0,07 |dp|m:0,0418 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:11,167 √J0m:5,393 √Mm:38,240 λ:0,07 |dp|m:0,0418 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:10,651 √J0m:4,717 √Mm:37,345 λ:0,07 |dp|m:0,0418 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:10,189 √J0m:4,101 √Mm:36,476 λ:0,07 |dp|m:0,0418 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:9,788 √J0m:3,575 √Mm:35,636 λ:0,07 |dp|m:0,0418 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:9,458 √J0m:3,185 √Mm:34,827 λ:0,07 |dp|m:0,0418 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:9,204 √J0m:2,984 √Mm:34,050 λ:0,07 |dp|m:0,0418 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:9,034 √J0m:3,010 √Mm:33,310 λ:0,07 |dp|m:0,0418 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:8,952 √J0m:3,259 √Mm:32,606 λ:0,07 |dp|m:0,0418 mm
Acabado Optimizado (izq). Cuadro 219 Distancia Esque. Antes y Despues Retoque:400,00 Distancias Despues con p y q: 3,00 800,00 mm


Comienzan Iteraciones para cuadro 220

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 65 -89 -209 -248 -266 162 277 428 436 -28 -125 -98 -36 70 92 136 198
co 2 -341 -01 176 -138 -209 -293 -270 -58 -125 -01 65 -491 -955 -1291 -1348 -478 -977 -1256 -1278
co 3 52 -01 -28 -89 -266 -540 -611 251 379 414 410 30 189 295 326 118 167 189 286
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -19 80 -74 -58 105 08 13 132 -05 -172 -24 -57 109 31 -49 -24 29 -27 -26
co 2 263 -267 -193 33 28 62 -17 -93 269 05 -161 -374 216 182 45 -417 145 321 09
co 3 -40 46 28 -120 39 101 54 122 -175 -59 08 179 -81 -48 -25 01 -22 14 -40
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 03 22 12 -61 -74 -122 -129 119 137 165 211 -30 -32 -40 -32 28 54 60 91
dpco 2 -96 -76 33 -60 -96 -129 -140 -55 14 01 -13 -352 -416 -594 -661 -357 -448 -537 -636
dpco 3 15 13 -06 -79 -122 -241 -290 160 140 190 207 66 72 134 156 59 77 99 132
Lambdas Total x y z: -0,57 4,65 -0,35 2,90

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:361,299 √J0m:371,633 √Mm:115,565 λ:-0,57 |dp|m:0,8187 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:345,157 √J0m:355,512 √Mm:113,111 λ:-0,57 |dp|m:0,8187 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:329,014 √J0m:339,416 √Mm:110,725 λ:-0,57 |dp|m:0,8187 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:312,869 √J0m:323,347 √Mm:108,420 λ:-0,57 |dp|m:0,8187 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:296,721 √J0m:307,311 √Mm:106,206 λ:-0,57 |dp|m:0,8187 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:280,567 √J0m:291,312 √Mm:104,095 λ:-0,57 |dp|m:0,8187 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:264,406 √J0m:275,358 √Mm:102,096 λ:-0,57 |dp|m:0,8187 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:248,236 √J0m:259,455 √Mm:100,221 λ:-0,57 |dp|m:0,8187 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:232,053 √J0m:243,615 √Mm:98,479 λ:-0,57 |dp|m:0,8187 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:215,854 √J0m:227,851 √Mm:96,882 λ:-0,57 |dp|m:0,8187 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:199,635 √J0m:212,179 √Mm:95,439 λ:-0,57 |dp|m:0,8187 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:183,390 √J0m:196,621 √Mm:94,160 λ:-0,57 |dp|m:0,8187 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:167,109 √J0m:181,207 √Mm:93,055 λ:-0,57 |dp|m:0,8187 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:150,780 √J0m:165,977 √Mm:92,132 λ:-0,57 |dp|m:0,8187 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:134,386 √J0m:150,987 √Mm:91,399 λ:-0,57 |dp|m:0,8187 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:117,897 √J0m:136,315 √Mm:90,863 λ:-0,57 |dp|m:0,8187 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:101,268 √J0m:122,077 √Mm:90,528 λ:-0,57 |dp|m:0,8187 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:84,413 √J0m:108,444 √Mm:90,401 λ:-0,57 |dp|m:0,8187 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:67,161 √J0m:95,674 √Mm:90,482 λ:-0,57 |dp|m:0,8187 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:49,095 √J0m:84,161 √Mm:90,773 λ:-0,57 |dp|m:0,8187 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:28,714 √J0m:74,491 √Mm:91,274 λ:-0,57 |dp|m:0,8187 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:67,461 √Mm:91,982 λ:-0,57 |dp|m:0,8187 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:63,947 √Mm:92,895 λ:-0,57 |dp|m:0,8187 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:64,526 √Mm:94,008 λ:-0,57 |dp|m:0,8187 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 10 -50 39 45 -45 20 19 -99 -25 65 -29 39 -55 -09 34 08 -27 04 -03
co 2 -130 166 103 -07 03 -10 38 64 -155 -03 94 283 -39 16 106 308 07 -75 122
co 3 20 -29 -15 84 03 -09 28 -101 71 -04 -46 -115 32 01 -17 -12 -03 -28 -03
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 09 -115 03 -102 84 -22 -09 384 -103 -33 -101 -126 51 -23 26 81 -15 -79 64
co 2 491 -285 25 -72 87 -32 -01 127 -72 -30 -33 -522 487 -99 -64 -463 136 250 -116
co 3 -74 -122 -04 -148 214 -68 -46 351 -37 -64 -31 112 -146 31 25 94 -15 -101 83
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 06 -30 20 18 -18 09 09 -31 -17 31 -19 13 -25 -06 18 08 -14 -02 01
dpco 2 -41 70 53 -07 06 -06 19 38 -81 -03 46 116 04 03 50 132 10 -25 56
dpco 3 06 -20 -08 35 12 -08 12 -34 34 -05 -25 -52 09 02 -07 -02 -02 -19 02
Lambdas Total x y z: -0,10 1,34 -0,05 1,04

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:59,863 √J0m:66,472 √Mm:93,205 λ:-0,10 |dp|m:0,1334 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:57,266 √J0m:63,850 √Mm:91,089 λ:-0,10 |dp|m:0,1334 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:54,670 √J0m:61,233 √Mm:88,968 λ:-0,10 |dp|m:0,1334 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:52,073 √J0m:58,621 √Mm:86,840 λ:-0,10 |dp|m:0,1334 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:49,477 √J0m:56,014 √Mm:84,707 λ:-0,10 |dp|m:0,1334 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:46,879 √J0m:53,413 √Mm:82,569 λ:-0,10 |dp|m:0,1334 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:44,281 √J0m:50,818 √Mm:80,428 λ:-0,10 |dp|m:0,1334 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:41,681 √J0m:48,233 √Mm:78,287 λ:-0,10 |dp|m:0,1334 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:39,079 √J0m:45,656 √Mm:76,149 λ:-0,10 |dp|m:0,1334 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:36,473 √J0m:43,091 √Mm:74,017 λ:-0,10 |dp|m:0,1334 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:33,862 √J0m:40,539 √Mm:71,894 λ:-0,10 |dp|m:0,1334 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:31,244 √J0m:38,003 √Mm:69,787 λ:-0,10 |dp|m:0,1334 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:28,616 √J0m:35,487 √Mm:67,700 λ:-0,10 |dp|m:0,1334 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:25,973 √J0m:32,995 √Mm:65,639 λ:-0,10 |dp|m:0,1334 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:23,310 √J0m:30,533 √Mm:63,611 λ:-0,10 |dp|m:0,1334 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:20,618 √J0m:28,108 √Mm:61,623 λ:-0,10 |dp|m:0,1334 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:17,882 √J0m:25,731 √Mm:59,684 λ:-0,10 |dp|m:0,1334 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:15,077 √J0m:23,418 √Mm:57,801 λ:-0,10 |dp|m:0,1334 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:12,154 √J0m:21,189 √Mm:55,984 λ:-0,10 |dp|m:0,1334 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:8,997 √J0m:19,072 √Mm:54,245 λ:-0,10 |dp|m:0,1334 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:5,190 √J0m:17,111 √Mm:52,593 λ:-0,10 |dp|m:0,1334 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:15,364 √Mm:51,040 λ:-0,10 |dp|m:0,1334 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:13,913 √Mm:49,600 λ:-0,10 |dp|m:0,1334 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:12,858 √Mm:48,284 λ:-0,10 |dp|m:0,1334 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:12,302 √Mm:47,106 λ:-0,10 |dp|m:0,1334 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 20 -06 05 -03 00 -02 -28 15 -06 15 08 02 04 -08 -10 06 08 -07
co 2 -35 07 -18 09 -10 05 -05 -23 30 04 -10 17 -48 09 -08 07 -16 -17 -05
co 3 05 18 03 04 -24 09 01 -24 -06 08 10 04 12 -04 00 -09 02 15 -09
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -03 -127 05 -38 49 -18 -03 213 -57 -20 01 -33 -04 00 13 27 08 -59 52
co 2 33 14 12 -33 63 -54 06 -105 90 70 -83 -88 202 -155 -08 -36 -54 76 -20
co 3 -06 -181 -01 -49 194 -139 -13 296 -93 -10 06 -05 -64 47 05 28 03 -83 81
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 16 -03 04 -04 01 -01 -25 10 -02 08 06 01 02 -05 -06 02 07 -06
dpco 2 -19 03 -09 06 -08 05 -03 -06 11 -02 -01 13 -34 12 -04 05 -05 -12 -01
dpco 3 03 18 01 05 -22 12 01 -27 02 04 05 02 09 -04 00 -06 01 12 -08
Lambdas Total x y z: 0,10 0,95 0,55 0,31

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:18,468 √J0m:11,579 √Mm:45,073 λ:0,10 |dp|m:0,0391 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:17,768 √J0m:10,853 √Mm:44,074 λ:0,10 |dp|m:0,0391 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:17,084 √J0m:10,135 √Mm:43,085 λ:0,10 |dp|m:0,0391 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:16,417 √J0m:9,428 √Mm:42,105 λ:0,10 |dp|m:0,0391 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:15,769 √J0m:8,733 √Mm:41,135 λ:0,10 |dp|m:0,0391 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:15,143 √J0m:8,054 √Mm:40,176 λ:0,10 |dp|m:0,0391 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:14,542 √J0m:7,395 √Mm:39,229 λ:0,10 |dp|m:0,0391 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:13,970 √J0m:6,762 √Mm:38,296 λ:0,10 |dp|m:0,0391 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:13,428 √J0m:6,164 √Mm:37,376 λ:0,10 |dp|m:0,0391 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:12,923 √J0m:5,610 √Mm:36,471 λ:0,10 |dp|m:0,0391 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:12,457 √J0m:5,117 √Mm:35,583 λ:0,10 |dp|m:0,0391 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:12,037 √J0m:4,702 √Mm:34,712 λ:0,10 |dp|m:0,0391 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:11,665 √J0m:4,389 √Mm:33,860 λ:0,10 |dp|m:0,0391 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:11,348 √J0m:4,200 √Mm:33,029 λ:0,10 |dp|m:0,0391 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:11,091 √J0m:4,151 √Mm:32,220 λ:0,10 |dp|m:0,0391 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:10,896 √J0m:4,248 √Mm:31,435 λ:0,10 |dp|m:0,0391 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:10,769 √J0m:4,482 √Mm:30,677 λ:0,10 |dp|m:0,0391 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:10,710 √J0m:4,832 √Mm:29,946 λ:0,10 |dp|m:0,0391 mm
Acabado Optimizado (izq). Cuadro 220 Distancia Esque. Antes y Despues Retoque:397,00 Distancias Despues con p y q: 5,00 795,00 mm


Comienzan Iteraciones para cuadro 221

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 12 -01 61 -94 -200 -253 -266 162 277 361 379 -28 -129 -98 -41 70 92 136 198
co 2 -337 -01 176 -134 -262 -297 -270 -41 -125 61 127 -487 -951 -1287 -1344 -474 -973 -1251 -1273
co 3 52 -01 -32 -89 -279 -562 -615 264 379 352 357 30 189 295 326 118 162 189 286
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -11 61 -69 -15 59 12 15 141 -100 -61 -44 -61 116 28 -49 -24 29 -27 -26
co 2 267 -259 -195 -01 88 50 -32 -133 365 -63 -156 -373 215 178 49 -418 147 320 09
co 3 -42 37 33 -89 05 95 64 106 -232 38 -13 178 -80 -46 -27 -03 -13 09 -40
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 03 16 12 -51 -84 -123 -129 119 112 164 178 -30 -33 -42 -34 28 54 61 92
dpco 2 -96 -71 35 -67 -107 -135 -144 -56 36 13 21 -344 -417 -595 -659 -350 -447 -539 -634
dpco 3 15 10 -07 -69 -138 -255 -290 161 127 187 175 63 73 135 156 58 78 97 132
Lambdas Total x y z: -0,54 6,50 -0,36 2,72

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:358,969 √J0m:368,774 √Mm:114,903 λ:-0,54 |dp|m:0,8138 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:342,914 √J0m:352,744 √Mm:112,484 λ:-0,54 |dp|m:0,8138 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:326,856 √J0m:336,737 √Mm:110,146 λ:-0,54 |dp|m:0,8138 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:310,794 √J0m:320,758 √Mm:107,900 λ:-0,54 |dp|m:0,8138 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:294,727 √J0m:304,810 √Mm:105,753 λ:-0,54 |dp|m:0,8138 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:278,654 √J0m:288,898 √Mm:103,716 λ:-0,54 |dp|m:0,8138 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:262,573 √J0m:273,029 √Mm:101,794 λ:-0,54 |dp|m:0,8138 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:246,482 √J0m:257,212 √Mm:99,995 λ:-0,54 |dp|m:0,8138 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:230,380 √J0m:241,455 √Mm:98,328 λ:-0,54 |dp|m:0,8138 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:214,263 √J0m:225,772 √Mm:96,799 λ:-0,54 |dp|m:0,8138 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:198,128 √J0m:210,179 √Mm:95,414 λ:-0,54 |dp|m:0,8138 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:181,970 √J0m:194,698 √Mm:94,180 λ:-0,54 |dp|m:0,8138 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:165,783 √J0m:179,357 √Mm:93,103 λ:-0,54 |dp|m:0,8138 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:149,556 √J0m:164,197 √Mm:92,191 λ:-0,54 |dp|m:0,8138 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:133,275 √J0m:149,272 √Mm:91,447 λ:-0,54 |dp|m:0,8138 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:116,917 √J0m:134,661 √Mm:90,879 λ:-0,54 |dp|m:0,8138 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:100,443 √J0m:120,477 √Mm:90,490 λ:-0,54 |dp|m:0,8138 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:83,784 √J0m:106,890 √Mm:90,285 λ:-0,54 |dp|m:0,8138 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:66,799 √J0m:94,161 √Mm:90,269 λ:-0,54 |dp|m:0,8138 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:49,149 √J0m:82,685 √Mm:90,443 λ:-0,54 |dp|m:0,8138 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:29,665 √J0m:73,056 √Mm:90,810 λ:-0,54 |dp|m:0,8138 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:66,086 √Mm:91,371 λ:-0,54 |dp|m:0,8138 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:62,669 √Mm:92,124 λ:-0,54 |dp|m:0,8138 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:63,382 √Mm:93,069 λ:-0,54 |dp|m:0,8138 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 05 -36 35 19 -15 18 18 -100 32 00 -12 39 -56 -07 33 07 -27 03 -04
co 2 -125 154 98 14 -26 00 46 83 -205 31 80 270 -33 23 105 296 10 -65 122
co 3 20 -22 -17 62 25 00 24 -90 100 -58 -28 -109 29 -02 -17 -10 -09 -24 -05
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -145 02 -36 39 -28 00 367 -67 -78 -65 -121 49 -18 21 79 -13 -77 63
co 2 476 -276 19 -25 32 -20 00 250 -158 17 -113 -490 467 -109 -55 -439 128 237 -109
co 3 -76 -166 -03 -47 131 -110 02 328 -13 -105 27 104 -142 35 22 89 -13 -101 84
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 03 -22 18 08 -07 08 09 -41 14 -02 -07 17 -27 -04 17 06 -14 -01 -01
dpco 2 -51 70 50 06 -12 00 23 48 -106 16 37 123 -05 09 51 137 08 -27 58
dpco 3 08 -15 -08 30 16 -03 12 -37 50 -32 -13 -52 11 00 -08 -03 -05 -15 00
Lambdas Total x y z: -0,05 1,50 0,00 1,30

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:62,028 √J0m:65,277 √Mm:92,099 λ:-0,05 |dp|m:0,1415 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:59,218 √J0m:62,460 √Mm:89,952 λ:-0,05 |dp|m:0,1415 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:56,410 √J0m:59,645 √Mm:87,751 λ:-0,05 |dp|m:0,1415 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:53,604 √J0m:56,831 √Mm:85,490 λ:-0,05 |dp|m:0,1415 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:50,801 √J0m:54,019 √Mm:83,168 λ:-0,05 |dp|m:0,1415 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:48,001 √J0m:51,208 √Mm:80,786 λ:-0,05 |dp|m:0,1415 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:45,202 √J0m:48,400 √Mm:78,351 λ:-0,05 |dp|m:0,1415 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:42,405 √J0m:45,595 √Mm:75,871 λ:-0,05 |dp|m:0,1415 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:39,608 √J0m:42,792 √Mm:73,357 λ:-0,05 |dp|m:0,1415 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:36,809 √J0m:39,994 √Mm:70,820 λ:-0,05 |dp|m:0,1415 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:34,008 √J0m:37,200 √Mm:68,274 λ:-0,05 |dp|m:0,1415 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:31,201 √J0m:34,412 √Mm:65,732 λ:-0,05 |dp|m:0,1415 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:28,385 √J0m:31,631 √Mm:63,206 λ:-0,05 |dp|m:0,1415 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:25,557 √J0m:28,860 √Mm:60,712 λ:-0,05 |dp|m:0,1415 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:22,710 √J0m:26,101 √Mm:58,263 λ:-0,05 |dp|m:0,1415 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:19,835 √J0m:23,359 √Mm:55,874 λ:-0,05 |dp|m:0,1415 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:16,917 √J0m:20,641 √Mm:53,563 λ:-0,05 |dp|m:0,1415 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:13,926 √J0m:17,958 √Mm:51,346 λ:-0,05 |dp|m:0,1415 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:10,802 √J0m:15,327 √Mm:49,243 λ:-0,05 |dp|m:0,1415 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:7,375 √J0m:12,781 √Mm:47,274 λ:-0,05 |dp|m:0,1415 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:2,653 √J0m:10,383 √Mm:45,462 λ:-0,05 |dp|m:0,1415 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:8,263 √Mm:43,830 λ:-0,05 |dp|m:0,1415 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:6,691 √Mm:42,401 λ:-0,05 |dp|m:0,1415 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:6,104 √Mm:41,201 λ:-0,05 |dp|m:0,1415 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 11 -04 00 -01 00 -02 -10 00 04 05 03 03 02 -04 -05 03 04 -03
co 2 -13 -01 -11 00 01 01 -05 -22 29 -04 -02 -01 -22 04 -08 -06 -08 -06 -06
co 3 02 11 02 -04 -09 06 -02 -09 -09 11 01 05 05 -02 00 -04 02 08 -04
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -108 -02 04 12 -29 03 187 -61 21 -25 -13 -13 07 07 15 09 -50 43
co 2 08 38 -06 02 00 -08 -08 -84 71 86 -90 -19 130 -128 -05 04 -71 65 -14
co 3 -01 -182 01 16 117 -153 14 262 -68 14 -14 -13 -39 39 03 14 06 -71 68
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 16 -02 00 -01 03 -01 -22 06 00 05 02 03 00 -03 -04 01 07 -06
dpco 2 -07 -04 -05 00 00 01 -02 -03 08 -10 07 01 -23 14 -03 -03 03 -09 -02
dpco 3 01 23 01 -03 -16 17 -03 -29 02 04 02 04 06 -05 00 -03 00 11 -08
Lambdas Total x y z: 0,19 1,06 0,86 0,37

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:18,146 √J0m:6,323 √Mm:39,372 λ:0,19 |dp|m:0,0328 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:17,653 √J0m:5,920 √Mm:38,497 λ:0,19 |dp|m:0,0328 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:17,182 √J0m:5,567 √Mm:37,629 λ:0,19 |dp|m:0,0328 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:16,735 √J0m:5,271 √Mm:36,767 λ:0,19 |dp|m:0,0328 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:16,314 √J0m:5,045 √Mm:35,912 λ:0,19 |dp|m:0,0328 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:15,920 √J0m:4,897 √Mm:35,065 λ:0,19 |dp|m:0,0328 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:15,556 √J0m:4,834 √Mm:34,226 λ:0,19 |dp|m:0,0328 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:15,224 √J0m:4,860 √Mm:33,397 λ:0,19 |dp|m:0,0328 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:14,926 √J0m:4,974 √Mm:32,577 λ:0,19 |dp|m:0,0328 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:14,665 √J0m:5,169 √Mm:31,769 λ:0,19 |dp|m:0,0328 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:14,442 √J0m:5,437 √Mm:30,972 λ:0,19 |dp|m:0,0328 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:14,260 √J0m:5,768 √Mm:30,188 λ:0,19 |dp|m:0,0328 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:14,119 √J0m:6,151 √Mm:29,418 λ:0,19 |dp|m:0,0328 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:14,021 √J0m:6,578 √Mm:28,663 λ:0,19 |dp|m:0,0328 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:13,968 √J0m:7,040 √Mm:27,925 λ:0,19 |dp|m:0,0328 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:13,959 √J0m:7,531 √Mm:27,205 λ:0,19 |dp|m:0,0328 mm
Acabado Optimizado (izq). Cuadro 221 Distancia Esque. Antes y Despues Retoque:393,00 Distancias Despues con p y q: 7,00 788,00 mm


Comienzan Iteraciones para cuadro 222

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 12 -01 61 -94 -200 -248 -266 162 282 317 335 -28 -125 -98 -19 70 92 132 193
co 2 -337 -01 176 -134 -240 -293 -270 -41 -120 74 140 -487 -951 -1287 -1340 -474 -973 -1251 -1273
co 3 52 -01 -28 -89 -253 -531 -611 268 383 326 330 34 189 295 260 123 162 189 291
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -11 59 -70 -43 88 16 10 150 -164 -03 -44 -61 109 28 -46 -21 24 -25 -23
co 2 265 -257 -196 -10 86 42 -13 -125 366 -72 -156 -379 218 197 31 -419 146 323 08
co 3 -36 39 28 -109 23 114 47 108 -266 75 -13 173 -78 -93 20 -04 -08 06 -38
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 03 14 13 -58 -78 -120 -131 119 99 158 156 -29 -35 -42 -21 29 52 59 91
dpco 2 -101 -66 38 -69 -98 -136 -139 -52 33 19 31 -339 -420 -593 -662 -343 -450 -544 -635
dpco 3 17 09 -07 -72 -120 -237 -293 162 124 182 162 61 75 124 135 60 79 96 136
Lambdas Total x y z: -0,51 5,24 -0,35 2,24

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:356,087 √J0m:365,452 √Mm:115,472 λ:-0,51 |dp|m:0,8080 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:340,132 √J0m:349,522 √Mm:113,046 λ:-0,51 |dp|m:0,8080 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:324,172 √J0m:333,614 √Mm:110,706 λ:-0,51 |dp|m:0,8080 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:308,208 √J0m:317,732 √Mm:108,460 λ:-0,51 |dp|m:0,8080 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:292,238 √J0m:301,879 √Mm:106,317 λ:-0,51 |dp|m:0,8080 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:276,260 √J0m:286,061 √Mm:104,286 λ:-0,51 |dp|m:0,8080 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:260,273 √J0m:270,283 √Mm:102,373 λ:-0,51 |dp|m:0,8080 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:244,275 √J0m:254,553 √Mm:100,587 λ:-0,51 |dp|m:0,8080 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:228,263 √J0m:238,881 √Mm:98,934 λ:-0,51 |dp|m:0,8080 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:212,235 √J0m:223,278 √Mm:97,420 λ:-0,51 |dp|m:0,8080 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:196,186 √J0m:207,761 √Mm:96,052 λ:-0,51 |dp|m:0,8080 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:180,112 √J0m:192,349 √Mm:94,835 λ:-0,51 |dp|m:0,8080 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:164,006 √J0m:177,071 √Mm:93,775 λ:-0,51 |dp|m:0,8080 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:147,855 √J0m:161,964 √Mm:92,875 λ:-0,51 |dp|m:0,8080 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:131,646 √J0m:147,082 √Mm:92,141 λ:-0,51 |dp|m:0,8080 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:115,353 √J0m:132,499 √Mm:91,576 λ:-0,51 |dp|m:0,8080 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:98,934 √J0m:118,327 √Mm:91,183 λ:-0,51 |dp|m:0,8080 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:82,313 √J0m:104,732 √Mm:90,966 λ:-0,51 |dp|m:0,8080 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:65,337 √J0m:91,971 √Mm:90,927 λ:-0,51 |dp|m:0,8080 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:47,625 √J0m:80,442 √Mm:91,068 λ:-0,51 |dp|m:0,8080 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:27,797 √J0m:70,749 √Mm:91,392 λ:-0,51 |dp|m:0,8080 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:63,736 √Mm:91,898 λ:-0,51 |dp|m:0,8080 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:60,344 √Mm:92,588 λ:-0,51 |dp|m:0,8080 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 05 -31 34 28 -36 05 10 -89 72 -16 05 34 -51 -10 26 07 -18 06 02
co 2 -123 138 95 13 -32 -06 22 69 -189 34 76 230 -64 -33 59 251 -24 -103 67
co 3 16 -21 -14 63 02 -31 09 -73 121 -58 -12 -95 31 33 -25 -04 -05 -14 04
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -128 01 -83 78 -12 -13 371 -78 -123 -20 -114 47 -36 39 73 -09 -74 60
co 2 423 -239 05 -76 83 -30 06 274 -132 -26 -119 -472 427 -72 -61 -418 114 231 -98
co 3 -71 -157 -01 -125 194 -30 -68 336 -47 -109 49 96 -124 45 -03 83 -10 -102 86
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 02 -18 17 13 -17 02 05 -38 35 -10 02 15 -25 -05 13 05 -09 02 02
dpco 2 -55 65 48 05 -15 -04 11 39 -97 17 36 107 -25 -18 28 118 -10 -47 32
dpco 3 07 -13 -07 30 04 -16 03 -31 60 -31 -05 -46 13 17 -13 -01 -02 -09 03
Lambdas Total x y z: -0,03 1,38 0,03 1,14

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:56,206 √J0m:58,611 √Mm:91,362 λ:-0,03 |dp|m:0,1287 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:53,644 √J0m:56,043 √Mm:89,189 λ:-0,03 |dp|m:0,1287 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:51,086 √J0m:53,476 √Mm:86,934 λ:-0,03 |dp|m:0,1287 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:48,529 √J0m:50,910 √Mm:84,600 λ:-0,03 |dp|m:0,1287 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:45,976 √J0m:48,345 √Mm:82,191 λ:-0,03 |dp|m:0,1287 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:43,424 √J0m:45,780 √Mm:79,719 λ:-0,03 |dp|m:0,1287 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:40,873 √J0m:43,217 √Mm:77,194 λ:-0,03 |dp|m:0,1287 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:38,322 √J0m:40,655 √Mm:74,632 λ:-0,03 |dp|m:0,1287 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:35,769 √J0m:38,094 √Mm:72,046 λ:-0,03 |dp|m:0,1287 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:33,214 √J0m:35,535 √Mm:69,450 λ:-0,03 |dp|m:0,1287 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:30,655 √J0m:32,978 √Mm:66,857 λ:-0,03 |dp|m:0,1287 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:28,089 √J0m:30,425 √Mm:64,282 λ:-0,03 |dp|m:0,1287 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:25,513 √J0m:27,875 √Mm:61,737 λ:-0,03 |dp|m:0,1287 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:22,924 √J0m:25,329 √Mm:59,236 λ:-0,03 |dp|m:0,1287 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:20,315 √J0m:22,791 √Mm:56,794 λ:-0,03 |dp|m:0,1287 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:17,678 √J0m:20,260 √Mm:54,427 λ:-0,03 |dp|m:0,1287 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:14,995 √J0m:17,743 √Mm:52,150 λ:-0,03 |dp|m:0,1287 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:12,236 √J0m:15,244 √Mm:49,983 λ:-0,03 |dp|m:0,1287 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:9,335 √J0m:12,774 √Mm:47,944 λ:-0,03 |dp|m:0,1287 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:6,089 √J0m:10,356 √Mm:46,056 λ:-0,03 |dp|m:0,1287 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:8,034 √Mm:44,340 λ:-0,03 |dp|m:0,1287 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:5,925 √Mm:42,822 λ:-0,03 |dp|m:0,1287 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:4,347 √Mm:41,524 λ:-0,03 |dp|m:0,1287 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:3,993 √Mm:40,471 λ:-0,03 |dp|m:0,1287 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 08 -03 00 01 00 00 -05 -04 06 00 01 03 02 -04 -03 02 02 -02
co 2 -03 -05 -10 01 00 02 -02 -17 24 -02 -03 -06 -09 06 -04 -10 -02 02 -03
co 3 01 08 01 -02 -07 04 02 -05 -10 10 -01 06 01 -05 03 -03 01 05 -04
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 01 -98 -05 -28 36 -15 -07 186 -65 25 -27 -09 -14 -26 37 14 08 -49 43
co 2 -16 67 -13 -35 38 -34 10 -79 65 79 -85 -06 107 -102 -21 15 -79 63 -13
co 3 04 -181 02 -33 153 -98 -31 260 -68 15 -13 -18 -33 57 -17 13 07 -74 72
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 14 -01 03 -03 01 00 -21 04 01 03 01 03 04 -06 -03 00 06 -06
dpco 2 00 -09 -04 04 -04 04 -02 00 05 -09 07 -02 -15 13 00 -06 07 -05 00
dpco 3 00 22 01 02 -19 12 04 -29 02 03 01 05 04 -08 03 -03 00 10 -09
Lambdas Total x y z: 0,20 1,04 0,91 0,37

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:18,087 √J0m:4,807 √Mm:38,816 λ:0,20 |dp|m:0,0311 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:17,646 √J0m:4,556 √Mm:37,951 λ:0,20 |dp|m:0,0311 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:17,227 √J0m:4,379 √Mm:37,090 λ:0,20 |dp|m:0,0311 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:16,832 √J0m:4,285 √Mm:36,234 λ:0,20 |dp|m:0,0311 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:16,461 √J0m:4,281 √Mm:35,383 λ:0,20 |dp|m:0,0311 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:16,117 √J0m:4,366 √Mm:34,537 λ:0,20 |dp|m:0,0311 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:15,802 √J0m:4,536 √Mm:33,698 λ:0,20 |dp|m:0,0311 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:15,518 √J0m:4,781 √Mm:32,864 λ:0,20 |dp|m:0,0311 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:15,265 √J0m:5,090 √Mm:32,038 λ:0,20 |dp|m:0,0311 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:15,047 √J0m:5,453 √Mm:31,219 λ:0,20 |dp|m:0,0311 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:14,863 √J0m:5,859 √Mm:30,408 λ:0,20 |dp|m:0,0311 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:14,717 √J0m:6,301 √Mm:29,606 λ:0,20 |dp|m:0,0311 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:14,608 √J0m:6,771 √Mm:28,814 λ:0,20 |dp|m:0,0311 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:14,537 √J0m:7,264 √Mm:28,032 λ:0,20 |dp|m:0,0311 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:14,506 √J0m:7,775 √Mm:27,262 λ:0,20 |dp|m:0,0311 mm
Acabado Optimizado (izq). Cuadro 222 Distancia Esque. Antes y Despues Retoque:390,00 Distancias Despues con p y q: 7,00 782,00 mm


Comienzan Iteraciones para cuadro 223

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 65 -89 -209 -248 -262 167 286 317 335 -23 -120 -94 -10 74 96 149 211
co 2 -337 -01 176 -134 -248 -301 -275 -36 -120 79 140 -487 -951 -1287 -1335 -469 -973 -1247 -1269
co 3 52 -01 -28 -89 -288 -571 -611 268 383 335 339 30 185 286 251 123 158 189 286
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -15 69 -74 -23 73 -02 21 146 -166 06 -48 -61 109 29 -47 -22 41 -39 -26
co 2 263 -261 -193 18 62 72 -46 -131 374 -72 -159 -379 216 202 27 -418 144 320 09
co 3 -40 35 28 -86 05 90 67 106 -252 65 -14 173 -80 -90 19 -13 02 03 -40
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 05 17 14 -51 -86 -125 -125 121 100 160 155 -27 -32 -39 -17 31 59 65 99
dpco 2 -101 -68 38 -62 -108 -132 -149 -52 36 21 29 -341 -420 -591 -661 -342 -449 -541 -632
dpco 3 16 09 -07 -67 -143 -262 -288 162 127 184 166 60 72 120 130 58 80 95 133
Lambdas Total x y z: -0,51 5,11 -0,36 2,45

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:356,868 √J0m:366,230 √Mm:114,654 λ:-0,51 |dp|m:0,8095 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:340,889 √J0m:350,275 √Mm:112,237 λ:-0,51 |dp|m:0,8095 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:324,908 √J0m:334,343 √Mm:109,904 λ:-0,51 |dp|m:0,8095 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:308,922 √J0m:318,437 √Mm:107,663 λ:-0,51 |dp|m:0,8095 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:292,932 √J0m:302,562 √Mm:105,523 λ:-0,51 |dp|m:0,8095 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:276,935 √J0m:286,721 √Mm:103,493 λ:-0,51 |dp|m:0,8095 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:260,931 √J0m:270,922 √Mm:101,580 λ:-0,51 |dp|m:0,8095 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:244,917 √J0m:255,172 √Mm:99,791 λ:-0,51 |dp|m:0,8095 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:228,892 √J0m:239,481 √Mm:98,134 λ:-0,51 |dp|m:0,8095 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:212,853 √J0m:223,861 √Mm:96,616 λ:-0,51 |dp|m:0,8095 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:196,797 √J0m:208,328 √Mm:95,241 λ:-0,51 |dp|m:0,8095 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:180,720 √J0m:192,903 √Mm:94,016 λ:-0,51 |dp|m:0,8095 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:164,615 √J0m:177,615 √Mm:92,947 λ:-0,51 |dp|m:0,8095 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:148,474 √J0m:162,502 √Mm:92,037 λ:-0,51 |dp|m:0,8095 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:132,283 √J0m:147,617 √Mm:91,292 λ:-0,51 |dp|m:0,8095 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:116,022 √J0m:133,037 √Mm:90,714 λ:-0,51 |dp|m:0,8095 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:99,656 √J0m:118,875 √Mm:90,310 λ:-0,51 |dp|m:0,8095 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:83,122 √J0m:105,300 √Mm:90,080 λ:-0,51 |dp|m:0,8095 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:66,295 √J0m:92,570 √Mm:90,030 λ:-0,51 |dp|m:0,8095 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:48,869 √J0m:81,083 √Mm:90,161 λ:-0,51 |dp|m:0,8095 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:29,808 √J0m:71,442 √Mm:90,475 λ:-0,51 |dp|m:0,8095 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:64,481 √Mm:90,973 λ:-0,51 |dp|m:0,8095 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:61,122 √Mm:91,656 λ:-0,51 |dp|m:0,8095 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 07 -37 36 17 -28 15 03 -89 74 -21 07 34 -53 -10 26 08 -28 13 02
co 2 -124 142 95 -02 -20 -23 40 73 -197 35 79 233 -64 -38 60 253 -24 -104 66
co 3 19 -19 -14 52 13 -17 -02 -73 116 -54 -11 -96 33 33 -25 00 -10 -12 06
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -04 -146 01 -19 27 -30 05 361 -70 -127 -13 -116 48 -39 42 75 -07 -81 62
co 2 427 -261 09 -11 24 -24 03 278 -135 -12 -132 -482 427 -67 -61 -407 99 239 -98
co 3 -71 -174 -01 -22 111 -139 38 350 -53 -121 55 95 -122 43 -04 82 -08 -99 81
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 -21 18 08 -14 07 02 -39 36 -12 03 15 -26 -06 14 05 -14 05 02
dpco 2 -56 67 48 -01 -10 -12 20 41 -100 17 37 109 -26 -20 29 121 -10 -49 32
dpco 3 08 -12 -07 26 08 -10 -01 -31 57 -29 -05 -47 15 17 -12 01 -05 -08 04
Lambdas Total x y z: -0,03 1,46 0,02 1,19

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:57,258 √J0m:59,334 √Mm:90,447 λ:-0,03 |dp|m:0,1312 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:54,644 √J0m:56,715 √Mm:88,295 λ:-0,03 |dp|m:0,1312 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:52,032 √J0m:54,097 √Mm:86,061 λ:-0,03 |dp|m:0,1312 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:49,422 √J0m:51,479 √Mm:83,746 λ:-0,03 |dp|m:0,1312 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:46,815 √J0m:48,862 √Mm:81,355 λ:-0,03 |dp|m:0,1312 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:44,209 √J0m:46,245 √Mm:78,899 λ:-0,03 |dp|m:0,1312 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:41,604 √J0m:43,629 √Mm:76,390 λ:-0,03 |dp|m:0,1312 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:38,998 √J0m:41,015 √Mm:73,843 λ:-0,03 |dp|m:0,1312 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:36,392 √J0m:38,401 √Mm:71,273 λ:-0,03 |dp|m:0,1312 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:33,783 √J0m:35,790 √Mm:68,694 λ:-0,03 |dp|m:0,1312 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:31,169 √J0m:33,180 √Mm:66,122 λ:-0,03 |dp|m:0,1312 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:28,550 √J0m:30,572 √Mm:63,571 λ:-0,03 |dp|m:0,1312 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:25,921 √J0m:27,968 √Mm:61,056 λ:-0,03 |dp|m:0,1312 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:23,280 √J0m:25,368 √Mm:58,591 λ:-0,03 |dp|m:0,1312 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:20,620 √J0m:22,773 √Mm:56,193 λ:-0,03 |dp|m:0,1312 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:17,932 √J0m:20,185 √Mm:53,878 λ:-0,03 |dp|m:0,1312 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:15,202 √J0m:17,609 √Mm:51,665 λ:-0,03 |dp|m:0,1312 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:12,400 √J0m:15,049 √Mm:49,573 λ:-0,03 |dp|m:0,1312 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:9,462 √J0m:12,515 √Mm:47,623 λ:-0,03 |dp|m:0,1312 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:6,196 √J0m:10,028 √Mm:45,838 λ:-0,03 |dp|m:0,1312 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:0,588 √J0m:7,633 √Mm:44,242 λ:-0,03 |dp|m:0,1312 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:5,453 √Mm:42,860 λ:-0,03 |dp|m:0,1312 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:3,870 √Mm:41,715 λ:-0,03 |dp|m:0,1312 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 07 -02 00 01 00 00 -06 -02 05 00 02 01 02 -03 -03 02 02 -02
co 2 -06 00 -06 00 00 02 -02 -13 15 -02 00 02 -10 04 -01 -01 -02 -02 -01
co 3 01 07 01 -02 -04 05 -01 -07 -05 07 -01 02 02 -03 01 -03 01 04 -03
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -108 -04 13 -04 -29 10 197 -70 29 -32 -12 -11 -29 40 14 12 -50 40
co 2 -04 47 -09 06 04 -03 -22 -80 78 80 -94 -17 112 -99 -21 14 -85 70 -14
co 3 01 -185 01 28 100 -163 28 267 -74 17 -14 -15 -33 55 -17 15 08 -68 63
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 14 -01 -01 01 03 -01 -23 06 00 03 02 02 04 -05 -03 00 06 -05
dpco 2 -03 -05 -02 00 00 01 01 02 00 -09 09 03 -16 12 01 -02 08 -08 01
dpco 3 00 22 00 -04 -12 19 -03 -30 05 02 01 03 04 -07 02 -03 00 09 -08
Lambdas Total x y z: 0,20 0,99 0,95 0,38

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:18,239 √J0m:3,427 √Mm:39,935 λ:0,20 |dp|m:0,0310 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:17,805 √J0m:3,203 √Mm:39,046 λ:0,20 |dp|m:0,0310 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:17,394 √J0m:3,090 √Mm:38,160 λ:0,20 |dp|m:0,0310 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:17,007 √J0m:3,098 √Mm:37,281 λ:0,20 |dp|m:0,0310 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:16,647 √J0m:3,227 √Mm:36,406 λ:0,20 |dp|m:0,0310 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:16,313 √J0m:3,464 √Mm:35,538 λ:0,20 |dp|m:0,0310 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:16,010 √J0m:3,789 √Mm:34,677 λ:0,20 |dp|m:0,0310 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:15,737 √J0m:4,180 √Mm:33,823 λ:0,20 |dp|m:0,0310 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:15,498 √J0m:4,622 √Mm:32,978 λ:0,20 |dp|m:0,0310 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:15,293 √J0m:5,100 √Mm:32,140 λ:0,20 |dp|m:0,0310 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:15,123 √J0m:5,606 √Mm:31,313 λ:0,20 |dp|m:0,0310 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:14,991 √J0m:6,133 √Mm:30,496 λ:0,20 |dp|m:0,0310 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:14,897 √J0m:6,676 √Mm:29,690 λ:0,20 |dp|m:0,0310 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:14,842 √J0m:7,231 √Mm:28,896 λ:0,20 |dp|m:0,0310 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:14,827 √J0m:7,796 √Mm:28,116 λ:0,20 |dp|m:0,0310 mm
Acabado Optimizado (izq). Cuadro 223 Distancia Esque. Antes y Despues Retoque:391,00 Distancias Despues con p y q: 7,00 783,00 mm


Comienzan Iteraciones para cuadro 224

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 65 -89 -178 -235 -262 162 286 317 335 -23 -120 -85 -05 74 96 149 211
co 2 -332 -01 180 -129 -293 -297 -270 -28 -116 87 149 -483 -946 -1278 -1326 -465 -969 -1242 -1265
co 3 56 -01 -28 -89 -213 -496 -611 273 383 361 366 34 189 277 242 127 162 193 291
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -15 62 -71 -21 63 29 03 151 -170 06 -48 -61 117 23 -49 -22 41 -39 -26
co 2 266 -264 -190 -67 175 05 -03 -139 385 -77 -159 -379 208 208 30 -418 144 320 09
co 3 -46 40 27 -59 -23 149 13 95 -210 34 -14 173 -86 -86 21 -13 02 03 -40
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 05 15 15 -50 -73 -110 -130 119 101 160 155 -27 -31 -37 -15 32 58 65 99
dpco 2 -100 -67 42 -81 -102 -147 -136 -49 38 24 35 -336 -421 -587 -656 -337 -448 -541 -630
dpco 3 17 10 -07 -59 -112 -211 -302 160 139 189 179 61 73 117 126 60 82 98 135
Lambdas Total x y z: -0,50 5,09 -0,36 2,96

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:354,131 √J0m:363,435 √Mm:115,390 λ:-0,50 |dp|m:0,8036 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:338,264 √J0m:347,593 √Mm:112,964 λ:-0,50 |dp|m:0,8036 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:322,394 √J0m:331,773 √Mm:110,621 λ:-0,50 |dp|m:0,8036 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:306,519 √J0m:315,979 √Mm:108,369 λ:-0,50 |dp|m:0,8036 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:290,639 √J0m:300,213 √Mm:106,216 λ:-0,50 |dp|m:0,8036 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:274,753 √J0m:284,482 √Mm:104,172 λ:-0,50 |dp|m:0,8036 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:258,858 √J0m:268,792 √Mm:102,244 λ:-0,50 |dp|m:0,8036 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:242,953 √J0m:253,149 √Mm:100,440 λ:-0,50 |dp|m:0,8036 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:227,035 √J0m:237,563 √Mm:98,766 λ:-0,50 |dp|m:0,8036 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:211,103 √J0m:222,047 √Mm:97,231 λ:-0,50 |dp|m:0,8036 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:195,151 √J0m:206,615 √Mm:95,840 λ:-0,50 |dp|m:0,8036 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:179,176 √J0m:191,288 √Mm:94,601 λ:-0,50 |dp|m:0,8036 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:163,169 √J0m:176,095 √Mm:93,519 λ:-0,50 |dp|m:0,8036 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:147,121 √J0m:161,072 √Mm:92,600 λ:-0,50 |dp|m:0,8036 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:131,017 √J0m:146,272 √Mm:91,849 λ:-0,50 |dp|m:0,8036 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:114,832 √J0m:131,770 √Mm:91,270 λ:-0,50 |dp|m:0,8036 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:98,527 √J0m:117,676 √Mm:90,867 λ:-0,50 |dp|m:0,8036 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:82,029 √J0m:104,157 √Mm:90,645 λ:-0,50 |dp|m:0,8036 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:65,191 √J0m:91,467 √Mm:90,605 λ:-0,50 |dp|m:0,8036 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:47,654 √J0m:80,002 √Mm:90,749 λ:-0,50 |dp|m:0,8036 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:28,135 √J0m:70,363 √Mm:91,078 λ:-0,50 |dp|m:0,8036 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:63,389 √Mm:91,593 λ:-0,50 |dp|m:0,8036 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:60,017 √Mm:92,293 λ:-0,50 |dp|m:0,8036 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 07 -33 34 16 -23 -02 13 -89 74 -21 07 33 -55 -08 26 08 -27 12 02
co 2 -122 140 91 43 -76 14 17 75 -197 36 76 228 -57 -39 59 247 -22 -100 66
co 3 21 -21 -13 36 24 -51 27 -65 90 -38 -13 -94 35 30 -25 00 -10 -13 05
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -07 -142 03 -67 67 23 -39 362 -83 -116 -15 -111 43 -34 39 73 -06 -80 61
co 2 428 -279 22 -87 88 -42 30 241 -97 03 -141 -466 396 -49 -58 -395 94 233 -95
co 3 -76 -167 -03 -102 150 117 -179 399 -97 -98 26 89 -109 35 -04 80 -07 -98 81
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 03 -19 17 07 -10 -01 06 -37 35 -13 03 14 -27 -05 14 05 -14 04 02
dpco 2 -52 64 46 20 -36 06 09 43 -101 18 35 104 -20 -20 28 115 -09 -45 31
dpco 3 09 -14 -06 16 15 -23 10 -24 43 -21 -06 -45 15 16 -13 02 -05 -08 04
Lambdas Total x y z: -0,04 1,43 0,02 0,88

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:55,252 √J0m:58,332 √Mm:91,090 λ:-0,04 |dp|m:0,1262 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:52,745 √J0m:55,818 √Mm:88,944 λ:-0,04 |dp|m:0,1262 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:50,241 √J0m:53,304 √Mm:86,736 λ:-0,04 |dp|m:0,1262 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:47,739 √J0m:50,792 √Mm:84,468 λ:-0,04 |dp|m:0,1262 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:45,238 √J0m:48,281 √Mm:82,146 λ:-0,04 |dp|m:0,1262 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:42,739 √J0m:45,771 √Mm:79,777 λ:-0,04 |dp|m:0,1262 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:40,240 √J0m:43,263 √Mm:77,372 λ:-0,04 |dp|m:0,1262 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:37,740 √J0m:40,757 √Mm:74,941 λ:-0,04 |dp|m:0,1262 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:35,238 √J0m:38,253 √Mm:72,497 λ:-0,04 |dp|m:0,1262 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:32,731 √J0m:35,752 √Mm:70,049 λ:-0,04 |dp|m:0,1262 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:30,218 √J0m:33,254 √Mm:67,612 λ:-0,04 |dp|m:0,1262 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:27,695 √J0m:30,761 √Mm:65,196 λ:-0,04 |dp|m:0,1262 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:25,160 √J0m:28,273 √Mm:62,813 λ:-0,04 |dp|m:0,1262 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:22,607 √J0m:25,793 √Mm:60,477 λ:-0,04 |dp|m:0,1262 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:20,027 √J0m:23,321 √Mm:58,200 λ:-0,04 |dp|m:0,1262 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:17,408 √J0m:20,862 √Mm:55,997 λ:-0,04 |dp|m:0,1262 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:14,728 √J0m:18,421 √Mm:53,883 λ:-0,04 |dp|m:0,1262 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:11,947 √J0m:16,005 √Mm:51,872 λ:-0,04 |dp|m:0,1262 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:8,967 √J0m:13,629 √Mm:49,984 λ:-0,04 |dp|m:0,1262 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:5,475 √J0m:11,317 √Mm:48,235 λ:-0,04 |dp|m:0,1262 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:9,118 √Mm:46,646 λ:-0,04 |dp|m:0,1262 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:7,137 √Mm:45,236 λ:-0,04 |dp|m:0,1262 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:5,610 √Mm:44,025 λ:-0,04 |dp|m:0,1262 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:4,975 √Mm:43,032 λ:-0,04 |dp|m:0,1262 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 10 -04 01 -01 -01 00 -08 -04 07 00 02 04 02 -04 -04 03 02 -03
co 2 -08 -01 -10 00 04 01 -03 -19 24 -04 -01 -01 -13 06 -03 -06 -02 -01 -02
co 3 01 10 01 01 -09 00 06 -12 -04 08 00 05 02 -05 03 -04 01 06 -04
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -117 01 -17 36 -01 -25 194 -66 32 -34 -13 -14 -21 35 15 12 -51 42
co 2 -01 16 02 -29 20 -27 27 -73 70 88 -94 -18 103 -94 -18 18 -89 69 -13
co 3 01 -197 00 -20 147 -22 -108 268 -60 14 -14 -16 -26 47 -16 16 08 -71 66
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 17 -02 02 -04 00 03 -24 05 00 04 02 03 03 -06 -04 00 07 -06
dpco 2 -04 -02 -05 03 00 03 -04 -02 05 -11 09 01 -17 13 00 -05 08 -07 00
dpco 3 01 25 01 03 -20 02 14 -34 04 03 02 04 03 -07 03 -03 00 10 -09
Lambdas Total x y z: 0,21 1,03 1,06 0,39

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:19,427 √J0m:5,115 √Mm:41,348 λ:0,21 |dp|m:0,0342 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:18,927 √J0m:4,742 √Mm:40,426 λ:0,21 |dp|m:0,0342 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:18,451 √J0m:4,443 √Mm:39,510 λ:0,21 |dp|m:0,0342 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:18,000 √J0m:4,236 √Mm:38,598 λ:0,21 |dp|m:0,0342 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:17,577 √J0m:4,132 √Mm:37,692 λ:0,21 |dp|m:0,0342 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:17,182 √J0m:4,141 √Mm:36,792 λ:0,21 |dp|m:0,0342 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:16,820 √J0m:4,261 √Mm:35,898 λ:0,21 |dp|m:0,0342 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:16,490 √J0m:4,483 √Mm:35,012 λ:0,21 |dp|m:0,0342 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:16,197 √J0m:4,794 √Mm:34,133 λ:0,21 |dp|m:0,0342 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:15,941 √J0m:5,177 √Mm:33,263 λ:0,21 |dp|m:0,0342 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:15,724 √J0m:5,617 √Mm:32,403 λ:0,21 |dp|m:0,0342 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:15,549 √J0m:6,103 √Mm:31,552 λ:0,21 |dp|m:0,0342 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:15,416 √J0m:6,624 √Mm:30,712 λ:0,21 |dp|m:0,0342 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:15,327 √J0m:7,172 √Mm:29,885 λ:0,21 |dp|m:0,0342 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:15,283 √J0m:7,742 √Mm:29,071 λ:0,21 |dp|m:0,0342 mm
Acabado Optimizado (izq). Cuadro 224 Distancia Esque. Antes y Despues Retoque:388,00 Distancias Despues con p y q: 7,00 777,00 mm


Comienzan Iteraciones para cuadro 225

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 65 -89 -195 -244 -262 162 286 317 339 -28 -120 -85 -01 74 96 140 193
co 2 -332 -01 180 -129 -244 -293 -270 -28 -111 87 149 -483 -951 -1273 -1322 -465 -969 -1242 -1278
co 3 52 -01 -28 -89 -266 -544 -611 273 383 370 375 34 185 268 233 123 158 189 291
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -15 62 -71 -28 75 12 14 155 -172 14 -58 -54 113 20 -47 -24 31 -34 -21
co 2 269 -266 -190 -02 83 45 -19 -134 385 -88 -155 -382 199 220 27 -415 140 319 14
co 3 -37 36 27 -96 15 104 57 98 -204 24 -14 167 -80 -85 19 -12 02 02 -39
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 15 14 -52 -78 -119 -127 121 99 162 155 -28 -31 -37 -13 31 56 61 91
dpco 2 -97 -69 41 -65 -100 -135 -140 -48 44 21 35 -340 -424 -580 -654 -339 -448 -539 -635
dpco 3 16 09 -07 -70 -129 -245 -291 162 139 191 184 60 72 112 122 58 80 95 135
Lambdas Total x y z: -0,52 5,04 -0,35 3,12

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:354,928 √J0m:364,513 √Mm:115,660 λ:-0,52 |dp|m:0,8051 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:339,037 √J0m:348,646 √Mm:113,220 λ:-0,52 |dp|m:0,8051 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:323,143 √J0m:332,801 √Mm:110,858 λ:-0,52 |dp|m:0,8051 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:307,246 √J0m:316,983 √Mm:108,583 λ:-0,52 |dp|m:0,8051 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:291,344 √J0m:301,194 √Mm:106,404 λ:-0,52 |dp|m:0,8051 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:275,436 √J0m:285,440 √Mm:104,327 λ:-0,52 |dp|m:0,8051 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:259,522 √J0m:269,728 √Mm:102,361 λ:-0,52 |dp|m:0,8051 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:243,599 √J0m:254,064 √Mm:100,513 λ:-0,52 |dp|m:0,8051 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:227,665 √J0m:238,458 √Mm:98,790 λ:-0,52 |dp|m:0,8051 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:211,718 √J0m:222,923 √Mm:97,198 λ:-0,52 |dp|m:0,8051 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:195,756 √J0m:207,475 √Mm:95,744 λ:-0,52 |dp|m:0,8051 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:179,773 √J0m:192,134 √Mm:94,434 λ:-0,52 |dp|m:0,8051 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:163,764 √J0m:176,928 √Mm:93,274 λ:-0,52 |dp|m:0,8051 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:147,720 √J0m:161,895 √Mm:92,270 λ:-0,52 |dp|m:0,8051 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:131,628 √J0m:147,089 √Mm:91,428 λ:-0,52 |dp|m:0,8051 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:115,469 √J0m:132,585 √Mm:90,753 λ:-0,52 |dp|m:0,8051 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:99,208 √J0m:118,495 √Mm:90,250 λ:-0,52 |dp|m:0,8051 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:82,784 √J0m:104,984 √Mm:89,923 λ:-0,52 |dp|m:0,8051 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:66,076 √J0m:92,309 √Mm:89,777 λ:-0,52 |dp|m:0,8051 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:48,788 √J0m:80,863 √Mm:89,815 λ:-0,52 |dp|m:0,8051 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:29,929 √J0m:71,240 √Mm:90,040 λ:-0,52 |dp|m:0,8051 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:64,264 √Mm:90,453 λ:-0,52 |dp|m:0,8051 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:60,855 √Mm:91,055 λ:-0,52 |dp|m:0,8051 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 07 -34 35 20 -30 07 07 -94 77 -25 12 31 -55 -06 25 09 -22 11 01
co 2 -128 145 94 08 -32 -08 26 75 -204 43 76 235 -55 -49 59 252 -22 -104 64
co 3 17 -19 -13 57 07 -26 03 -68 90 -34 -14 -93 33 31 -24 00 -10 -11 05
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -06 -146 04 -48 56 -18 -07 337 -43 -131 -11 -113 41 -44 48 72 -08 -73 57
co 2 447 -296 23 -45 59 -24 02 267 -133 11 -137 -473 366 -06 -70 -402 94 260 -115
co 3 -80 -168 -03 -76 156 -64 -31 390 -69 -101 16 88 -98 27 -05 78 -07 -110 91
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 -20 17 09 -14 03 03 -40 38 -15 06 13 -27 -04 14 06 -11 04 01
dpco 2 -55 66 47 03 -15 -05 13 43 -104 22 35 108 -20 -24 28 118 -09 -47 30
dpco 3 07 -13 -07 27 07 -14 01 -26 43 -19 -06 -45 15 16 -12 01 -05 -08 04
Lambdas Total x y z: -0,04 1,57 0,01 1,06

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:56,253 √J0m:59,041 √Mm:89,789 λ:-0,04 |dp|m:0,1286 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:53,696 √J0m:56,478 √Mm:87,672 λ:-0,04 |dp|m:0,1286 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:51,141 √J0m:53,915 √Mm:85,488 λ:-0,04 |dp|m:0,1286 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:48,589 √J0m:51,354 √Mm:83,235 λ:-0,04 |dp|m:0,1286 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:46,040 √J0m:48,793 √Mm:80,915 λ:-0,04 |dp|m:0,1286 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:43,492 √J0m:46,234 √Mm:78,536 λ:-0,04 |dp|m:0,1286 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:40,946 √J0m:43,676 √Mm:76,106 λ:-0,04 |dp|m:0,1286 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:38,401 √J0m:41,120 √Mm:73,637 λ:-0,04 |dp|m:0,1286 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:35,854 √J0m:38,566 √Mm:71,140 λ:-0,04 |dp|m:0,1286 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:33,305 √J0m:36,015 √Mm:68,628 λ:-0,04 |dp|m:0,1286 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:30,752 √J0m:33,467 √Mm:66,115 λ:-0,04 |dp|m:0,1286 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:28,193 √J0m:30,923 √Mm:63,612 λ:-0,04 |dp|m:0,1286 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:25,624 √J0m:28,384 √Mm:61,135 λ:-0,04 |dp|m:0,1286 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:23,041 √J0m:25,851 √Mm:58,696 λ:-0,04 |dp|m:0,1286 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:20,438 √J0m:23,327 √Mm:56,310 λ:-0,04 |dp|m:0,1286 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:17,805 √J0m:20,815 √Mm:53,993 λ:-0,04 |dp|m:0,1286 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:15,125 √J0m:18,319 √Mm:51,761 λ:-0,04 |dp|m:0,1286 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:12,367 √J0m:15,848 √Mm:49,633 λ:-0,04 |dp|m:0,1286 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:9,461 √J0m:13,415 √Mm:47,627 λ:-0,04 |dp|m:0,1286 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:6,203 √J0m:11,046 √Mm:45,765 λ:-0,04 |dp|m:0,1286 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:8,790 √Mm:44,069 λ:-0,04 |dp|m:0,1286 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:6,765 √Mm:42,563 λ:-0,04 |dp|m:0,1286 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:5,242 √Mm:41,272 λ:-0,04 |dp|m:0,1286 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:4,737 √Mm:40,218 λ:-0,04 |dp|m:0,1286 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 10 -04 00 01 00 00 -05 -06 08 -01 02 04 03 -05 -04 03 02 -03
co 2 -07 -01 -10 01 01 02 -03 -19 26 -05 -02 -03 -11 05 -03 -08 -02 -01 -01
co 3 02 09 01 -02 -08 05 01 -10 -06 08 01 05 01 -04 03 -03 01 06 -05
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -116 01 -06 22 -20 -02 192 -65 37 -40 -14 -14 -31 42 12 11 -46 38
co 2 02 15 02 -10 23 -25 03 -70 75 75 -89 -12 75 -69 -21 23 -94 83 -23
co 3 01 -195 00 -05 132 -123 -07 265 -60 13 -13 -19 -18 43 -18 11 08 -77 72
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 16 -02 01 -02 02 00 -21 03 01 03 02 03 04 -06 -03 00 06 -05
dpco 2 -04 -02 -05 02 -02 03 -02 -03 06 -10 08 00 -12 09 01 -06 08 -08 02
dpco 3 01 23 01 -01 -17 15 01 -31 03 03 02 05 02 -06 03 -03 00 10 -09
Lambdas Total x y z: 0,19 0,92 1,11 0,35

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:17,699 √J0m:5,165 √Mm:38,559 λ:0,19 |dp|m:0,0311 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:17,247 √J0m:4,847 √Mm:37,700 λ:0,19 |dp|m:0,0311 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:16,816 √J0m:4,593 √Mm:36,845 λ:0,19 |dp|m:0,0311 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:16,407 √J0m:4,412 √Mm:35,994 λ:0,19 |dp|m:0,0311 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:16,024 √J0m:4,313 √Mm:35,149 λ:0,19 |dp|m:0,0311 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:15,666 √J0m:4,304 √Mm:34,310 λ:0,19 |dp|m:0,0311 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:15,337 √J0m:4,383 √Mm:33,477 λ:0,19 |dp|m:0,0311 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:15,039 √J0m:4,547 √Mm:32,650 λ:0,19 |dp|m:0,0311 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:14,772 √J0m:4,786 √Mm:31,831 λ:0,19 |dp|m:0,0311 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:14,539 √J0m:5,091 √Mm:31,020 λ:0,19 |dp|m:0,0311 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:14,342 √J0m:5,450 √Mm:30,217 λ:0,19 |dp|m:0,0311 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:14,182 √J0m:5,853 √Mm:29,424 λ:0,19 |dp|m:0,0311 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:14,061 √J0m:6,292 √Mm:28,641 λ:0,19 |dp|m:0,0311 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:13,979 √J0m:6,759 √Mm:27,869 λ:0,19 |dp|m:0,0311 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:13,936 √J0m:7,250 √Mm:27,109 λ:0,19 |dp|m:0,0311 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:13,935 √J0m:7,760 √Mm:26,363 λ:0,19 |dp|m:0,0311 mm
Acabado Optimizado (izq). Cuadro 225 Distancia Esque. Antes y Despues Retoque:389,00 Distancias Despues con p y q: 7,00 780,00 mm


Comienzan Iteraciones para cuadro 226

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 65 -89 -200 -244 -262 167 286 330 352 -28 -120 -76 08 74 96 114 171
co 2 -332 -01 180 -129 -240 -297 -270 -32 -120 79 140 -483 -951 -1269 -1318 -465 -969 -1247 -1278
co 3 52 -01 -28 -89 -270 -549 -611 273 383 379 379 34 180 255 220 123 154 193 291
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -15 61 -71 -29 79 08 15 149 -150 -01 -58 -55 122 12 -47 -24 -02 02 -24
co 2 269 -267 -190 06 71 56 -25 -141 389 -83 -155 -385 196 226 27 -415 141 319 13
co 3 -37 33 27 -96 16 102 57 102 -194 02 -03 163 -81 -81 19 -16 16 -07 -41
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 15 14 -52 -79 -120 -127 122 104 165 161 -28 -29 -35 -08 31 48 57 79
dpco 2 -96 -70 41 -63 -101 -134 -142 -53 41 18 30 -341 -425 -576 -652 -340 -448 -541 -636
dpco 3 16 08 -07 -69 -131 -248 -291 163 141 190 189 59 69 107 115 57 81 95 135
Lambdas Total x y z: -0,52 5,53 -0,35 3,29

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:354,797 √J0m:364,429 √Mm:115,678 λ:-0,52 |dp|m:0,8047 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:338,914 √J0m:348,570 √Mm:113,235 λ:-0,52 |dp|m:0,8047 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:323,029 √J0m:332,734 √Mm:110,869 λ:-0,52 |dp|m:0,8047 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:307,140 √J0m:316,923 √Mm:108,589 λ:-0,52 |dp|m:0,8047 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:291,248 √J0m:301,142 √Mm:106,403 λ:-0,52 |dp|m:0,8047 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:275,349 √J0m:285,397 √Mm:104,319 λ:-0,52 |dp|m:0,8047 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:259,444 √J0m:269,693 √Mm:102,345 λ:-0,52 |dp|m:0,8047 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:243,531 √J0m:254,038 √Mm:100,488 λ:-0,52 |dp|m:0,8047 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:227,607 √J0m:238,441 √Mm:98,755 λ:-0,52 |dp|m:0,8047 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:211,671 √J0m:222,915 √Mm:97,152 λ:-0,52 |dp|m:0,8047 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:195,719 √J0m:207,476 √Mm:95,688 λ:-0,52 |dp|m:0,8047 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:179,747 √J0m:192,144 √Mm:94,367 λ:-0,52 |dp|m:0,8047 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:163,750 √J0m:176,948 √Mm:93,196 λ:-0,52 |dp|m:0,8047 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:147,718 √J0m:161,926 √Mm:92,181 λ:-0,52 |dp|m:0,8047 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:131,640 √J0m:147,131 √Mm:91,328 λ:-0,52 |dp|m:0,8047 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:115,496 √J0m:132,638 √Mm:90,642 λ:-0,52 |dp|m:0,8047 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:99,251 √J0m:118,560 √Mm:90,129 λ:-0,52 |dp|m:0,8047 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:82,848 √J0m:105,063 √Mm:89,793 λ:-0,52 |dp|m:0,8047 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:66,166 √J0m:92,401 √Mm:89,639 λ:-0,52 |dp|m:0,8047 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:48,917 √J0m:80,968 √Mm:89,670 λ:-0,52 |dp|m:0,8047 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:30,142 √J0m:71,356 √Mm:89,887 λ:-0,52 |dp|m:0,8047 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:64,387 √Mm:90,294 λ:-0,52 |dp|m:0,8047 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:60,973 √Mm:90,890 λ:-0,52 |dp|m:0,8047 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 07 -33 35 21 -32 10 06 -91 66 -18 12 31 -60 -02 25 09 -04 -08 04
co 2 -129 146 94 04 -26 -14 29 79 -206 41 77 237 -54 -52 59 253 -23 -105 65
co 3 17 -18 -13 57 07 -25 03 -71 85 -22 -20 -91 34 30 -23 02 -18 -07 06
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -06 -152 04 -43 52 -19 -04 349 -51 -117 -25 -112 39 -47 51 66 -09 -59 49
co 2 449 -294 24 -39 55 -25 02 253 -131 20 -140 -480 355 14 -74 -406 105 243 -107
co 3 -81 -174 -03 -67 150 -75 -21 397 -74 -85 02 84 -90 22 -06 78 -07 -103 85
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 -20 18 10 -15 04 03 -38 32 -12 05 13 -29 -02 14 06 -02 -05 03
dpco 2 -54 66 47 01 -12 -07 14 45 -106 21 35 108 -19 -26 28 118 -09 -47 30
dpco 3 07 -13 -07 27 07 -14 01 -27 41 -13 -10 -44 15 15 -12 03 -09 -06 05
Lambdas Total x y z: -0,04 1,53 0,01 1,05

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:56,063 √J0m:59,158 √Mm:89,626 λ:-0,04 |dp|m:0,1280 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:53,520 √J0m:56,608 √Mm:87,521 λ:-0,04 |dp|m:0,1280 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:50,980 √J0m:54,059 √Mm:85,355 λ:-0,04 |dp|m:0,1280 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:48,442 √J0m:51,511 √Mm:83,126 λ:-0,04 |dp|m:0,1280 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:45,907 √J0m:48,965 √Mm:80,834 λ:-0,04 |dp|m:0,1280 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:43,374 √J0m:46,420 √Mm:78,486 λ:-0,04 |dp|m:0,1280 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:40,843 √J0m:43,877 √Mm:76,090 λ:-0,04 |dp|m:0,1280 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:38,312 √J0m:41,336 √Mm:73,657 λ:-0,04 |dp|m:0,1280 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:35,780 √J0m:38,798 √Mm:71,198 λ:-0,04 |dp|m:0,1280 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:33,246 √J0m:36,262 √Mm:68,726 λ:-0,04 |dp|m:0,1280 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:30,707 √J0m:33,731 √Mm:66,252 λ:-0,04 |dp|m:0,1280 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:28,161 √J0m:31,204 √Mm:63,791 λ:-0,04 |dp|m:0,1280 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:25,604 √J0m:28,683 √Mm:61,356 λ:-0,04 |dp|m:0,1280 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:23,033 √J0m:26,170 √Mm:58,958 λ:-0,04 |dp|m:0,1280 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:20,440 √J0m:23,666 √Mm:56,614 λ:-0,04 |dp|m:0,1280 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:17,815 √J0m:21,177 √Mm:54,338 λ:-0,04 |dp|m:0,1280 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:15,140 √J0m:18,707 √Mm:52,146 λ:-0,04 |dp|m:0,1280 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:12,381 √J0m:16,264 √Mm:50,055 λ:-0,04 |dp|m:0,1280 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:9,464 √J0m:13,864 √Mm:48,085 λ:-0,04 |dp|m:0,1280 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:6,167 √J0m:11,533 √Mm:46,254 λ:-0,04 |dp|m:0,1280 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:9,323 √Mm:44,585 λ:-0,04 |dp|m:0,1280 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:7,345 √Mm:43,100 λ:-0,04 |dp|m:0,1280 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:5,837 √Mm:41,822 λ:-0,04 |dp|m:0,1280 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:5,227 √Mm:40,773 λ:-0,04 |dp|m:0,1280 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 11 -04 00 01 00 00 -08 -04 08 00 02 04 03 -05 -04 01 04 -03
co 2 -09 00 -11 01 00 03 -03 -20 27 -05 -01 00 -12 05 -02 -05 -03 -01 -01
co 3 02 10 01 -02 -08 06 01 -12 -05 06 02 05 01 -04 03 -04 02 06 -05
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 -124 01 -03 18 -19 -01 199 -64 37 -41 -17 -14 -30 43 13 04 -42 40
co 2 06 12 04 -06 25 -29 02 -78 77 82 -92 -21 71 -59 -21 17 -85 74 -20
co 3 00 -202 00 00 131 -130 -02 273 -61 03 -04 -18 -15 39 -18 13 09 -72 67
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 17 -02 00 -01 02 00 -22 04 00 04 03 03 04 -06 -03 00 06 -05
dpco 2 -05 -01 -06 01 -02 04 -02 -03 06 -10 08 02 -13 08 01 -04 07 -08 01
dpco 3 01 24 01 -01 -16 15 01 -31 03 03 01 04 02 -06 03 -03 00 10 -09
Lambdas Total x y z: 0,19 0,87 1,16 0,34

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:17,680 √J0m:5,395 √Mm:39,097 λ:0,19 |dp|m:0,0315 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:17,214 √J0m:5,034 √Mm:38,225 λ:0,19 |dp|m:0,0315 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:16,769 √J0m:4,729 √Mm:37,358 λ:0,19 |dp|m:0,0315 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:16,346 √J0m:4,493 √Mm:36,495 λ:0,19 |dp|m:0,0315 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:15,948 √J0m:4,336 √Mm:35,638 λ:0,19 |dp|m:0,0315 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:15,577 √J0m:4,268 √Mm:34,786 λ:0,19 |dp|m:0,0315 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:15,234 √J0m:4,292 √Mm:33,940 λ:0,19 |dp|m:0,0315 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:14,921 √J0m:4,407 √Mm:33,101 λ:0,19 |dp|m:0,0315 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:14,640 √J0m:4,605 √Mm:32,269 λ:0,19 |dp|m:0,0315 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:14,394 √J0m:4,878 √Mm:31,445 λ:0,19 |dp|m:0,0315 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:14,184 √J0m:5,213 √Mm:30,630 λ:0,19 |dp|m:0,0315 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:14,011 √J0m:5,600 √Mm:29,824 λ:0,19 |dp|m:0,0315 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:13,878 √J0m:6,027 √Mm:29,029 λ:0,19 |dp|m:0,0315 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:13,786 √J0m:6,488 √Mm:28,244 λ:0,19 |dp|m:0,0315 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:13,734 √J0m:6,975 √Mm:27,472 λ:0,19 |dp|m:0,0315 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:13,724 √J0m:7,484 √Mm:26,714 λ:0,19 |dp|m:0,0315 mm
Acabado Optimizado (izq). Cuadro 226 Distancia Esque. Antes y Despues Retoque:389,00 Distancias Despues con p y q: 7,00 779,00 mm


Comienzan Iteraciones para cuadro 227

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 65 -89 -187 -235 -262 167 286 436 489 -28 -120 -72 -89 74 96 167 220
co 2 -332 -01 176 -129 -257 -293 -270 -32 -120 -98 -89 -483 -951 -1265 -1335 -465 -969 -1238 -1265
co 3 52 -01 -28 -89 -240 -522 -611 268 379 498 538 34 180 246 295 123 154 193 295
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -15 67 -74 -33 80 16 10 147 -03 -69 -131 -53 127 -56 14 -22 62 -63 -22
co 2 267 -264 -193 -33 123 28 -09 -141 177 -11 -24 -383 190 200 60 -418 151 311 11
co 3 -42 34 28 -92 11 124 37 99 -30 -62 -99 161 -86 -15 -41 -17 16 -06 -42
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 20 11 -55 -69 -113 -128 128 142 197 205 -30 -22 -53 -40 30 67 64 103
dpco 2 -86 -80 30 -74 -92 -138 -138 -58 -07 -53 -52 -356 -418 -572 -650 -358 -439 -525 -629
dpco 3 14 10 -05 -72 -116 -224 -294 164 181 230 239 65 64 119 135 56 82 95 135
Lambdas Total x y z: -0,60 4,87 -0,34 4,14

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:360,260 √J0m:371,428 √Mm:116,621 λ:-0,60 |dp|m:0,8158 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:344,182 √J0m:355,373 √Mm:114,144 λ:-0,60 |dp|m:0,8158 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:328,100 √J0m:339,342 √Mm:111,749 λ:-0,60 |dp|m:0,8158 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:312,012 √J0m:323,340 √Mm:109,446 λ:-0,60 |dp|m:0,8158 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:295,915 √J0m:307,371 √Mm:107,250 λ:-0,60 |dp|m:0,8158 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:279,806 √J0m:291,440 √Mm:105,171 λ:-0,60 |dp|m:0,8158 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:263,683 √J0m:275,555 √Mm:103,220 λ:-0,60 |dp|m:0,8158 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:247,541 √J0m:259,722 √Mm:101,409 λ:-0,60 |dp|m:0,8158 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:231,376 √J0m:243,954 √Mm:99,749 λ:-0,60 |dp|m:0,8158 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:215,182 √J0m:228,262 √Mm:98,250 λ:-0,60 |dp|m:0,8158 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:198,952 √J0m:212,664 √Mm:96,922 λ:-0,60 |dp|m:0,8158 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:182,673 √J0m:197,183 √Mm:95,774 λ:-0,60 |dp|m:0,8158 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:166,333 √J0m:181,847 √Mm:94,815 λ:-0,60 |dp|m:0,8158 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:149,910 √J0m:166,697 √Mm:94,053 λ:-0,60 |dp|m:0,8158 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:133,373 √J0m:151,790 √Mm:93,492 λ:-0,60 |dp|m:0,8158 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:116,672 √J0m:137,203 √Mm:93,140 λ:-0,60 |dp|m:0,8158 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:99,725 √J0m:123,051 √Mm:92,999 λ:-0,60 |dp|m:0,8158 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:82,379 √J0m:109,503 √Mm:93,071 λ:-0,60 |dp|m:0,8158 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:64,311 √J0m:96,813 √Mm:93,358 λ:-0,60 |dp|m:0,8158 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:44,653 √J0m:85,363 √Mm:93,858 λ:-0,60 |dp|m:0,8158 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:18,973 √J0m:75,719 √Mm:94,568 λ:-0,60 |dp|m:0,8158 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:68,646 √Mm:95,485 λ:-0,60 |dp|m:0,8158 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:64,990 √Mm:96,604 λ:-0,60 |dp|m:0,8158 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:65,325 √Mm:97,918 λ:-0,60 |dp|m:0,8158 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 08 -44 42 31 -35 13 19 -114 -27 02 37 38 -72 44 00 07 -50 25 -07
co 2 -143 175 110 35 -55 11 33 96 -105 17 25 301 -30 -06 94 323 -03 -82 119
co 3 22 -23 -16 70 17 -30 37 -92 -18 -09 12 -110 39 -15 -02 -01 -26 -16 -02
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 05 -156 03 -90 84 01 -27 376 -140 41 -105 -122 44 -05 04 96 -22 -92 72
co 2 527 -337 25 -88 99 -36 11 39 -53 32 -16 -570 422 08 -88 -494 135 278 -131
co 3 -92 -159 -03 -144 208 17 -113 455 -144 34 -89 102 -104 -07 32 95 -15 -119 99
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 -31 21 10 -13 07 08 -36 -21 03 13 12 -33 22 00 09 -26 07 00
dpco 2 -42 69 57 12 -22 03 17 50 -55 10 12 119 08 -03 42 134 06 -25 52
dpco 3 06 -20 -08 27 20 -14 12 -21 -17 -02 01 -49 14 -08 01 05 -14 -14 05
Lambdas Total x y z: -0,11 1,35 -0,08 0,82

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:58,708 √J0m:67,088 √Mm:97,228 λ:-0,11 |dp|m:0,1285 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:56,248 √J0m:64,585 √Mm:95,042 λ:-0,11 |dp|m:0,1285 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:53,788 √J0m:62,087 √Mm:92,864 λ:-0,11 |dp|m:0,1285 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:51,325 √J0m:59,595 √Mm:90,696 λ:-0,11 |dp|m:0,1285 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:48,861 √J0m:57,111 √Mm:88,540 λ:-0,11 |dp|m:0,1285 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:46,394 √J0m:54,634 √Mm:86,398 λ:-0,11 |dp|m:0,1285 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:43,924 √J0m:52,166 √Mm:84,272 λ:-0,11 |dp|m:0,1285 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:41,450 √J0m:49,708 √Mm:82,164 λ:-0,11 |dp|m:0,1285 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:38,970 √J0m:47,263 √Mm:80,077 λ:-0,11 |dp|m:0,1285 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:36,484 √J0m:44,831 √Mm:78,014 λ:-0,11 |dp|m:0,1285 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:33,989 √J0m:42,415 √Mm:75,979 λ:-0,11 |dp|m:0,1285 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:31,484 √J0m:40,019 √Mm:73,976 λ:-0,11 |dp|m:0,1285 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:28,964 √J0m:37,645 √Mm:72,008 λ:-0,11 |dp|m:0,1285 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:26,426 √J0m:35,299 √Mm:70,081 λ:-0,11 |dp|m:0,1285 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:23,862 √J0m:32,986 √Mm:68,198 λ:-0,11 |dp|m:0,1285 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:21,265 √J0m:30,714 √Mm:66,365 λ:-0,11 |dp|m:0,1285 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:18,617 √J0m:28,492 √Mm:64,588 λ:-0,11 |dp|m:0,1285 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:15,895 √J0m:26,334 √Mm:62,873 λ:-0,11 |dp|m:0,1285 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:13,051 √J0m:24,256 √Mm:61,226 λ:-0,11 |dp|m:0,1285 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:9,980 √J0m:22,281 √Mm:59,654 λ:-0,11 |dp|m:0,1285 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:6,360 √J0m:20,438 √Mm:58,165 λ:-0,11 |dp|m:0,1285 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:18,768 √Mm:56,766 λ:-0,11 |dp|m:0,1285 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:17,318 √Mm:55,464 λ:-0,11 |dp|m:0,1285 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:16,150 √Mm:54,268 λ:-0,11 |dp|m:0,1285 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:15,327 √Mm:53,186 λ:-0,11 |dp|m:0,1285 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:14,907 √Mm:52,226 λ:-0,11 |dp|m:0,1285 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 29 -08 06 -05 -03 00 -28 24 -06 07 09 08 -08 00 -14 12 07 -08
co 2 -43 12 -24 05 -03 03 -08 -23 27 -07 -02 19 -50 00 -06 05 -17 -21 -05
co 3 08 25 03 06 -31 03 08 -43 22 -03 10 07 06 04 -04 -12 07 19 -13
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -05 -167 10 -26 54 -07 -18 257 -77 79 -93 -44 -09 21 -04 33 16 -62 48
co 2 46 -65 24 -35 57 -37 18 -124 117 08 -14 -113 145 -92 -11 -42 -63 85 -27
co 3 -09 -239 -02 -38 199 -98 -58 331 -65 55 -67 -07 -34 13 09 38 07 -98 92
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 21 -05 04 -04 -01 01 -25 15 -06 07 06 04 -05 00 -08 06 06 -06
dpco 2 -23 08 -13 04 -04 03 -05 -07 09 -04 -01 14 -31 04 -03 04 -06 -14 -01
dpco 3 04 22 02 04 -23 06 06 -35 14 -04 07 04 05 01 -02 -08 03 13 -10
Lambdas Total x y z: 0,08 0,68 0,77 0,28

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:20,012 √J0m:14,073 √Mm:50,270 λ:0,08 |dp|m:0,0438 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:19,195 √J0m:13,225 √Mm:49,153 λ:0,08 |dp|m:0,0438 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:18,390 √J0m:12,381 √Mm:48,044 λ:0,08 |dp|m:0,0438 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:17,600 √J0m:11,542 √Mm:46,943 λ:0,08 |dp|m:0,0438 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:16,825 √J0m:10,708 √Mm:45,852 λ:0,08 |dp|m:0,0438 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:16,070 √J0m:9,883 √Mm:44,771 λ:0,08 |dp|m:0,0438 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:15,336 √J0m:9,066 √Mm:43,701 λ:0,08 |dp|m:0,0438 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:14,627 √J0m:8,263 √Mm:42,644 λ:0,08 |dp|m:0,0438 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:13,947 √J0m:7,475 √Mm:41,600 λ:0,08 |dp|m:0,0438 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:13,300 √J0m:6,710 √Mm:40,571 λ:0,08 |dp|m:0,0438 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:12,691 √J0m:5,975 √Mm:39,558 λ:0,08 |dp|m:0,0438 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:12,126 √J0m:5,284 √Mm:38,562 λ:0,08 |dp|m:0,0438 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:11,612 √J0m:4,655 √Mm:37,586 λ:0,08 |dp|m:0,0438 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:11,156 √J0m:4,118 √Mm:36,630 λ:0,08 |dp|m:0,0438 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:10,764 √J0m:3,713 √Mm:35,697 λ:0,08 |dp|m:0,0438 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:10,445 √J0m:3,486 √Mm:34,789 λ:0,08 |dp|m:0,0438 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:10,206 √J0m:3,471 √Mm:33,908 λ:0,08 |dp|m:0,0438 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:10,051 √J0m:3,672 √Mm:33,056 λ:0,08 |dp|m:0,0438 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:9,985 √J0m:4,057 √Mm:32,235 λ:0,08 |dp|m:0,0438 mm
Acabado Optimizado (izq). Cuadro 227 Distancia Esque. Antes y Despues Retoque:397,00 Distancias Despues con p y q: 4,00 794,00 mm


Comienzan Iteraciones para cuadro 228

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 65 -89 -204 -240 -257 145 264 410 414 -28 -116 -67 -89 70 96 118 171
co 2 -332 -01 180 -129 -209 -288 -270 -32 -111 -28 34 -483 -955 -1265 -1331 -469 -969 -1247 -1278
co 3 56 -01 -23 -85 -257 -531 -606 224 366 472 458 39 180 242 295 127 158 189 286
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -20 90 -71 -49 106 07 11 93 07 -175 -14 -50 123 -62 18 -15 -01 -04 -24
co 2 265 -275 -191 25 41 56 -13 -101 221 58 -163 -380 185 210 56 -422 143 320 14
co 3 -46 86 22 -116 36 106 52 82 -76 -172 33 157 -82 -09 -45 -14 06 06 -43
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 03 25 12 -59 -72 -118 -125 99 134 154 203 -28 -22 -51 -40 31 48 58 79
dpco 2 -90 -80 35 -57 -92 -128 -139 -45 08 03 -30 -351 -424 -572 -649 -357 -443 -531 -635
dpco 3 15 24 -05 -76 -118 -235 -288 136 161 186 239 65 66 118 135 60 81 96 131
Lambdas Total x y z: -0,58 5,21 -0,34 3,15

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:356,586 √J0m:367,485 √Mm:116,921 λ:-0,58 |dp|m:0,8075 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:340,679 √J0m:351,594 √Mm:114,405 λ:-0,58 |dp|m:0,8075 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:324,777 √J0m:335,728 √Mm:111,934 λ:-0,58 |dp|m:0,8075 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:308,877 √J0m:319,889 √Mm:109,516 λ:-0,58 |dp|m:0,8075 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:292,980 √J0m:304,084 √Mm:107,161 λ:-0,58 |dp|m:0,8075 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:277,085 √J0m:288,317 √Mm:104,878 λ:-0,58 |dp|m:0,8075 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:261,191 √J0m:272,594 √Mm:102,679 λ:-0,58 |dp|m:0,8075 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:245,297 √J0m:256,924 √Mm:100,573 λ:-0,58 |dp|m:0,8075 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:229,401 √J0m:241,318 √Mm:98,575 λ:-0,58 |dp|m:0,8075 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:213,500 √J0m:225,788 √Mm:96,696 λ:-0,58 |dp|m:0,8075 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:197,593 √J0m:210,351 √Mm:94,949 λ:-0,58 |dp|m:0,8075 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:181,677 √J0m:195,030 √Mm:93,347 λ:-0,58 |dp|m:0,8075 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:165,746 √J0m:179,854 √Mm:91,902 λ:-0,58 |dp|m:0,8075 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:149,795 √J0m:164,863 √Mm:90,625 λ:-0,58 |dp|m:0,8075 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:133,816 √J0m:150,113 √Mm:89,527 λ:-0,58 |dp|m:0,8075 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:117,795 √J0m:135,681 √Mm:88,618 λ:-0,58 |dp|m:0,8075 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:101,713 √J0m:121,682 √Mm:87,905 λ:-0,58 |dp|m:0,8075 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:85,532 √J0m:108,283 √Mm:87,397 λ:-0,58 |dp|m:0,8075 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:69,182 √J0m:95,738 √Mm:87,099 λ:-0,58 |dp|m:0,8075 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:52,504 √J0m:84,426 √Mm:87,014 λ:-0,58 |dp|m:0,8075 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:35,030 √J0m:74,909 √Mm:87,145 λ:-0,58 |dp|m:0,8075 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:14,047 √J0m:67,945 √Mm:87,493 λ:-0,58 |dp|m:0,8075 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:64,370 √Mm:88,055 λ:-0,58 |dp|m:0,8075 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:64,745 √Mm:88,828 λ:-0,58 |dp|m:0,8075 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 11 -57 39 40 -47 20 18 -73 -31 70 -32 35 -67 46 -02 03 -09 -09 -02
co 2 -135 175 103 -03 -05 -07 35 68 -129 -34 100 290 -22 -07 98 315 06 -79 119
co 3 23 -54 -12 82 03 -14 28 -74 12 62 -67 -103 34 -18 -01 -04 -19 -23 -01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 21 -56 04 -107 82 -17 -10 230 -13 -79 -59 -108 38 -03 02 83 -14 -61 49
co 2 517 -357 44 -74 92 -30 -02 40 22 -59 05 -530 376 24 -85 -495 143 266 -126
co 3 -68 -15 -08 -158 212 -49 -60 272 -35 -64 -54 90 -89 -14 33 94 -13 -103 85
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 07 -32 20 13 -18 09 08 -21 -16 29 -20 10 -31 23 -01 07 -06 -09 03
dpco 2 -31 62 55 -07 04 -06 17 37 -63 -21 50 107 16 -02 43 123 13 -21 51
dpco 3 07 -28 -07 30 16 -10 10 -18 03 26 -37 -45 11 -10 02 05 -11 -19 05
Lambdas Total x y z: -0,14 2,61 -0,12 1,33

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:57,859 √J0m:66,593 √Mm:87,831 λ:-0,14 |dp|m:0,1247 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:55,504 √J0m:64,184 √Mm:85,869 λ:-0,14 |dp|m:0,1247 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:53,148 √J0m:61,783 √Mm:83,925 λ:-0,14 |dp|m:0,1247 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:50,791 √J0m:59,389 √Mm:81,997 λ:-0,14 |dp|m:0,1247 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:48,433 √J0m:57,004 √Mm:80,086 λ:-0,14 |dp|m:0,1247 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:46,074 √J0m:54,628 √Mm:78,191 λ:-0,14 |dp|m:0,1247 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:43,715 √J0m:52,264 √Mm:76,311 λ:-0,14 |dp|m:0,1247 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:41,356 √J0m:49,912 √Mm:74,444 λ:-0,14 |dp|m:0,1247 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:38,999 √J0m:47,574 √Mm:72,589 λ:-0,14 |dp|m:0,1247 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:36,644 √J0m:45,254 √Mm:70,743 λ:-0,14 |dp|m:0,1247 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:34,292 √J0m:42,953 √Mm:68,907 λ:-0,14 |dp|m:0,1247 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:31,944 √J0m:40,674 √Mm:67,078 λ:-0,14 |dp|m:0,1247 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:29,602 √J0m:38,423 √Mm:65,257 λ:-0,14 |dp|m:0,1247 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:27,267 √J0m:36,203 √Mm:63,445 λ:-0,14 |dp|m:0,1247 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:24,940 √J0m:34,021 √Mm:61,646 λ:-0,14 |dp|m:0,1247 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:22,623 √J0m:31,886 √Mm:59,862 λ:-0,14 |dp|m:0,1247 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:20,316 √J0m:29,806 √Mm:58,101 λ:-0,14 |dp|m:0,1247 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:18,023 √J0m:27,794 √Mm:56,368 λ:-0,14 |dp|m:0,1247 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:15,746 √J0m:25,866 √Mm:54,671 λ:-0,14 |dp|m:0,1247 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:13,491 √J0m:24,043 √Mm:53,019 λ:-0,14 |dp|m:0,1247 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:11,269 √J0m:22,350 √Mm:51,421 λ:-0,14 |dp|m:0,1247 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:9,098 √J0m:20,819 √Mm:49,887 λ:-0,14 |dp|m:0,1247 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:7,025 √J0m:19,488 √Mm:48,426 λ:-0,14 |dp|m:0,1247 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:5,163 √J0m:18,400 √Mm:47,050 λ:-0,14 |dp|m:0,1247 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:3,826 √J0m:17,601 √Mm:45,768 λ:-0,14 |dp|m:0,1247 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:3,642 √J0m:17,131 √Mm:44,594 λ:-0,14 |dp|m:0,1247 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -06 20 -08 10 -05 -01 -02 -25 08 00 16 12 06 -08 00 -14 04 12 -08
co 2 -61 27 -27 13 -14 06 -06 -19 21 16 -20 34 -59 -03 -04 24 -25 -30 -01
co 3 07 13 04 11 -36 11 05 -32 04 -01 22 04 08 06 -05 -15 06 22 -14
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -09 -104 17 -44 64 -15 -05 165 -34 -33 02 -50 -05 23 -06 43 03 -54 51
co 2 87 -121 45 -28 77 -57 07 -67 81 45 -60 -151 160 -83 -15 -103 -34 100 -36
co 3 -18 -120 -04 -60 227 -144 -20 225 -56 -41 19 -02 -38 05 15 51 04 -96 92
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -03 11 -04 06 -03 00 -01 -14 04 00 08 06 03 -04 00 -08 02 06 -04
dpco 2 -31 15 -14 07 -08 04 -03 -09 10 08 -09 19 -31 -01 -02 13 -12 -16 00
dpco 3 04 07 02 06 -20 07 03 -18 02 00 11 02 05 03 -03 -08 03 12 -08
Lambdas Total x y z: 0,02 1,16 0,25 0,31

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:17,234 √J0m:16,224 √Mm:42,590 λ:0,02 |dp|m:0,0397 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:16,446 √J0m:15,432 √Mm:41,656 λ:0,02 |dp|m:0,0397 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:15,660 √J0m:14,639 √Mm:40,734 λ:0,02 |dp|m:0,0397 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:14,876 √J0m:13,847 √Mm:39,827 λ:0,02 |dp|m:0,0397 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:14,096 √J0m:13,055 √Mm:38,936 λ:0,02 |dp|m:0,0397 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:13,319 √J0m:12,264 √Mm:38,061 λ:0,02 |dp|m:0,0397 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:12,547 √J0m:11,473 √Mm:37,203 λ:0,02 |dp|m:0,0397 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:11,780 √J0m:10,683 √Mm:36,365 λ:0,02 |dp|m:0,0397 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:11,019 √J0m:9,893 √Mm:35,546 λ:0,02 |dp|m:0,0397 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:10,266 √J0m:9,104 √Mm:34,749 λ:0,02 |dp|m:0,0397 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:9,522 √J0m:8,316 √Mm:33,976 λ:0,02 |dp|m:0,0397 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:8,790 √J0m:7,530 √Mm:33,226 λ:0,02 |dp|m:0,0397 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:8,074 √J0m:6,745 √Mm:32,503 λ:0,02 |dp|m:0,0397 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:7,377 √J0m:5,964 √Mm:31,808 λ:0,02 |dp|m:0,0397 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:6,705 √J0m:5,186 √Mm:31,142 λ:0,02 |dp|m:0,0397 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:6,068 √J0m:4,414 √Mm:30,509 λ:0,02 |dp|m:0,0397 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:5,477 √J0m:3,651 √Mm:29,908 λ:0,02 |dp|m:0,0397 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:4,949 √J0m:2,907 √Mm:29,344 λ:0,02 |dp|m:0,0397 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:4,505 √J0m:2,197 √Mm:28,816 λ:0,02 |dp|m:0,0397 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:4,174 √J0m:1,571 √Mm:28,329 λ:0,02 |dp|m:0,0397 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:3,982 √J0m:1,171 √Mm:27,882 λ:0,02 |dp|m:0,0397 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:3,951 √J0m:1,240 √Mm:27,479 λ:0,02 |dp|m:0,0397 mm
Acabado Optimizado (izq). Cuadro 228 Distancia Esque. Antes y Despues Retoque:393,00 Distancias Despues con p y q: 1,00 787,00 mm


Comienzan Iteraciones para cuadro 229

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 65 -89 -191 -235 -257 162 277 397 405 -28 -116 -67 -85 70 96 79 136
co 2 -337 -01 176 -134 -262 -297 -275 -45 -120 21 83 -487 -960 -1265 -1326 -474 -973 -1260 -1287
co 3 56 -01 -23 -85 -235 -518 -606 255 379 450 441 39 180 233 291 127 158 158 255
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -20 75 -74 -37 86 15 09 133 -45 -131 -26 -50 125 -60 15 -15 -48 44 -25
co 2 261 -266 -195 -28 120 28 -10 -112 306 -14 -164 -380 178 218 54 -422 148 318 11
co 3 -44 55 23 -94 07 123 38 114 -122 -117 21 157 -88 02 -50 -14 -32 42 -42
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 03 20 12 -55 -72 -114 -126 118 126 162 196 -28 -24 -50 -38 31 35 51 61
dpco 2 -97 -74 34 -74 -98 -141 -140 -54 24 07 -04 -348 -431 -572 -648 -353 -446 -543 -640
dpco 3 16 15 -05 -68 -116 -225 -293 159 156 193 226 62 66 117 132 60 70 91 116
Lambdas Total x y z: -0,55 5,59 -0,36 3,47

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:357,315 √J0m:367,647 √Mm:116,700 λ:-0,55 |dp|m:0,8100 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:341,341 √J0m:351,693 √Mm:114,211 λ:-0,55 |dp|m:0,8100 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:325,367 √J0m:335,762 √Mm:111,781 λ:-0,55 |dp|m:0,8100 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:309,393 √J0m:319,857 √Mm:109,419 λ:-0,55 |dp|m:0,8100 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:293,418 √J0m:303,984 √Mm:107,134 λ:-0,55 |dp|m:0,8100 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:277,440 √J0m:288,148 √Mm:104,936 λ:-0,55 |dp|m:0,8100 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:261,458 √J0m:272,354 √Mm:102,835 λ:-0,55 |dp|m:0,8100 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:245,472 √J0m:256,610 √Mm:100,839 λ:-0,55 |dp|m:0,8100 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:229,478 √J0m:240,927 √Mm:98,959 λ:-0,55 |dp|m:0,8100 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:213,475 √J0m:225,317 √Mm:97,203 λ:-0,55 |dp|m:0,8100 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:197,459 √J0m:209,797 √Mm:95,583 λ:-0,55 |dp|m:0,8100 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:181,427 √J0m:194,387 √Mm:94,106 λ:-0,55 |dp|m:0,8100 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:165,373 √J0m:179,117 √Mm:92,782 λ:-0,55 |dp|m:0,8100 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:149,289 √J0m:164,025 √Mm:91,621 λ:-0,55 |dp|m:0,8100 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:133,164 √J0m:149,165 √Mm:90,631 λ:-0,55 |dp|m:0,8100 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:116,979 √J0m:134,615 √Mm:89,820 λ:-0,55 |dp|m:0,8100 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:100,705 √J0m:120,486 √Mm:89,194 λ:-0,55 |dp|m:0,8100 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:84,289 √J0m:106,946 √Mm:88,760 λ:-0,55 |dp|m:0,8100 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:67,626 √J0m:94,250 √Mm:88,522 λ:-0,55 |dp|m:0,8100 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:50,470 √J0m:82,784 √Mm:88,483 λ:-0,55 |dp|m:0,8100 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:32,039 √J0m:73,132 √Mm:88,646 λ:-0,55 |dp|m:0,8100 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:3,288 √J0m:66,093 √Mm:89,010 λ:-0,55 |dp|m:0,8100 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:62,555 √Mm:89,576 λ:-0,55 |dp|m:0,8100 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:63,108 √Mm:90,340 λ:-0,55 |dp|m:0,8100 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 10 -45 38 32 -33 15 20 -97 -01 40 -25 33 -64 43 00 02 19 -35 02
co 2 -124 161 100 30 -47 13 33 73 -173 06 91 279 -12 -06 100 303 08 -67 122
co 3 21 -33 -12 65 19 -23 38 -94 36 26 -57 -99 35 -24 01 -04 03 -41 00
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 07 -125 03 -88 77 -03 -22 342 -65 -44 -88 -104 35 -03 03 69 -10 -38 35
co 2 469 -285 23 -86 91 -35 11 139 -72 -28 -43 -499 335 37 -78 -476 157 222 -105
co 3 -76 -132 -03 -132 195 10 -106 393 -72 -32 -70 82 -78 -18 31 82 -11 -77 68
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 05 -29 19 12 -13 07 09 -32 -04 18 -17 12 -30 21 00 04 09 -19 03
dpco 2 -40 67 51 11 -19 05 17 43 -90 02 43 115 10 -01 46 128 11 -23 56
dpco 3 07 -23 -06 26 19 -11 14 -28 14 11 -32 -45 14 -13 02 02 01 -24 03
Lambdas Total x y z: -0,10 1,64 -0,06 0,98

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:58,878 √J0m:65,063 √Mm:89,277 λ:-0,10 |dp|m:0,1316 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:56,312 √J0m:62,476 √Mm:87,247 λ:-0,10 |dp|m:0,1316 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:53,747 √J0m:59,892 √Mm:85,207 λ:-0,10 |dp|m:0,1316 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:51,182 √J0m:57,313 √Mm:83,158 λ:-0,10 |dp|m:0,1316 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:48,617 √J0m:54,738 √Mm:81,100 λ:-0,10 |dp|m:0,1316 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:46,052 √J0m:52,169 √Mm:79,032 λ:-0,10 |dp|m:0,1316 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:43,487 √J0m:49,607 √Mm:76,957 λ:-0,10 |dp|m:0,1316 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:40,922 √J0m:47,052 √Mm:74,876 λ:-0,10 |dp|m:0,1316 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:38,355 √J0m:44,506 √Mm:72,792 λ:-0,10 |dp|m:0,1316 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:35,785 √J0m:41,970 √Mm:70,709 λ:-0,10 |dp|m:0,1316 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:33,212 √J0m:39,447 √Mm:68,631 λ:-0,10 |dp|m:0,1316 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:30,633 √J0m:36,940 √Mm:66,561 λ:-0,10 |dp|m:0,1316 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:28,046 √J0m:34,450 √Mm:64,507 λ:-0,10 |dp|m:0,1316 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:25,446 √J0m:31,983 √Mm:62,474 λ:-0,10 |dp|m:0,1316 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:22,830 √J0m:29,545 √Mm:60,469 λ:-0,10 |dp|m:0,1316 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:20,188 √J0m:27,143 √Mm:58,499 λ:-0,10 |dp|m:0,1316 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:17,508 √J0m:24,787 √Mm:56,574 λ:-0,10 |dp|m:0,1316 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:14,767 √J0m:22,492 √Mm:54,702 λ:-0,10 |dp|m:0,1316 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:11,922 √J0m:20,279 √Mm:52,893 λ:-0,10 |dp|m:0,1316 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:8,871 √J0m:18,178 √Mm:51,159 λ:-0,10 |dp|m:0,1316 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:5,263 √J0m:16,233 √Mm:49,511 λ:-0,10 |dp|m:0,1316 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:14,505 √Mm:47,963 λ:-0,10 |dp|m:0,1316 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:13,082 √Mm:46,527 λ:-0,10 |dp|m:0,1316 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:12,071 √Mm:45,218 λ:-0,10 |dp|m:0,1316 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:11,582 √Mm:44,049 λ:-0,10 |dp|m:0,1316 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 20 -06 05 -04 -02 00 -24 07 -01 13 07 05 -06 00 -08 -02 09 -04
co 2 -34 08 -17 05 -03 02 -06 -26 33 02 -08 15 -35 -03 -06 09 -18 -15 -06
co 3 05 19 02 05 -24 02 06 -30 03 00 16 05 03 06 -04 -08 01 14 -07
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -03 -134 05 -28 47 -08 -14 216 -62 -13 -03 -30 -07 15 -04 32 -03 -42 46
co 2 26 -13 11 -37 50 -35 17 -101 100 73 -89 -78 86 -53 -11 -54 -32 61 -22
co 3 -05 -197 -01 -37 185 -92 -56 294 -74 -32 22 -11 -16 00 12 36 -01 -75 78
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 18 -03 04 -05 00 01 -24 07 00 07 05 03 -04 00 -06 -01 07 -05
dpco 2 -18 05 -09 05 -05 03 -04 -07 11 -03 01 12 -23 01 -02 07 -07 -11 -02
dpco 3 03 21 01 05 -23 06 06 -32 06 02 07 03 03 03 -03 -06 00 12 -08
Lambdas Total x y z: 0,12 0,82 0,88 0,28

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:18,028 √J0m:10,984 √Mm:42,097 λ:0,12 |dp|m:0,0377 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:17,362 √J0m:10,297 √Mm:41,165 λ:0,12 |dp|m:0,0377 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:16,712 √J0m:9,621 √Mm:40,241 λ:0,12 |dp|m:0,0377 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:16,079 √J0m:8,956 √Mm:39,326 λ:0,12 |dp|m:0,0377 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:15,467 √J0m:8,307 √Mm:38,420 λ:0,12 |dp|m:0,0377 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:14,876 √J0m:7,677 √Mm:37,525 λ:0,12 |dp|m:0,0377 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:14,311 √J0m:7,071 √Mm:36,640 λ:0,12 |dp|m:0,0377 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:13,775 √J0m:6,497 √Mm:35,768 λ:0,12 |dp|m:0,0377 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:13,269 √J0m:5,962 √Mm:34,909 λ:0,12 |dp|m:0,0377 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:12,800 √J0m:5,480 √Mm:34,064 λ:0,12 |dp|m:0,0377 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:12,370 √J0m:5,065 √Mm:33,235 λ:0,12 |dp|m:0,0377 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:11,984 √J0m:4,733 √Mm:32,421 λ:0,12 |dp|m:0,0377 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:11,646 √J0m:4,505 √Mm:31,626 λ:0,12 |dp|m:0,0377 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:11,361 √J0m:4,396 √Mm:30,850 λ:0,12 |dp|m:0,0377 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:11,133 √J0m:4,415 √Mm:30,095 λ:0,12 |dp|m:0,0377 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:10,965 √J0m:4,561 √Mm:29,363 λ:0,12 |dp|m:0,0377 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:10,859 √J0m:4,821 √Mm:28,655 λ:0,12 |dp|m:0,0377 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:10,819 √J0m:5,179 √Mm:27,973 λ:0,12 |dp|m:0,0377 mm
Acabado Optimizado (izq). Cuadro 229 Distancia Esque. Antes y Despues Retoque:393,00 Distancias Despues con p y q: 5,00 786,00 mm


Comienzan Iteraciones para cuadro 230

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 61 -89 -187 -240 -257 167 282 370 383 -28 -116 -63 -81 74 96 114 171
co 2 -337 -01 176 -134 -244 -297 -275 -32 -125 52 118 -487 -960 -1260 -1322 -469 -973 -1247 -1282
co 3 56 -01 -23 -85 -248 -527 -606 277 388 423 419 39 180 224 282 127 158 202 299
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -15 59 -70 -34 78 19 10 145 -87 -81 -34 -50 131 -66 15 -24 -01 01 -24
co 2 264 -256 -197 -11 93 42 -13 -150 377 -58 -159 -385 172 223 54 -415 139 321 14
co 3 -40 41 24 -112 28 112 47 106 -146 -58 08 158 -95 08 -50 -16 23 -15 -39
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 15 12 -54 -73 -115 -126 122 118 164 183 -27 -24 -49 -36 31 48 57 79
dpco 2 -99 -68 36 -70 -98 -138 -141 -56 37 11 17 -345 -434 -571 -647 -344 -450 -539 -637
dpco 3 18 10 -05 -72 -117 -234 -291 167 155 196 212 61 65 114 128 59 85 97 139
Lambdas Total x y z: -0,53 6,23 -0,35 3,71

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:356,678 √J0m:366,619 √Mm:116,755 λ:-0,53 |dp|m:0,8091 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:340,707 √J0m:350,672 √Mm:114,282 λ:-0,53 |dp|m:0,8091 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:324,735 √J0m:334,746 √Mm:111,878 λ:-0,53 |dp|m:0,8091 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:308,760 √J0m:318,847 √Mm:109,553 λ:-0,53 |dp|m:0,8091 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:292,781 √J0m:302,978 √Mm:107,315 λ:-0,53 |dp|m:0,8091 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:276,797 √J0m:287,143 √Mm:105,172 λ:-0,53 |dp|m:0,8091 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:260,806 √J0m:271,349 √Mm:103,134 λ:-0,53 |dp|m:0,8091 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:244,807 √J0m:255,604 √Mm:101,207 λ:-0,53 |dp|m:0,8091 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:228,798 √J0m:239,917 √Mm:99,399 λ:-0,53 |dp|m:0,8091 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:212,776 √J0m:224,301 √Mm:97,720 λ:-0,53 |dp|m:0,8091 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:196,738 √J0m:208,770 √Mm:96,175 λ:-0,53 |dp|m:0,8091 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:180,679 √J0m:193,347 √Mm:94,773 λ:-0,53 |dp|m:0,8091 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:164,593 √J0m:178,058 √Mm:93,522 λ:-0,53 |dp|m:0,8091 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:148,470 √J0m:162,941 √Mm:92,429 λ:-0,53 |dp|m:0,8091 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:132,297 √J0m:148,050 √Mm:91,500 λ:-0,53 |dp|m:0,8091 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:116,052 √J0m:133,460 √Mm:90,743 λ:-0,53 |dp|m:0,8091 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:99,698 √J0m:119,281 √Mm:90,163 λ:-0,53 |dp|m:0,8091 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:83,171 √J0m:105,679 √Mm:89,767 λ:-0,53 |dp|m:0,8091 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:66,340 √J0m:92,907 √Mm:89,557 λ:-0,53 |dp|m:0,8091 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:48,890 √J0m:81,359 √Mm:89,539 λ:-0,53 |dp|m:0,8091 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:29,748 √J0m:71,627 √Mm:89,713 λ:-0,53 |dp|m:0,8091 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:64,539 √Mm:90,082 λ:-0,53 |dp|m:0,8091 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:61,024 √Mm:90,645 λ:-0,53 |dp|m:0,8091 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 07 -33 36 24 -33 03 09 -90 33 24 -02 29 -66 40 -04 09 -05 -07 04
co 2 -128 143 100 14 -38 -07 23 85 -203 29 82 242 -42 -54 44 258 -23 -109 64
co 3 19 -23 -12 67 -01 -33 08 -75 60 09 -28 -90 43 -17 12 02 -22 -03 05
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -07 -142 01 -76 80 -13 -14 367 -59 -75 -71 -104 34 -02 03 67 -08 -62 51
co 2 436 -252 04 -78 92 -32 06 193 -103 10 -105 -477 300 58 -70 -413 96 267 -117
co 3 -80 -176 00 -124 203 -32 -69 419 -72 -60 -38 73 -68 -23 28 80 -07 -112 91
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 03 -21 18 10 -14 01 04 -34 15 10 -03 11 -32 20 -02 07 -03 -05 03
dpco 2 -51 64 50 04 -16 -04 12 49 -105 15 38 106 -12 -25 20 116 -08 -46 28
dpco 3 07 -17 -06 30 05 -18 02 -24 28 02 -15 -43 19 -09 07 03 -11 -05 05
Lambdas Total x y z: -0,06 1,42 0,00 0,88

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:54,935 √J0m:59,217 √Mm:89,367 λ:-0,06 |dp|m:0,1247 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:52,470 √J0m:56,741 √Mm:87,301 λ:-0,06 |dp|m:0,1247 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:50,006 √J0m:54,267 √Mm:85,200 λ:-0,06 |dp|m:0,1247 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:47,544 √J0m:51,794 √Mm:83,060 λ:-0,06 |dp|m:0,1247 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:45,083 √J0m:49,324 √Mm:80,885 λ:-0,06 |dp|m:0,1247 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:42,623 √J0m:46,857 √Mm:78,675 λ:-0,06 |dp|m:0,1247 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:40,163 √J0m:44,392 √Mm:76,437 λ:-0,06 |dp|m:0,1247 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:37,702 √J0m:41,931 √Mm:74,177 λ:-0,06 |dp|m:0,1247 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:35,239 √J0m:39,474 √Mm:71,901 λ:-0,06 |dp|m:0,1247 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:32,772 √J0m:37,022 √Mm:69,620 λ:-0,06 |dp|m:0,1247 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:30,298 √J0m:34,576 √Mm:67,341 λ:-0,06 |dp|m:0,1247 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:27,815 √J0m:32,138 √Mm:65,075 λ:-0,06 |dp|m:0,1247 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:25,318 √J0m:29,709 √Mm:62,832 λ:-0,06 |dp|m:0,1247 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:22,802 √J0m:27,292 √Mm:60,624 λ:-0,06 |dp|m:0,1247 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:20,257 √J0m:24,890 √Mm:58,461 λ:-0,06 |dp|m:0,1247 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:17,670 √J0m:22,508 √Mm:56,355 λ:-0,06 |dp|m:0,1247 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:15,019 √J0m:20,153 √Mm:54,320 λ:-0,06 |dp|m:0,1247 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:12,259 √J0m:17,837 √Mm:52,370 λ:-0,06 |dp|m:0,1247 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:9,295 √J0m:15,575 √Mm:50,518 λ:-0,06 |dp|m:0,1247 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:5,816 √J0m:13,396 √Mm:48,781 λ:-0,06 |dp|m:0,1247 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:11,348 √Mm:47,175 λ:-0,06 |dp|m:0,1247 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:9,516 √Mm:45,718 λ:-0,06 |dp|m:0,1247 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:8,047 √Mm:44,426 λ:-0,06 |dp|m:0,1247 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:7,170 √Mm:43,318 λ:-0,06 |dp|m:0,1247 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 00 13 -04 03 -02 01 00 -16 01 03 05 04 04 -04 00 -05 01 05 -04
co 2 -17 03 -10 04 -02 03 -03 -22 27 -04 -01 08 -16 02 00 02 -04 -07 02
co 3 03 14 01 02 -14 05 04 -21 -01 03 05 04 00 03 -03 -06 03 08 -07
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 -131 -02 -27 46 -19 -07 213 -61 08 -19 -22 -09 11 -03 18 05 -46 43
co 2 09 23 -05 -34 50 -37 11 -91 98 78 -96 -38 38 -30 -10 01 -88 93 -27
co 3 -01 -222 00 -38 174 -106 -32 299 -62 -12 07 -18 -04 -04 11 18 11 -82 73
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 17 -02 03 -05 02 01 -25 05 01 04 04 03 -03 00 -04 00 06 -05
dpco 2 -09 00 -05 05 -05 04 -02 -04 06 -08 07 07 -11 03 01 01 05 -11 03
dpco 3 02 24 01 04 -20 11 04 -34 04 03 02 03 00 02 -02 -04 00 10 -09
Lambdas Total x y z: 0,16 0,88 1,11 0,29

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:17,709 √J0m:6,584 √Mm:41,480 λ:0,16 |dp|m:0,0332 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:17,187 √J0m:6,089 √Mm:40,554 λ:0,16 |dp|m:0,0332 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:16,685 √J0m:5,629 √Mm:39,632 λ:0,16 |dp|m:0,0332 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:16,205 √J0m:5,213 √Mm:38,713 λ:0,16 |dp|m:0,0332 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:15,748 √J0m:4,853 √Mm:37,800 λ:0,16 |dp|m:0,0332 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:15,316 √J0m:4,562 √Mm:36,891 λ:0,16 |dp|m:0,0332 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:14,913 √J0m:4,354 √Mm:35,988 λ:0,16 |dp|m:0,0332 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:14,539 √J0m:4,241 √Mm:35,090 λ:0,16 |dp|m:0,0332 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:14,199 √J0m:4,230 √Mm:34,199 λ:0,16 |dp|m:0,0332 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:13,894 √J0m:4,323 √Mm:33,316 λ:0,16 |dp|m:0,0332 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:13,626 √J0m:4,513 √Mm:32,440 λ:0,16 |dp|m:0,0332 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:13,398 √J0m:4,789 √Mm:31,572 λ:0,16 |dp|m:0,0332 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:13,212 √J0m:5,136 √Mm:30,714 λ:0,16 |dp|m:0,0332 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:13,069 √J0m:5,541 √Mm:29,866 λ:0,16 |dp|m:0,0332 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:12,972 √J0m:5,993 √Mm:29,029 λ:0,16 |dp|m:0,0332 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:12,922 √J0m:6,482 √Mm:28,205 λ:0,16 |dp|m:0,0332 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:12,918 √J0m:7,000 √Mm:27,394 λ:0,16 |dp|m:0,0332 mm
Acabado Optimizado (izq). Cuadro 230 Distancia Esque. Antes y Despues Retoque:392,00 Distancias Despues con p y q: 7,00 784,00 mm


Comienzan Iteraciones para cuadro 231

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 61 -89 -209 -240 -253 167 282 419 467 -23 -111 -58 -72 74 96 114 171
co 2 -337 -01 176 -134 -204 -293 -275 -32 -120 -23 08 -483 -960 -1234 -1304 -469 -973 -1247 -1282
co 3 56 -01 -28 -85 -262 -536 -611 268 379 476 511 34 171 202 251 127 154 198 295
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -15 63 -70 -54 110 07 09 144 -20 -64 -118 -47 139 -72 11 -22 -01 01 -24
co 2 262 -258 -196 37 26 60 -13 -145 279 -56 -77 -379 144 244 61 -419 139 321 14
co 3 -44 42 28 -119 39 101 54 104 -65 -45 -87 156 -96 06 -42 -21 27 -15 -39
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 17 11 -60 -73 -118 -124 124 135 191 200 -25 -16 -49 -33 31 48 57 79
dpco 2 -95 -73 32 -56 -95 -129 -141 -57 19 -27 -18 -348 -439 -548 -635 -353 -447 -533 -637
dpco 3 16 11 -06 -76 -120 -239 -290 164 171 225 231 61 59 103 114 58 84 95 136
Lambdas Total x y z: -0,56 5,16 -0,33 4,09

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:356,947 √J0m:367,725 √Mm:117,676 λ:-0,56 |dp|m:0,8091 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:340,992 √J0m:351,787 √Mm:115,149 λ:-0,56 |dp|m:0,8091 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:325,038 √J0m:335,873 √Mm:112,677 λ:-0,56 |dp|m:0,8091 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:309,083 √J0m:319,985 √Mm:110,272 λ:-0,56 |dp|m:0,8091 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:293,125 √J0m:304,128 √Mm:107,944 λ:-0,56 |dp|m:0,8091 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:277,163 √J0m:288,308 √Mm:105,703 λ:-0,56 |dp|m:0,8091 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:261,196 √J0m:272,530 √Mm:103,559 λ:-0,56 |dp|m:0,8091 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:245,222 √J0m:256,802 √Mm:101,523 λ:-0,56 |dp|m:0,8091 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:229,237 √J0m:241,134 √Mm:99,605 λ:-0,56 |dp|m:0,8091 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:213,240 √J0m:225,538 √Mm:97,815 λ:-0,56 |dp|m:0,8091 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:197,225 √J0m:210,032 √Mm:96,162 λ:-0,56 |dp|m:0,8091 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:181,188 √J0m:194,635 √Mm:94,657 λ:-0,56 |dp|m:0,8091 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:165,121 √J0m:179,376 √Mm:93,310 λ:-0,56 |dp|m:0,8091 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:149,015 √J0m:164,294 √Mm:92,129 λ:-0,56 |dp|m:0,8091 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:132,852 √J0m:149,442 √Mm:91,123 λ:-0,56 |dp|m:0,8091 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:116,611 √J0m:134,897 √Mm:90,301 λ:-0,56 |dp|m:0,8091 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:100,250 √J0m:120,769 √Mm:89,668 λ:-0,56 |dp|m:0,8091 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:83,700 √J0m:107,222 √Mm:89,232 λ:-0,56 |dp|m:0,8091 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:66,817 √J0m:94,508 √Mm:88,997 λ:-0,56 |dp|m:0,8091 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:49,260 √J0m:83,010 √Mm:88,966 λ:-0,56 |dp|m:0,8091 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:29,860 √J0m:73,303 √Mm:89,140 λ:-0,56 |dp|m:0,8091 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:66,179 √Mm:89,521 λ:-0,56 |dp|m:0,8091 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:62,527 √Mm:90,108 λ:-0,56 |dp|m:0,8091 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:62,954 √Mm:90,896 λ:-0,56 |dp|m:0,8091 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 07 -39 37 42 -47 20 20 -106 -16 -02 27 32 -75 50 01 06 -09 -12 -02
co 2 -129 160 104 -09 04 -08 36 93 -161 37 47 283 07 -28 93 307 11 -74 119
co 3 22 -26 -15 82 02 -09 28 -91 03 -20 03 -100 42 -24 01 01 -32 -11 -05
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -141 02 -87 79 -20 -08 370 -116 07 -92 -95 25 -07 10 75 -10 -66 55
co 2 476 -289 18 -66 89 -33 -02 113 -115 71 -71 -480 216 170 -106 -456 111 284 -135
co 3 -82 -160 -03 -132 211 -59 -55 436 -113 -06 -66 66 -39 -44 30 90 -10 -118 97
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 -26 19 17 -20 09 10 -36 -13 -01 09 11 -36 25 01 07 -05 -09 01
dpco 2 -42 67 53 -08 06 -06 18 52 -86 22 20 119 13 -06 41 132 11 -24 53
dpco 3 07 -20 -08 35 11 -07 11 -25 -04 -10 -02 -47 19 -14 02 04 -17 -11 02
Lambdas Total x y z: -0,09 1,35 -0,05 0,81

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:58,729 √J0m:64,796 √Mm:89,850 λ:-0,09 |dp|m:0,1313 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:56,164 √J0m:62,212 √Mm:87,814 λ:-0,09 |dp|m:0,1313 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:53,599 √J0m:59,631 √Mm:85,773 λ:-0,09 |dp|m:0,1313 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:51,033 √J0m:57,055 √Mm:83,729 λ:-0,09 |dp|m:0,1313 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:48,467 √J0m:54,483 √Mm:81,681 λ:-0,09 |dp|m:0,1313 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:45,899 √J0m:51,917 √Mm:79,630 λ:-0,09 |dp|m:0,1313 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:43,329 √J0m:49,357 √Mm:77,577 λ:-0,09 |dp|m:0,1313 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:40,757 √J0m:46,805 √Mm:75,527 λ:-0,09 |dp|m:0,1313 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:38,181 √J0m:44,261 √Mm:73,481 λ:-0,09 |dp|m:0,1313 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:35,600 √J0m:41,728 √Mm:71,444 λ:-0,09 |dp|m:0,1313 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:33,012 √J0m:39,207 √Mm:69,420 λ:-0,09 |dp|m:0,1313 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:30,415 √J0m:36,701 √Mm:67,414 λ:-0,09 |dp|m:0,1313 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:27,804 √J0m:34,213 √Mm:65,432 λ:-0,09 |dp|m:0,1313 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:25,175 √J0m:31,747 √Mm:63,481 λ:-0,09 |dp|m:0,1313 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:22,520 √J0m:29,310 √Mm:61,567 λ:-0,09 |dp|m:0,1313 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:19,829 √J0m:26,908 √Mm:59,698 λ:-0,09 |dp|m:0,1313 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:17,081 √J0m:24,552 √Mm:57,882 λ:-0,09 |dp|m:0,1313 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:14,244 √J0m:22,257 √Mm:56,129 λ:-0,09 |dp|m:0,1313 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:11,248 √J0m:20,043 √Mm:54,447 λ:-0,09 |dp|m:0,1313 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:7,914 √J0m:17,941 √Mm:52,846 λ:-0,09 |dp|m:0,1313 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:3,345 √J0m:15,996 √Mm:51,339 λ:-0,09 |dp|m:0,1313 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:14,270 √Mm:49,935 λ:-0,09 |dp|m:0,1313 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:12,853 √Mm:48,646 λ:-0,09 |dp|m:0,1313 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:11,856 √Mm:47,485 λ:-0,09 |dp|m:0,1313 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:11,390 √Mm:46,463 λ:-0,09 |dp|m:0,1313 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 21 -06 03 -02 -01 -02 -24 15 00 06 05 08 -07 -01 -09 02 09 -05
co 2 -32 08 -17 08 -10 05 -05 -25 35 -13 01 10 -24 -14 -02 04 -13 -19 -03
co 3 06 21 02 02 -23 08 02 -33 12 04 07 07 -02 08 -03 -10 06 14 -10
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -02 -147 03 -29 42 -13 -03 232 -65 66 -80 -22 03 01 -05 27 04 -52 49
co 2 25 -17 08 -20 64 -56 06 -110 111 30 -43 -44 -20 43 -23 -27 -80 103 -32
co 3 -05 -225 -01 -39 189 -132 -18 311 -63 49 -60 -19 03 -18 17 31 11 -92 83
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 19 -03 03 -03 00 -01 -26 11 -04 08 04 04 -03 00 -06 01 07 -06
dpco 2 -17 05 -09 05 -09 06 -03 -06 11 -08 03 08 -11 -10 00 04 -02 -16 00
dpco 3 03 24 01 03 -23 12 02 -35 10 -01 07 05 -01 05 -03 -07 02 12 -10
Lambdas Total x y z: 0,12 0,72 1,18 0,26

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:18,740 √J0m:10,812 √Mm:44,595 λ:0,12 |dp|m:0,0388 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:18,063 √J0m:10,114 √Mm:43,602 λ:0,12 |dp|m:0,0388 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:17,402 √J0m:9,429 √Mm:42,614 λ:0,12 |dp|m:0,0388 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:16,760 √J0m:8,758 √Mm:41,633 λ:0,12 |dp|m:0,0388 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:16,138 √J0m:8,105 √Mm:40,657 λ:0,12 |dp|m:0,0388 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:15,540 √J0m:7,476 √Mm:39,689 λ:0,12 |dp|m:0,0388 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:14,967 √J0m:6,877 √Mm:38,730 λ:0,12 |dp|m:0,0388 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:14,424 √J0m:6,317 √Mm:37,778 λ:0,12 |dp|m:0,0388 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:13,913 √J0m:5,806 √Mm:36,837 λ:0,12 |dp|m:0,0388 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:13,439 √J0m:5,359 √Mm:35,906 λ:0,12 |dp|m:0,0388 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:13,005 √J0m:4,992 √Mm:34,986 λ:0,12 |dp|m:0,0388 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:12,616 √J0m:4,726 √Mm:34,080 λ:0,12 |dp|m:0,0388 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:12,276 √J0m:4,577 √Mm:33,187 λ:0,12 |dp|m:0,0388 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:11,989 √J0m:4,556 √Mm:32,309 λ:0,12 |dp|m:0,0388 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:11,760 √J0m:4,666 √Mm:31,449 λ:0,12 |dp|m:0,0388 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:11,591 √J0m:4,898 √Mm:30,606 λ:0,12 |dp|m:0,0388 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:11,486 √J0m:5,235 √Mm:29,784 λ:0,12 |dp|m:0,0388 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:11,445 √J0m:5,659 √Mm:28,983 λ:0,12 |dp|m:0,0388 mm
Acabado Optimizado (izq). Cuadro 231 Distancia Esque. Antes y Despues Retoque:393,00 Distancias Despues con p y q: 5,00 786,00 mm


Comienzan Iteraciones para cuadro 232

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 61 -89 -204 -235 -248 154 273 419 467 -23 -107 -58 -72 74 101 114 167
co 2 -337 -01 176 -134 -204 -293 -270 -32 -111 -50 -32 -483 -960 -1234 -1304 -469 -973 -1247 -1282
co 3 56 -01 -28 -85 -262 -531 -611 229 370 476 516 34 171 198 251 127 154 198 295
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -15 89 -70 -52 107 09 07 95 22 -75 -124 -44 131 -67 10 -18 -11 05 -23
co 2 262 -264 -196 35 25 63 -14 -103 199 -43 -47 -380 143 250 57 -418 138 320 15
co 3 -44 73 28 -122 39 110 48 90 -65 -45 -102 156 -101 12 -43 -21 27 -12 -42
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 26 09 -60 -70 -115 -122 105 143 187 196 -25 -14 -49 -33 32 47 59 76
dpco 2 -90 -80 29 -56 -95 -127 -139 -47 04 -38 -30 -355 -437 -542 -635 -360 -445 -527 -637
dpco 3 15 21 -05 -79 -119 -232 -291 141 165 225 227 64 55 102 113 57 85 95 135
Lambdas Total x y z: -0,60 5,70 -0,34 3,65

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:355,535 √J0m:367,060 √Mm:117,869 λ:-0,60 |dp|m:0,8048 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:339,688 √J0m:351,225 √Mm:115,311 λ:-0,60 |dp|m:0,8048 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:323,846 √J0m:335,414 √Mm:112,797 λ:-0,60 |dp|m:0,8048 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:308,005 √J0m:319,633 √Mm:110,338 λ:-0,60 |dp|m:0,8048 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:292,164 √J0m:303,884 √Mm:107,947 λ:-0,60 |dp|m:0,8048 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:276,323 √J0m:288,173 √Mm:105,634 λ:-0,60 |dp|m:0,8048 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:260,480 √J0m:272,508 √Mm:103,412 λ:-0,60 |dp|m:0,8048 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:244,632 √J0m:256,895 √Mm:101,291 λ:-0,60 |dp|m:0,8048 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:228,778 √J0m:241,347 √Mm:99,281 λ:-0,60 |dp|m:0,8048 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:212,916 √J0m:225,875 √Mm:97,395 λ:-0,60 |dp|m:0,8048 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:197,041 √J0m:210,496 √Mm:95,642 λ:-0,60 |dp|m:0,8048 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:181,151 √J0m:195,234 √Mm:94,034 λ:-0,60 |dp|m:0,8048 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:165,239 √J0m:180,116 √Mm:92,580 λ:-0,60 |dp|m:0,8048 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:149,298 √J0m:165,184 √Mm:91,290 λ:-0,60 |dp|m:0,8048 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:133,317 √J0m:150,492 √Mm:90,175 λ:-0,60 |dp|m:0,8048 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:117,277 √J0m:136,118 √Mm:89,243 λ:-0,60 |dp|m:0,8048 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:101,150 √J0m:122,174 √Mm:88,500 λ:-0,60 |dp|m:0,8048 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:84,886 √J0m:108,826 √Mm:87,955 λ:-0,60 |dp|m:0,8048 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:68,384 √J0m:96,321 √Mm:87,612 λ:-0,60 |dp|m:0,8048 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:51,417 √J0m:85,033 √Mm:87,475 λ:-0,60 |dp|m:0,8048 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:33,277 √J0m:75,510 √Mm:87,546 λ:-0,60 |dp|m:0,8048 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:8,198 √J0m:68,491 √Mm:87,826 λ:-0,60 |dp|m:0,8048 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:64,796 √Mm:88,314 λ:-0,60 |dp|m:0,8048 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:64,993 √Mm:89,008 λ:-0,60 |dp|m:0,8048 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 08 -58 40 43 -50 18 20 -78 -42 08 35 31 -76 50 01 04 -03 -15 -01
co 2 -139 174 112 -10 04 -12 36 71 -120 33 34 299 02 -42 93 323 06 -87 118
co 3 24 -48 -16 89 00 -20 29 -82 06 -18 16 -106 49 -28 03 01 -33 -12 -02
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 16 -66 02 -110 78 -14 -10 251 -76 31 -109 -96 23 -06 10 80 -12 -60 48
co 2 515 -331 25 -77 92 -29 -01 36 -35 61 -55 -517 233 190 -120 -490 123 298 -141
co 3 -72 -36 -05 -165 205 -22 -75 293 -72 -05 -72 70 -37 -50 33 95 -13 -117 96
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 05 -34 20 13 -19 08 09 -21 -26 06 09 08 -36 24 01 08 -02 -12 03
dpco 2 -31 63 58 -11 09 -08 18 38 -63 21 13 111 18 -07 38 125 12 -21 49
dpco 3 06 -27 -08 32 15 -12 09 -19 -02 -09 03 -48 22 -17 04 08 -18 -14 06
Lambdas Total x y z: -0,15 2,30 -0,13 1,24

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:57,475 √J0m:66,670 √Mm:87,919 λ:-0,15 |dp|m:0,1232 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:55,165 √J0m:64,295 √Mm:85,941 λ:-0,15 |dp|m:0,1232 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:52,856 √J0m:61,927 √Mm:83,970 λ:-0,15 |dp|m:0,1232 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:50,549 √J0m:59,568 √Mm:82,007 λ:-0,15 |dp|m:0,1232 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:48,243 √J0m:57,216 √Mm:80,055 λ:-0,15 |dp|m:0,1232 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:45,937 √J0m:54,875 √Mm:78,114 λ:-0,15 |dp|m:0,1232 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:43,634 √J0m:52,545 √Mm:76,186 λ:-0,15 |dp|m:0,1232 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:41,331 √J0m:50,228 √Mm:74,273 λ:-0,15 |dp|m:0,1232 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:39,029 √J0m:47,925 √Mm:72,376 λ:-0,15 |dp|m:0,1232 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:36,729 √J0m:45,639 √Mm:70,498 λ:-0,15 |dp|m:0,1232 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:34,430 √J0m:43,373 √Mm:68,642 λ:-0,15 |dp|m:0,1232 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:32,132 √J0m:41,129 √Mm:66,810 λ:-0,15 |dp|m:0,1232 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:29,835 √J0m:38,912 √Mm:65,005 λ:-0,15 |dp|m:0,1232 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:27,539 √J0m:36,726 √Mm:63,231 λ:-0,15 |dp|m:0,1232 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:25,244 √J0m:34,577 √Mm:61,491 λ:-0,15 |dp|m:0,1232 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:22,949 √J0m:32,473 √Mm:59,789 λ:-0,15 |dp|m:0,1232 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:20,655 √J0m:30,424 √Mm:58,130 λ:-0,15 |dp|m:0,1232 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:18,360 √J0m:28,440 √Mm:56,519 λ:-0,15 |dp|m:0,1232 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:16,065 √J0m:26,536 √Mm:54,961 λ:-0,15 |dp|m:0,1232 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:13,769 √J0m:24,732 √Mm:53,463 λ:-0,15 |dp|m:0,1232 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:11,468 √J0m:23,050 √Mm:52,030 λ:-0,15 |dp|m:0,1232 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:9,160 √J0m:21,518 √Mm:50,670 λ:-0,15 |dp|m:0,1232 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:6,836 √J0m:20,173 √Mm:49,390 λ:-0,15 |dp|m:0,1232 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:4,467 √J0m:19,052 √Mm:48,197 λ:-0,15 |dp|m:0,1232 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:1,890 √J0m:18,198 √Mm:47,100 λ:-0,15 |dp|m:0,1232 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:17,648 √Mm:46,106 λ:-0,15 |dp|m:0,1232 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -04 23 -08 11 -04 -01 -02 -29 21 -07 13 11 10 -08 -02 -15 03 13 -08
co 2 -64 25 -26 15 -17 07 -07 -20 29 -17 03 34 -41 -26 04 25 -23 -36 03
co 3 08 15 04 12 -36 08 08 -36 12 04 10 08 -03 14 -06 -17 09 23 -16
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -09 -114 12 -48 61 -12 -05 186 -48 68 -88 -43 10 05 -08 42 01 -56 54
co 2 83 -95 33 -30 77 -67 13 -80 86 06 -18 -122 21 59 -42 -89 -58 124 -45
co 3 -17 -139 -03 -66 222 -122 -34 252 -71 70 -84 -14 -10 -32 32 50 10 -108 99
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -02 13 -04 06 -03 00 -01 -17 11 -04 08 06 05 -04 -01 -08 01 08 -05
dpco 2 -33 14 -13 08 -10 05 -03 -09 13 -09 02 19 -21 -14 02 14 -11 -20 02
dpco 3 04 10 02 07 -21 06 04 -22 07 01 06 04 -01 07 -04 -09 04 13 -10
Lambdas Total x y z: 0,03 0,87 0,45 0,27

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:18,229 √J0m:16,599 √Mm:44,239 λ:0,03 |dp|m:0,0419 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:17,403 √J0m:15,766 √Mm:43,265 λ:0,03 |dp|m:0,0419 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:16,580 √J0m:14,932 √Mm:42,302 λ:0,03 |dp|m:0,0419 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:15,761 √J0m:14,100 √Mm:41,352 λ:0,03 |dp|m:0,0419 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:14,947 √J0m:13,267 √Mm:40,416 λ:0,03 |dp|m:0,0419 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:14,138 √J0m:12,436 √Mm:39,495 λ:0,03 |dp|m:0,0419 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:13,337 √J0m:11,605 √Mm:38,590 λ:0,03 |dp|m:0,0419 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:12,543 √J0m:10,775 √Mm:37,701 λ:0,03 |dp|m:0,0419 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:11,759 √J0m:9,947 √Mm:36,831 λ:0,03 |dp|m:0,0419 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:10,987 √J0m:9,120 √Mm:35,981 λ:0,03 |dp|m:0,0419 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:10,230 √J0m:8,295 √Mm:35,152 λ:0,03 |dp|m:0,0419 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:9,490 √J0m:7,472 √Mm:34,346 λ:0,03 |dp|m:0,0419 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:8,772 √J0m:6,654 √Mm:33,564 λ:0,03 |dp|m:0,0419 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:8,083 √J0m:5,841 √Mm:32,808 λ:0,03 |dp|m:0,0419 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:7,430 √J0m:5,035 √Mm:32,080 λ:0,03 |dp|m:0,0419 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:6,824 √J0m:4,242 √Mm:31,381 λ:0,03 |dp|m:0,0419 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:6,277 √J0m:3,470 √Mm:30,715 λ:0,03 |dp|m:0,0419 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:5,808 √J0m:2,736 √Mm:30,082 λ:0,03 |dp|m:0,0419 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:5,436 √J0m:2,081 √Mm:29,486 λ:0,03 |dp|m:0,0419 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:5,182 √J0m:1,606 √Mm:28,927 λ:0,03 |dp|m:0,0419 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:5,064 √J0m:1,493 √Mm:28,409 λ:0,03 |dp|m:0,0419 mm
Acabado Optimizado (izq). Cuadro 232 Distancia Esque. Antes y Despues Retoque:392,00 Distancias Despues con p y q: 1,00 785,00 mm


Comienzan Iteraciones para cuadro 233

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 17 -01 61 -85 -195 -235 -248 158 277 419 432 -23 -103 -58 -72 74 101 114 167
co 2 -337 -01 176 -134 -226 -293 -270 -72 -111 -05 56 -487 -964 -1238 -1304 -469 -973 -1251 -1282
co 3 52 -01 -28 -85 -257 -531 -611 193 370 463 463 30 167 193 242 123 149 193 291
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -15 109 -70 -46 95 14 07 56 22 -145 -38 -44 122 -64 12 -20 -11 07 -24
co 2 265 -296 -196 16 60 51 -14 -09 183 32 -163 -386 143 247 62 -416 142 318 14
co 3 -36 68 28 -112 27 114 48 109 -114 -120 -03 156 -101 14 -46 -20 26 -09 -43
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 32 10 -56 -70 -113 -122 95 145 167 205 -24 -15 -48 -32 31 47 59 76
dpco 2 -90 -88 30 -62 -95 -131 -139 -39 -02 07 -20 -358 -440 -546 -634 -358 -444 -532 -637
dpco 3 15 20 -05 -76 -121 -232 -291 129 151 196 231 61 54 101 107 55 82 94 133
Lambdas Total x y z: -0,59 6,21 -0,35 3,27

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:354,452 √J0m:365,775 √Mm:117,440 λ:-0,59 |dp|m:0,8022 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:338,661 √J0m:349,995 √Mm:114,892 λ:-0,59 |dp|m:0,8022 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:322,876 √J0m:334,240 √Mm:112,378 λ:-0,59 |dp|m:0,8022 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:307,096 √J0m:318,514 √Mm:109,909 λ:-0,59 |dp|m:0,8022 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:291,320 √J0m:302,821 √Mm:107,496 λ:-0,59 |dp|m:0,8022 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:275,548 √J0m:287,167 √Mm:105,150 λ:-0,59 |dp|m:0,8022 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:259,779 √J0m:271,558 √Mm:102,881 λ:-0,59 |dp|m:0,8022 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:244,011 √J0m:256,004 √Mm:100,701 λ:-0,59 |dp|m:0,8022 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:228,245 √J0m:240,513 √Mm:98,620 λ:-0,59 |dp|m:0,8022 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:212,477 √J0m:225,100 √Mm:96,650 λ:-0,59 |dp|m:0,8022 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:196,709 √J0m:209,782 √Mm:94,801 λ:-0,59 |dp|m:0,8022 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:180,937 √J0m:194,581 √Mm:93,087 λ:-0,59 |dp|m:0,8022 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:165,159 √J0m:179,527 √Mm:91,516 λ:-0,59 |dp|m:0,8022 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:149,373 √J0m:164,660 √Mm:90,101 λ:-0,59 |dp|m:0,8022 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:133,575 √J0m:150,035 √Mm:88,852 λ:-0,59 |dp|m:0,8022 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:117,758 √J0m:135,732 √Mm:87,779 λ:-0,59 |dp|m:0,8022 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:101,913 √J0m:121,863 √Mm:86,890 λ:-0,59 |dp|m:0,8022 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:86,021 √J0m:108,594 √Mm:86,194 λ:-0,59 |dp|m:0,8022 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:70,051 √J0m:96,175 √Mm:85,696 λ:-0,59 |dp|m:0,8022 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:53,932 √J0m:84,980 √Mm:85,404 λ:-0,59 |dp|m:0,8022 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:37,468 √J0m:75,553 √Mm:85,319 λ:-0,59 |dp|m:0,8022 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:19,816 √J0m:68,628 √Mm:85,445 λ:-0,59 |dp|m:0,8022 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:65,008 √Mm:85,781 λ:-0,59 |dp|m:0,8022 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:65,247 √Mm:86,326 λ:-0,59 |dp|m:0,8022 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 08 -71 39 39 -42 14 20 -52 -42 52 -19 31 -69 47 00 06 -03 -16 -01
co 2 -139 193 110 03 -16 -04 36 13 -108 -20 101 300 04 -37 90 317 05 -81 119
co 3 18 -44 -16 81 08 -21 30 -90 37 32 -45 -105 49 -29 06 01 -32 -13 -01
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 29 -52 01 -99 74 -13 -12 184 -25 -13 -84 -98 22 -05 09 76 -13 -57 46
co 2 530 -363 44 -70 84 -28 02 30 42 -63 -04 -525 235 169 -102 -479 135 271 -130
co 3 -76 18 -08 -146 192 -18 -77 210 -22 -33 -66 67 -38 -41 25 90 -13 -111 91
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 06 -40 20 11 -15 06 09 -11 -23 25 -16 07 -33 23 01 09 -02 -13 03
dpco 2 -26 67 59 -04 -01 -04 18 09 -50 -15 50 107 21 -04 37 119 13 -19 49
dpco 3 03 -21 -09 29 20 -12 09 -28 17 13 -28 -47 21 -18 05 08 -17 -16 07
Lambdas Total x y z: -0,16 3,46 -0,15 1,67

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:57,416 √J0m:66,967 √Mm:85,156 λ:-0,16 |dp|m:0,1216 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:55,159 √J0m:64,636 √Mm:83,243 λ:-0,16 |dp|m:0,1216 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:52,905 √J0m:62,313 √Mm:81,341 λ:-0,16 |dp|m:0,1216 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:50,653 √J0m:59,998 √Mm:79,447 λ:-0,16 |dp|m:0,1216 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:48,404 √J0m:57,693 √Mm:77,563 λ:-0,16 |dp|m:0,1216 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:46,158 √J0m:55,399 √Mm:75,688 λ:-0,16 |dp|m:0,1216 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:43,917 √J0m:53,118 √Mm:73,821 λ:-0,16 |dp|m:0,1216 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:41,681 √J0m:50,850 √Mm:71,963 λ:-0,16 |dp|m:0,1216 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:39,452 √J0m:48,598 √Mm:70,113 λ:-0,16 |dp|m:0,1216 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:37,231 √J0m:46,365 √Mm:68,271 λ:-0,16 |dp|m:0,1216 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:35,019 √J0m:44,153 √Mm:66,438 λ:-0,16 |dp|m:0,1216 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:32,819 √J0m:41,965 √Mm:64,616 λ:-0,16 |dp|m:0,1216 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:30,632 √J0m:39,806 √Mm:62,807 λ:-0,16 |dp|m:0,1216 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:28,460 √J0m:37,680 √Mm:61,013 λ:-0,16 |dp|m:0,1216 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:26,307 √J0m:35,594 √Mm:59,238 λ:-0,16 |dp|m:0,1216 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:24,177 √J0m:33,554 √Mm:57,486 λ:-0,16 |dp|m:0,1216 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:22,075 √J0m:31,570 √Mm:55,761 λ:-0,16 |dp|m:0,1216 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:20,009 √J0m:29,653 √Mm:54,069 λ:-0,16 |dp|m:0,1216 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:17,991 √J0m:27,817 √Mm:52,416 λ:-0,16 |dp|m:0,1216 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:16,036 √J0m:26,078 √Mm:50,809 λ:-0,16 |dp|m:0,1216 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:14,169 √J0m:24,458 √Mm:49,254 λ:-0,16 |dp|m:0,1216 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:12,430 √J0m:22,982 √Mm:47,760 λ:-0,16 |dp|m:0,1216 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:10,877 √J0m:21,680 √Mm:46,334 λ:-0,16 |dp|m:0,1216 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:9,599 √J0m:20,583 √Mm:44,985 λ:-0,16 |dp|m:0,1216 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:8,716 √J0m:19,727 √Mm:43,723 λ:-0,16 |dp|m:0,1216 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:8,353 √J0m:19,144 √Mm:42,558 λ:-0,16 |dp|m:0,1216 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -07 23 -08 12 -06 00 -02 -26 13 -07 20 13 09 -08 -02 -16 03 14 -09
co 2 -77 34 -29 13 -13 06 -07 -08 12 16 -18 46 -46 -26 03 34 -27 -37 03
co 3 11 05 05 13 -39 07 09 -24 -03 00 21 07 -02 13 -06 -18 09 24 -18
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -13 -93 17 -42 64 -17 -06 142 -19 -29 00 -53 11 05 -06 44 01 -56 55
co 2 118 -118 46 -34 73 -54 14 -49 44 52 -70 -163 41 47 -32 -110 -33 110 -42
co 3 -22 -77 -06 -59 221 -123 -36 188 -63 -27 09 -15 -16 -24 24 49 08 -107 100
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -04 11 -04 06 -03 00 -01 -12 06 -04 10 06 04 -04 -01 -08 02 07 -04
dpco 2 -38 16 -14 06 -06 03 -03 -04 06 08 -10 22 -23 -13 01 16 -14 -18 01
dpco 3 06 02 02 06 -18 03 05 -11 -02 00 11 03 -01 07 -03 -09 04 11 -08
Lambdas Total x y z: -0,01 1,24 0,18 0,34

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:17,505 √J0m:18,051 √Mm:40,598 λ:-0,01 |dp|m:0,0404 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:16,697 √J0m:17,244 √Mm:39,712 λ:-0,01 |dp|m:0,0404 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:15,887 √J0m:16,437 √Mm:38,843 λ:-0,01 |dp|m:0,0404 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:15,077 √J0m:15,630 √Mm:37,990 λ:-0,01 |dp|m:0,0404 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:14,265 √J0m:14,824 √Mm:37,156 λ:-0,01 |dp|m:0,0404 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:13,451 √J0m:14,017 √Mm:36,342 λ:-0,01 |dp|m:0,0404 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:12,635 √J0m:13,211 √Mm:35,548 λ:-0,01 |dp|m:0,0404 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:11,817 √J0m:12,405 √Mm:34,776 λ:-0,01 |dp|m:0,0404 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:10,996 √J0m:11,600 √Mm:34,028 λ:-0,01 |dp|m:0,0404 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:10,171 √J0m:10,795 √Mm:33,305 λ:-0,01 |dp|m:0,0404 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:9,342 √J0m:9,990 √Mm:32,609 λ:-0,01 |dp|m:0,0404 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:8,507 √J0m:9,186 √Mm:31,941 λ:-0,01 |dp|m:0,0404 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:7,665 √J0m:8,384 √Mm:31,302 λ:-0,01 |dp|m:0,0404 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:6,811 √J0m:7,582 √Mm:30,696 λ:-0,01 |dp|m:0,0404 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:5,942 √J0m:6,782 √Mm:30,123 λ:-0,01 |dp|m:0,0404 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:5,051 √J0m:5,985 √Mm:29,585 λ:-0,01 |dp|m:0,0404 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:4,121 √J0m:5,191 √Mm:29,085 λ:-0,01 |dp|m:0,0404 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:3,119 √J0m:4,402 √Mm:28,623 λ:-0,01 |dp|m:0,0404 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:1,937 √J0m:3,622 √Mm:28,202 λ:-0,01 |dp|m:0,0404 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:2,858 √Mm:27,823 λ:-0,01 |dp|m:0,0404 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:2,128 √Mm:27,488 λ:-0,01 |dp|m:0,0404 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:1,481 √Mm:27,198 λ:-0,01 |dp|m:0,0404 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:1,080 √Mm:26,954 λ:-0,01 |dp|m:0,0404 mm
Acabado Optimizado (izq). Cuadro 233 Distancia Esque. Antes y Despues Retoque:392,00 Distancias Despues con p y q: 1,00 783,00 mm


Comienzan Iteraciones para cuadro 234

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 21 -01 61 -85 -191 -226 -244 158 286 432 481 -23 -98 -54 -63 79 101 109 39
co 2 -337 -01 176 -134 -226 -288 -270 -72 -94 -63 -54 -487 -964 -1242 -1309 -469 -973 -1247 -1282
co 3 56 -01 -28 -81 -253 -531 -611 193 375 498 542 34 162 189 242 127 154 193 154
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -24 112 -70 -42 95 08 10 59 34 -72 -122 -36 118 -58 07 -26 -12 -74 63
co 2 265 -297 -196 17 65 45 -11 15 66 -23 -24 -387 152 246 59 -422 137 306 31
co 3 -46 74 28 -118 32 112 48 104 -60 -55 -111 150 -95 17 -47 -22 22 -86 35
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 03 34 09 -55 -66 -111 -119 97 154 194 203 -23 -13 -45 -29 31 47 32 39
dpco 2 -87 -92 27 -62 -93 -130 -139 -31 -27 -38 -35 -363 -435 -545 -636 -365 -444 -529 -632
dpco 3 14 22 -05 -77 -117 -231 -290 129 169 232 237 63 52 100 106 57 84 70 88
Lambdas Total x y z: -0,62 5,67 -0,34 3,31

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:355,363 √J0m:367,206 √Mm:117,714 λ:-0,62 |dp|m:0,8039 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:339,550 √J0m:351,399 √Mm:115,139 λ:-0,62 |dp|m:0,8039 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:323,744 √J0m:335,618 √Mm:112,599 λ:-0,62 |dp|m:0,8039 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:307,941 √J0m:319,867 √Mm:110,108 λ:-0,62 |dp|m:0,8039 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:292,142 √J0m:304,150 √Mm:107,677 λ:-0,62 |dp|m:0,8039 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:276,344 √J0m:288,472 √Mm:105,320 λ:-0,62 |dp|m:0,8039 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:260,546 √J0m:272,841 √Mm:103,050 λ:-0,62 |dp|m:0,8039 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:244,746 √J0m:257,265 √Mm:100,876 λ:-0,62 |dp|m:0,8039 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:228,944 √J0m:241,754 √Mm:98,813 λ:-0,62 |dp|m:0,8039 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:213,136 √J0m:226,323 √Mm:96,871 λ:-0,62 |dp|m:0,8039 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:197,320 √J0m:210,988 √Mm:95,061 λ:-0,62 |dp|m:0,8039 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:181,493 √J0m:195,772 √Mm:93,396 λ:-0,62 |dp|m:0,8039 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:165,651 √J0m:180,705 √Mm:91,886 λ:-0,62 |dp|m:0,8039 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:149,789 √J0m:165,829 √Mm:90,541 λ:-0,62 |dp|m:0,8039 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:133,896 √J0m:151,198 √Mm:89,372 λ:-0,62 |dp|m:0,8039 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:117,961 √J0m:136,893 √Mm:88,389 λ:-0,62 |dp|m:0,8039 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:101,963 √J0m:123,026 √Mm:87,598 λ:-0,62 |dp|m:0,8039 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:85,865 √J0m:109,763 √Mm:87,008 λ:-0,62 |dp|m:0,8039 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:69,596 √J0m:97,352 √Mm:86,623 λ:-0,62 |dp|m:0,8039 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:52,998 √J0m:86,163 √Mm:86,449 λ:-0,62 |dp|m:0,8039 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:35,612 √J0m:76,730 √Mm:86,487 λ:-0,62 |dp|m:0,8039 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:14,891 √J0m:69,771 √Mm:86,738 λ:-0,62 |dp|m:0,8039 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:66,071 √Mm:87,202 λ:-0,62 |dp|m:0,8039 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:66,180 √Mm:87,876 λ:-0,62 |dp|m:0,8039 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 14 -76 41 37 -45 17 18 -56 -52 06 35 27 -70 45 02 10 -02 40 -47
co 2 -146 202 116 02 -22 -02 35 -03 -35 22 22 312 -07 -43 91 334 04 -83 107
co 3 25 -50 -17 88 04 -23 28 -90 04 -13 21 -105 48 -30 08 02 -30 39 -39
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 35 -54 01 -106 79 -13 -13 148 -24 44 -109 -97 24 -08 11 79 -33 29 -20
co 2 564 -390 48 -77 94 -28 00 08 05 24 -29 -553 274 164 -109 -502 134 257 -97
co 3 -79 25 -09 -161 213 -26 -78 180 -21 14 -87 68 -40 -41 29 95 -34 -03 00
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 10 -43 21 09 -16 07 08 -15 -28 07 07 05 -33 22 02 12 -04 22 -25
dpco 2 -23 66 62 -06 -02 -03 17 -01 -17 13 08 106 21 -07 36 122 14 -19 45
dpco 3 06 -23 -09 30 21 -14 07 -29 00 -05 03 -46 21 -19 07 10 -18 19 -19
Lambdas Total x y z: -0,18 3,85 -0,17 1,87

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:57,008 √J0m:67,837 √Mm:86,798 λ:-0,18 |dp|m:0,1177 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:54,879 √J0m:65,603 √Mm:84,849 λ:-0,18 |dp|m:0,1177 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:52,753 √J0m:63,377 √Mm:82,911 λ:-0,18 |dp|m:0,1177 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:50,631 √J0m:61,160 √Mm:80,986 λ:-0,18 |dp|m:0,1177 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:48,513 √J0m:58,954 √Mm:79,073 λ:-0,18 |dp|m:0,1177 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:46,398 √J0m:56,760 √Mm:77,176 λ:-0,18 |dp|m:0,1177 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:44,288 √J0m:54,579 √Mm:75,296 λ:-0,18 |dp|m:0,1177 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:42,183 √J0m:52,413 √Mm:73,434 λ:-0,18 |dp|m:0,1177 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:40,083 √J0m:50,264 √Mm:71,592 λ:-0,18 |dp|m:0,1177 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:37,991 √J0m:48,134 √Mm:69,772 λ:-0,18 |dp|m:0,1177 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:35,905 √J0m:46,026 √Mm:67,976 λ:-0,18 |dp|m:0,1177 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:33,828 √J0m:43,943 √Mm:66,206 λ:-0,18 |dp|m:0,1177 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:31,762 √J0m:41,888 √Mm:64,465 λ:-0,18 |dp|m:0,1177 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:29,709 √J0m:39,867 √Mm:62,754 λ:-0,18 |dp|m:0,1177 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:27,671 √J0m:37,883 √Mm:61,078 λ:-0,18 |dp|m:0,1177 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:25,652 √J0m:35,945 √Mm:59,438 λ:-0,18 |dp|m:0,1177 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:23,657 √J0m:34,059 √Mm:57,839 λ:-0,18 |dp|m:0,1177 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:21,692 √J0m:32,234 √Mm:56,284 λ:-0,18 |dp|m:0,1177 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:19,766 √J0m:30,482 √Mm:54,777 λ:-0,18 |dp|m:0,1177 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:17,891 √J0m:28,816 √Mm:53,321 λ:-0,18 |dp|m:0,1177 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:16,087 √J0m:27,251 √Mm:51,923 λ:-0,18 |dp|m:0,1177 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:14,377 √J0m:25,806 √Mm:50,587 λ:-0,18 |dp|m:0,1177 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:12,801 √J0m:24,503 √Mm:49,319 λ:-0,18 |dp|m:0,1177 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:11,414 √J0m:23,364 √Mm:48,123 λ:-0,18 |dp|m:0,1177 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:10,291 √J0m:22,415 √Mm:47,008 λ:-0,18 |dp|m:0,1177 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:9,525 √J0m:21,682 √Mm:45,978 λ:-0,18 |dp|m:0,1177 mm
LINE SEARCH. Vez:27 Sal:44,0 Incr:1,0 √J1m:9,207 √J0m:21,186 √Mm:45,041 λ:-0,18 |dp|m:0,1177 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -11 29 -10 15 -07 -01 -01 -20 17 -11 16 15 11 -09 -03 -20 08 -16 15
co 2 -91 39 -38 17 -16 07 -08 -01 07 -10 01 50 -59 -26 03 34 -31 -37 -03
co 3 11 06 06 15 -48 11 11 -19 04 00 14 09 -02 16 -08 -21 14 -08 09
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -17 -95 22 -47 71 -14 -07 141 -21 62 -89 -57 11 07 -05 51 04 40 -43
co 2 143 -149 60 -37 82 -53 11 -37 18 00 -09 -185 82 31 -36 -119 -28 92 -26
co 3 -28 -72 -07 -69 253 -145 -33 180 -53 73 -94 -06 -23 -29 30 57 11 13 -24
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -06 13 -04 07 -02 -01 -01 -07 08 -04 06 07 06 -04 -01 -09 04 -07 07
dpco 2 -43 17 -18 08 -06 02 -04 -01 04 -05 00 21 -28 -13 01 15 -16 -17 -02
dpco 3 05 02 03 06 -19 03 05 -06 01 01 05 05 -02 07 -03 -10 07 -04 04
Lambdas Total x y z: -0,04 1,12 0,13 0,36

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:18,229 √J0m:20,113 √Mm:43,241 λ:-0,04 |dp|m:0,0418 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:17,399 √J0m:19,282 √Mm:42,293 λ:-0,04 |dp|m:0,0418 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:16,565 √J0m:18,452 √Mm:41,358 λ:-0,04 |dp|m:0,0418 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:15,729 √J0m:17,622 √Mm:40,439 λ:-0,04 |dp|m:0,0418 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:14,888 √J0m:16,793 √Mm:39,535 λ:-0,04 |dp|m:0,0418 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:14,042 √J0m:15,965 √Mm:38,649 λ:-0,04 |dp|m:0,0418 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:13,191 √J0m:15,137 √Mm:37,780 λ:-0,04 |dp|m:0,0418 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:12,332 √J0m:14,310 √Mm:36,932 λ:-0,04 |dp|m:0,0418 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:11,466 √J0m:13,484 √Mm:36,104 λ:-0,04 |dp|m:0,0418 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:10,589 √J0m:12,659 √Mm:35,299 λ:-0,04 |dp|m:0,0418 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:9,699 √J0m:11,836 √Mm:34,518 λ:-0,04 |dp|m:0,0418 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:8,791 √J0m:11,014 √Mm:33,763 λ:-0,04 |dp|m:0,0418 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:7,860 √J0m:10,194 √Mm:33,035 λ:-0,04 |dp|m:0,0418 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:6,896 √J0m:9,378 √Mm:32,337 λ:-0,04 |dp|m:0,0418 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:5,883 √J0m:8,565 √Mm:31,670 λ:-0,04 |dp|m:0,0418 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:4,791 √J0m:7,756 √Mm:31,037 λ:-0,04 |dp|m:0,0418 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:3,545 √J0m:6,954 √Mm:30,439 λ:-0,04 |dp|m:0,0418 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:1,863 √J0m:6,160 √Mm:29,878 λ:-0,04 |dp|m:0,0418 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:5,379 √Mm:29,356 λ:-0,04 |dp|m:0,0418 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:4,617 √Mm:28,877 λ:-0,04 |dp|m:0,0418 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:3,885 √Mm:28,440 λ:-0,04 |dp|m:0,0418 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:3,204 √Mm:28,050 λ:-0,04 |dp|m:0,0418 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:2,614 √Mm:27,706 λ:-0,04 |dp|m:0,0418 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:2,189 √Mm:27,411 λ:-0,04 |dp|m:0,0418 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:2,037 √Mm:27,167 λ:-0,04 |dp|m:0,0418 mm
Acabado Optimizado (izq). Cuadro 234 Distancia Esque. Antes y Despues Retoque:394,00 Distancias Despues con p y q: 2,00 787,00 mm


Comienzan Iteraciones para cuadro 235

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 21 -01 65 -85 -191 -222 -235 158 286 428 476 -23 -94 08 -01 79 105 109 52
co 2 -346 -01 176 -138 -222 -288 -270 -76 -103 -32 -10 -491 -969 -1260 -1331 -478 -955 -1234 -1291
co 3 52 -01 -28 -81 -257 -536 -611 189 370 481 525 30 158 180 233 123 154 185 158
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -18 120 -74 -45 98 07 09 56 30 -76 -114 -31 158 -101 06 -15 -25 -61 55
co 2 254 -296 -193 26 53 49 -13 13 125 -46 -54 -392 191 209 58 -444 163 282 55
co 3 -37 70 28 -125 38 106 54 103 -76 -45 -104 149 -104 22 -43 -14 03 -64 24
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 05 35 11 -56 -66 -109 -115 96 152 191 204 -21 00 -26 01 35 45 36 42
dpco 2 -97 -89 30 -61 -95 -130 -139 -34 -14 -30 -21 -363 -427 -568 -648 -372 -429 -533 -629
dpco 3 15 21 -05 -78 -117 -236 -289 125 162 227 231 59 48 97 104 57 78 73 86
Lambdas Total x y z: -0,60 4,71 -0,34 3,47

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:355,998 √J0m:367,467 √Mm:117,799 λ:-0,60 |dp|m:0,8058 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:340,136 √J0m:351,615 √Mm:115,237 λ:-0,60 |dp|m:0,8058 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:324,279 √J0m:335,788 √Mm:112,715 λ:-0,60 |dp|m:0,8058 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:308,426 √J0m:319,991 √Mm:110,245 λ:-0,60 |dp|m:0,8058 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:292,574 √J0m:304,226 √Mm:107,841 λ:-0,60 |dp|m:0,8058 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:276,722 √J0m:288,500 √Mm:105,514 λ:-0,60 |dp|m:0,8058 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:260,869 √J0m:272,820 √Mm:103,276 λ:-0,60 |dp|m:0,8058 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:245,014 √J0m:257,193 √Mm:101,140 λ:-0,60 |dp|m:0,8058 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:229,153 √J0m:241,631 √Mm:99,115 λ:-0,60 |dp|m:0,8058 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:213,286 √J0m:226,146 √Mm:97,215 λ:-0,60 |dp|m:0,8058 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:197,409 √J0m:210,756 √Mm:95,449 λ:-0,60 |dp|m:0,8058 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:181,518 √J0m:195,482 √Mm:93,830 λ:-0,60 |dp|m:0,8058 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:165,609 √J0m:180,355 √Mm:92,368 λ:-0,60 |dp|m:0,8058 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:149,675 √J0m:165,415 √Mm:91,073 λ:-0,60 |dp|m:0,8058 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:133,705 √J0m:150,717 √Mm:89,955 λ:-0,60 |dp|m:0,8058 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:117,685 √J0m:136,340 √Mm:89,023 λ:-0,60 |dp|m:0,8058 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:101,590 √J0m:122,397 √Mm:88,284 λ:-0,60 |dp|m:0,8058 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:85,375 √J0m:109,054 √Mm:87,746 λ:-0,60 |dp|m:0,8058 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:68,956 √J0m:96,561 √Mm:87,414 λ:-0,60 |dp|m:0,8058 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:52,138 √J0m:85,291 √Mm:87,290 λ:-0,60 |dp|m:0,8058 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:34,338 √J0m:75,793 √Mm:87,379 λ:-0,60 |dp|m:0,8058 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:11,706 √J0m:68,804 √Mm:87,679 λ:-0,60 |dp|m:0,8058 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:65,136 √Mm:88,191 λ:-0,60 |dp|m:0,8058 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:65,353 √Mm:88,911 λ:-0,60 |dp|m:0,8058 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 10 -79 42 38 -45 18 18 -53 -48 07 28 22 -95 66 -04 02 06 29 -41
co 2 -133 195 110 -03 -13 -03 36 -01 -72 33 36 307 -29 -12 95 340 -12 -62 93
co 3 19 -46 -16 90 01 -16 26 -87 13 -18 16 -101 52 -32 05 -03 -17 24 -32
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 27 -34 01 -108 78 -17 -08 146 -20 25 -96 -82 11 -18 21 90 -34 21 -17
co 2 502 -345 47 -78 93 -28 -01 14 04 39 -53 -569 368 74 -95 -596 256 217 -104
co 3 -65 28 -09 -163 221 -52 -60 173 -16 -12 -69 70 -63 -21 27 110 -42 -05 01
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 07 -42 21 10 -16 07 08 -14 -26 06 06 04 -46 31 00 09 00 16 -22
dpco 2 -24 69 59 -08 01 -04 18 01 -35 20 14 106 16 00 40 120 15 -13 38
dpco 3 04 -21 -09 32 19 -13 08 -29 05 -10 02 -45 21 -18 05 08 -12 12 -16
Lambdas Total x y z: -0,17 4,41 -0,15 1,90

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:56,778 √J0m:67,158 √Mm:87,852 λ:-0,17 |dp|m:0,1182 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:54,624 √J0m:64,909 √Mm:85,877 λ:-0,17 |dp|m:0,1182 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:52,473 √J0m:62,667 √Mm:83,912 λ:-0,17 |dp|m:0,1182 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:50,326 √J0m:60,435 √Mm:81,958 λ:-0,17 |dp|m:0,1182 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:48,182 √J0m:58,213 √Mm:80,016 λ:-0,17 |dp|m:0,1182 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:46,042 √J0m:56,003 √Mm:78,088 λ:-0,17 |dp|m:0,1182 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:43,906 √J0m:53,805 √Mm:76,176 λ:-0,17 |dp|m:0,1182 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:41,775 √J0m:51,623 √Mm:74,280 λ:-0,17 |dp|m:0,1182 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:39,650 √J0m:49,457 √Mm:72,403 λ:-0,17 |dp|m:0,1182 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:37,531 √J0m:47,310 √Mm:70,546 λ:-0,17 |dp|m:0,1182 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:35,420 √J0m:45,184 √Mm:68,712 λ:-0,17 |dp|m:0,1182 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:33,317 √J0m:43,083 √Mm:66,903 λ:-0,17 |dp|m:0,1182 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:31,225 √J0m:41,011 √Mm:65,121 λ:-0,17 |dp|m:0,1182 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:29,145 √J0m:38,972 √Mm:63,369 λ:-0,17 |dp|m:0,1182 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:27,080 √J0m:36,971 √Mm:61,650 λ:-0,17 |dp|m:0,1182 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:25,033 √J0m:35,016 √Mm:59,967 λ:-0,17 |dp|m:0,1182 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:23,011 √J0m:33,113 √Mm:58,323 λ:-0,17 |dp|m:0,1182 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:21,018 √J0m:31,274 √Mm:56,722 λ:-0,17 |dp|m:0,1182 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:19,065 √J0m:29,510 √Mm:55,169 λ:-0,17 |dp|m:0,1182 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:17,165 √J0m:27,834 √Mm:53,667 λ:-0,17 |dp|m:0,1182 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:15,337 √J0m:26,265 √Mm:52,223 λ:-0,17 |dp|m:0,1182 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:13,610 √J0m:24,821 √Mm:50,840 λ:-0,17 |dp|m:0,1182 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:12,027 √J0m:23,527 √Mm:49,525 λ:-0,17 |dp|m:0,1182 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:10,652 √J0m:22,408 √Mm:48,284 λ:-0,17 |dp|m:0,1182 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:9,575 √J0m:21,491 √Mm:47,124 λ:-0,17 |dp|m:0,1182 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:8,905 √J0m:20,804 √Mm:46,051 λ:-0,17 |dp|m:0,1182 mm
LINE SEARCH. Vez:27 Sal:44,0 Incr:1,0 √J1m:8,733 √J0m:20,369 √Mm:45,071 λ:-0,17 |dp|m:0,1182 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -08 25 -10 13 -06 -01 -02 -18 15 -07 13 12 20 -12 -03 -19 06 -11 13
co 2 -72 26 -35 17 -16 07 -08 -03 16 -16 02 46 -69 -13 -03 44 -50 -30 00
co 3 09 05 05 12 -46 14 06 -15 00 07 10 09 01 12 -07 -22 13 -04 07
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -09 -86 19 -52 65 -16 -03 128 -13 46 -75 -61 -17 36 -05 54 -02 28 -29
co 2 68 -76 47 -43 78 -52 07 -42 30 08 -26 -191 164 -55 -27 -217 83 67 -30
co 3 -11 -67 -06 -76 253 -162 -17 161 -45 62 -82 -04 -29 -18 23 65 01 09 -13
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -04 11 -05 06 -02 -01 -01 -06 07 -02 05 05 10 -05 -02 -08 03 -05 06
dpco 2 -35 11 -17 08 -07 02 -04 -02 08 -08 01 19 -31 -07 -02 18 -23 -14 -01
dpco 3 04 01 03 05 -18 04 03 -05 -01 04 04 04 00 06 -03 -10 06 -02 03
Lambdas Total x y z: -0,04 1,38 0,08 0,39

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:17,575 √J0m:19,402 √Mm:43,231 λ:-0,04 |dp|m:0,0403 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:16,775 √J0m:18,601 √Mm:42,282 λ:-0,04 |dp|m:0,0403 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:15,972 √J0m:17,801 √Mm:41,344 λ:-0,04 |dp|m:0,0403 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:15,166 √J0m:17,001 √Mm:40,420 λ:-0,04 |dp|m:0,0403 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:14,356 √J0m:16,202 √Mm:39,510 λ:-0,04 |dp|m:0,0403 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:13,541 √J0m:15,403 √Mm:38,615 λ:-0,04 |dp|m:0,0403 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:12,722 √J0m:14,605 √Mm:37,737 λ:-0,04 |dp|m:0,0403 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:11,896 √J0m:13,808 √Mm:36,876 λ:-0,04 |dp|m:0,0403 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:11,063 √J0m:13,012 √Mm:36,034 λ:-0,04 |dp|m:0,0403 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:10,220 √J0m:12,217 √Mm:35,212 λ:-0,04 |dp|m:0,0403 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:9,365 √J0m:11,424 √Mm:34,412 λ:-0,04 |dp|m:0,0403 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:8,494 √J0m:10,632 √Mm:33,634 λ:-0,04 |dp|m:0,0403 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:7,602 √J0m:9,842 √Mm:32,882 λ:-0,04 |dp|m:0,0403 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:6,681 √J0m:9,055 √Mm:32,155 λ:-0,04 |dp|m:0,0403 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:5,716 √J0m:8,272 √Mm:31,456 λ:-0,04 |dp|m:0,0403 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:4,679 √J0m:7,493 √Mm:30,788 λ:-0,04 |dp|m:0,0403 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:3,510 √J0m:6,721 √Mm:30,151 λ:-0,04 |dp|m:0,0403 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:1,985 √J0m:5,957 √Mm:29,548 λ:-0,04 |dp|m:0,0403 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:5,206 √Mm:28,981 λ:-0,04 |dp|m:0,0403 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:4,474 √Mm:28,451 λ:-0,04 |dp|m:0,0403 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:3,771 √Mm:27,961 λ:-0,04 |dp|m:0,0403 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:3,119 √Mm:27,514 λ:-0,04 |dp|m:0,0403 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:2,555 √Mm:27,109 λ:-0,04 |dp|m:0,0403 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:2,151 √Mm:26,751 λ:-0,04 |dp|m:0,0403 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:2,005 √Mm:26,439 λ:-0,04 |dp|m:0,0403 mm
Acabado Optimizado (izq). Cuadro 235 Distancia Esque. Antes y Despues Retoque:394,00 Distancias Despues con p y q: 2,00 787,00 mm


Comienzan Iteraciones para cuadro 236

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 21 -01 61 -85 -182 -222 -235 154 277 414 458 -23 -94 -45 -58 74 101 105 48
co 2 -346 -01 176 -134 -222 -293 -270 -76 -103 -19 08 -491 -973 -1247 -1313 -474 -955 -1234 -1295
co 3 48 -01 -32 -89 -270 -544 -615 180 361 472 511 26 149 171 224 114 145 176 154
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -23 123 -69 -35 81 11 09 48 23 -67 -114 -32 119 -68 11 -21 -24 -59 52
co 2 255 -295 -195 17 54 57 -18 17 141 -45 -70 -387 149 250 58 -437 159 280 56
co 3 -33 60 33 -121 40 105 55 102 -83 -45 -103 144 -94 20 -47 -16 03 -59 19
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 04 37 09 -53 -66 -107 -115 91 146 187 195 -21 -11 -43 -26 31 43 35 40
dpco 2 -95 -90 29 -62 -95 -129 -141 -33 -09 -23 -17 -363 -441 -548 -639 -370 -429 -532 -631
dpco 3 14 18 -06 -81 -123 -240 -291 121 155 222 225 57 46 92 98 52 73 70 83
Lambdas Total x y z: -0,61 6,40 -0,34 3,74

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:353,584 √J0m:365,485 √Mm:118,704 λ:-0,61 |dp|m:0,8001 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:337,838 √J0m:349,747 √Mm:116,117 λ:-0,61 |dp|m:0,8001 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:322,097 √J0m:334,034 √Mm:113,563 λ:-0,61 |dp|m:0,8001 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:306,360 √J0m:318,351 √Mm:111,057 λ:-0,61 |dp|m:0,8001 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:290,626 √J0m:302,701 √Mm:108,610 λ:-0,61 |dp|m:0,8001 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:274,893 √J0m:287,089 √Mm:106,234 λ:-0,61 |dp|m:0,8001 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:259,159 √J0m:271,523 √Mm:103,939 λ:-0,61 |dp|m:0,8001 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:243,424 √J0m:256,011 √Mm:101,737 λ:-0,61 |dp|m:0,8001 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:227,686 √J0m:240,563 √Mm:99,639 λ:-0,61 |dp|m:0,8001 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:211,942 √J0m:225,192 √Mm:97,656 λ:-0,61 |dp|m:0,8001 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:196,191 √J0m:209,916 √Mm:95,799 λ:-0,61 |dp|m:0,8001 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:180,429 √J0m:194,756 √Mm:94,078 λ:-0,61 |dp|m:0,8001 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:164,653 √J0m:179,742 √Mm:92,503 λ:-0,61 |dp|m:0,8001 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:148,856 √J0m:164,915 √Mm:91,086 λ:-0,61 |dp|m:0,8001 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:133,031 √J0m:150,328 √Mm:89,836 λ:-0,61 |dp|m:0,8001 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:117,165 √J0m:136,061 √Mm:88,761 λ:-0,61 |dp|m:0,8001 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:101,238 √J0m:122,223 √Mm:87,871 λ:-0,61 |dp|m:0,8001 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:85,214 √J0m:108,980 √Mm:87,173 λ:-0,61 |dp|m:0,8001 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:69,025 √J0m:96,576 √Mm:86,673 λ:-0,61 |dp|m:0,8001 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:52,518 √J0m:85,377 √Mm:86,375 λ:-0,61 |dp|m:0,8001 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:35,245 √J0m:75,919 √Mm:86,284 λ:-0,61 |dp|m:0,8001 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:14,719 √J0m:68,923 √Mm:86,400 λ:-0,61 |dp|m:0,8001 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:65,186 √Mm:86,725 λ:-0,61 |dp|m:0,8001 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:65,270 √Mm:87,256 λ:-0,61 |dp|m:0,8001 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 13 -82 40 32 -36 15 17 -47 -43 04 30 23 -70 50 -01 07 06 29 -40
co 2 -136 197 113 02 -14 -09 39 -04 -84 32 46 308 -02 -42 92 339 -11 -64 92
co 3 17 -40 -19 90 01 -16 25 -86 20 -17 17 -99 48 -31 09 00 -17 22 -28
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 32 -26 00 -105 73 -18 -08 140 -32 38 -105 -90 19 -07 11 82 -35 22 -19
co 2 513 -348 46 -73 89 -29 -01 18 04 50 -68 -531 243 180 -110 -570 242 230 -114
co 3 -65 48 -08 -163 210 -57 -49 165 -28 00 -77 60 -32 -44 28 101 -41 -08 03
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 09 -43 20 07 -12 06 08 -11 -24 05 06 04 -33 24 00 10 00 16 -21
dpco 2 -23 68 60 -05 01 -07 19 00 -42 20 17 107 20 -05 36 120 16 -12 36
dpco 3 03 -16 -10 31 19 -13 08 -29 07 -09 02 -44 21 -19 07 09 -12 10 -14
Lambdas Total x y z: -0,18 4,23 -0,16 1,97

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:56,402 √J0m:66,930 √Mm:86,048 λ:-0,18 |dp|m:0,1169 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:54,280 √J0m:64,706 √Mm:84,111 λ:-0,18 |dp|m:0,1169 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:52,162 √J0m:62,491 √Mm:82,181 λ:-0,18 |dp|m:0,1169 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:50,048 √J0m:60,285 √Mm:80,259 λ:-0,18 |dp|m:0,1169 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:47,938 √J0m:58,090 √Mm:78,348 λ:-0,18 |dp|m:0,1169 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:45,833 √J0m:55,906 √Mm:76,447 λ:-0,18 |dp|m:0,1169 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:43,734 √J0m:53,735 √Mm:74,559 λ:-0,18 |dp|m:0,1169 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:41,641 √J0m:51,579 √Mm:72,685 λ:-0,18 |dp|m:0,1169 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:39,555 √J0m:49,439 √Mm:70,827 λ:-0,18 |dp|m:0,1169 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:37,477 √J0m:47,318 √Mm:68,986 λ:-0,18 |dp|m:0,1169 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:35,408 √J0m:45,219 √Mm:67,164 λ:-0,18 |dp|m:0,1169 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:33,350 √J0m:43,144 √Mm:65,363 λ:-0,18 |dp|m:0,1169 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:31,304 √J0m:41,097 √Mm:63,586 λ:-0,18 |dp|m:0,1169 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:29,274 √J0m:39,083 √Mm:61,835 λ:-0,18 |dp|m:0,1169 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:27,263 √J0m:37,107 √Mm:60,112 λ:-0,18 |dp|m:0,1169 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:25,274 √J0m:35,175 √Mm:58,421 λ:-0,18 |dp|m:0,1169 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:23,314 √J0m:33,295 √Mm:56,765 λ:-0,18 |dp|m:0,1169 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:21,390 √J0m:31,477 √Mm:55,148 λ:-0,18 |dp|m:0,1169 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:19,512 √J0m:29,732 √Mm:53,573 λ:-0,18 |dp|m:0,1169 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:17,696 √J0m:28,073 √Mm:52,044 λ:-0,18 |dp|m:0,1169 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:15,961 √J0m:26,517 √Mm:50,567 λ:-0,18 |dp|m:0,1169 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:14,337 √J0m:25,082 √Mm:49,146 λ:-0,18 |dp|m:0,1169 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:12,867 √J0m:23,791 √Mm:47,787 λ:-0,18 |dp|m:0,1169 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:11,607 √J0m:22,668 √Mm:46,496 λ:-0,18 |dp|m:0,1169 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:10,633 √J0m:21,739 √Mm:45,280 λ:-0,18 |dp|m:0,1169 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:10,028 √J0m:21,031 √Mm:44,145 λ:-0,18 |dp|m:0,1169 mm
LINE SEARCH. Vez:27 Sal:44,0 Incr:1,0 √J1m:9,860 √J0m:20,565 √Mm:43,098 λ:-0,18 |dp|m:0,1169 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -10 25 -09 15 -07 01 -02 -19 17 -09 16 14 12 -10 -02 -19 06 -12 13
co 2 -79 29 -36 15 -16 08 -09 -03 19 -18 04 43 -52 -29 02 44 -50 -35 03
co 3 10 -01 06 14 -46 16 05 -16 01 04 13 10 -04 17 -08 -22 13 -04 06
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -12 -68 19 -49 67 -23 -02 116 -26 65 -83 -52 10 07 -08 51 -02 33 -33
co 2 89 -95 50 -48 83 -53 06 -39 28 27 -41 -165 49 49 -39 -199 70 81 -39
co 3 -13 -44 -08 -82 252 -166 -11 150 -59 80 -93 -12 -16 -31 32 57 02 08 -13
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -05 11 -04 07 -02 00 -01 -07 08 -03 06 06 06 -05 -01 -09 03 -05 06
dpco 2 -38 13 -17 07 -06 03 -04 -02 10 -08 01 18 -25 -14 00 18 -23 -16 01
dpco 3 05 -02 03 05 -17 04 02 -05 -01 04 04 05 -02 08 -03 -10 06 -02 03
Lambdas Total x y z: -0,04 1,33 0,10 0,34

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:17,597 √J0m:19,560 √Mm:41,230 λ:-0,04 |dp|m:0,0402 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:16,799 √J0m:18,761 √Mm:40,328 λ:-0,04 |dp|m:0,0402 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:15,998 √J0m:17,963 √Mm:39,439 λ:-0,04 |dp|m:0,0402 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:15,194 √J0m:17,166 √Mm:38,565 λ:-0,04 |dp|m:0,0402 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:14,386 √J0m:16,369 √Mm:37,706 λ:-0,04 |dp|m:0,0402 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:13,572 √J0m:15,573 √Mm:36,865 λ:-0,04 |dp|m:0,0402 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:12,753 √J0m:14,777 √Mm:36,041 λ:-0,04 |dp|m:0,0402 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:11,928 √J0m:13,983 √Mm:35,237 λ:-0,04 |dp|m:0,0402 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:11,093 √J0m:13,190 √Mm:34,453 λ:-0,04 |dp|m:0,0402 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:10,249 √J0m:12,399 √Mm:33,692 λ:-0,04 |dp|m:0,0402 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:9,391 √J0m:11,609 √Mm:32,954 λ:-0,04 |dp|m:0,0402 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:8,515 √J0m:10,821 √Mm:32,241 λ:-0,04 |dp|m:0,0402 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:7,617 √J0m:10,036 √Mm:31,555 λ:-0,04 |dp|m:0,0402 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:6,686 √J0m:9,255 √Mm:30,898 λ:-0,04 |dp|m:0,0402 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:5,706 √J0m:8,477 √Mm:30,271 λ:-0,04 |dp|m:0,0402 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:4,647 √J0m:7,705 √Mm:29,676 λ:-0,04 |dp|m:0,0402 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:3,436 √J0m:6,941 √Mm:29,115 λ:-0,04 |dp|m:0,0402 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:1,788 √J0m:6,186 √Mm:28,591 λ:-0,04 |dp|m:0,0402 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:5,445 √Mm:28,105 λ:-0,04 |dp|m:0,0402 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:4,726 √Mm:27,658 λ:-0,04 |dp|m:0,0402 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:4,038 √Mm:27,254 λ:-0,04 |dp|m:0,0402 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:3,402 √Mm:26,893 λ:-0,04 |dp|m:0,0402 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:2,853 √Mm:26,577 λ:-0,04 |dp|m:0,0402 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:2,448 √Mm:26,308 λ:-0,04 |dp|m:0,0402 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:2,267 √Mm:26,086 λ:-0,04 |dp|m:0,0402 mm
Acabado Optimizado (izq). Cuadro 236 Distancia Esque. Antes y Despues Retoque:392,00 Distancias Despues con p y q: 2,00 783,00 mm


Comienzan Iteraciones para cuadro 237

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 21 -01 61 -81 -182 -217 -235 154 282 414 458 -19 -94 03 -05 79 101 87 43
co 2 -346 -01 176 -134 -226 -288 -270 -76 -107 -28 03 -491 -973 -1256 -1322 -478 -951 -1238 -1309
co 3 52 -01 -32 -85 -266 -540 -615 176 370 485 529 34 149 176 229 118 145 176 162
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -18 126 -69 -36 85 08 11 33 32 -76 -103 -32 164 -104 07 -25 -41 -30 43
co 2 258 -302 -195 21 60 48 -13 17 139 -37 -73 -386 183 217 59 -447 178 259 69
co 3 -39 64 33 -115 29 112 52 92 -65 -52 -103 136 -85 20 -47 -20 05 -50 12
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 05 38 09 -51 -65 -106 -114 87 151 184 198 -19 03 -30 -01 32 38 35 35
dpco 2 -94 -92 28 -60 -95 -130 -139 -33 -11 -25 -21 -363 -431 -562 -643 -375 -421 -540 -633
dpco 3 14 19 -06 -78 -124 -236 -292 116 165 226 233 59 49 94 100 53 74 73 85
Lambdas Total x y z: -0,61 5,15 -0,35 4,01

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:355,615 √J0m:367,353 √Mm:117,973 λ:-0,61 |dp|m:0,8045 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:339,784 √J0m:351,532 √Mm:115,413 λ:-0,61 |dp|m:0,8045 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:323,957 √J0m:335,736 √Mm:112,890 λ:-0,61 |dp|m:0,8045 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:308,134 √J0m:319,970 √Mm:110,418 λ:-0,61 |dp|m:0,8045 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:292,314 √J0m:304,238 √Mm:108,009 λ:-0,61 |dp|m:0,8045 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:276,494 √J0m:288,545 √Mm:105,675 λ:-0,61 |dp|m:0,8045 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:260,674 √J0m:272,899 √Mm:103,427 λ:-0,61 |dp|m:0,8045 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:244,853 √J0m:257,307 √Mm:101,276 λ:-0,61 |dp|m:0,8045 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:229,027 √J0m:241,781 √Mm:99,234 λ:-0,61 |dp|m:0,8045 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:213,197 √J0m:226,334 √Mm:97,312 λ:-0,61 |dp|m:0,8045 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:197,358 √J0m:210,982 √Mm:95,521 λ:-0,61 |dp|m:0,8045 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:181,508 √J0m:195,750 √Mm:93,871 λ:-0,61 |dp|m:0,8045 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:165,643 √J0m:180,667 √Mm:92,374 λ:-0,61 |dp|m:0,8045 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:149,757 √J0m:165,773 √Mm:91,039 λ:-0,61 |dp|m:0,8045 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:133,841 √J0m:151,125 √Mm:89,877 λ:-0,61 |dp|m:0,8045 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:117,882 √J0m:136,802 √Mm:88,895 λ:-0,61 |dp|m:0,8045 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:101,860 √J0m:122,916 √Mm:88,103 λ:-0,61 |dp|m:0,8045 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:85,737 √J0m:109,635 √Mm:87,507 λ:-0,61 |dp|m:0,8045 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:69,442 √J0m:97,207 √Mm:87,112 λ:-0,61 |dp|m:0,8045 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:52,814 √J0m:86,002 √Mm:86,924 λ:-0,61 |dp|m:0,8045 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:35,387 √J0m:76,560 √Mm:86,944 λ:-0,61 |dp|m:0,8045 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:14,517 √J0m:69,601 √Mm:87,173 λ:-0,61 |dp|m:0,8045 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:65,916 √Mm:87,612 λ:-0,61 |dp|m:0,8045 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:66,056 √Mm:88,257 λ:-0,61 |dp|m:0,8045 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 10 -84 40 32 -39 17 16 -37 -50 09 23 23 -101 69 -04 09 17 11 -33
co 2 -139 202 113 -01 -17 -03 36 -04 -82 28 49 308 -26 -20 93 348 -24 -50 84
co 3 21 -43 -19 86 07 -21 27 -79 07 -13 16 -95 42 -31 09 02 -18 16 -24
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 33 -23 00 -92 64 -11 -11 90 16 15 -92 -77 14 -21 22 78 -28 21 -17
co 2 538 -362 51 -64 78 -24 -01 10 14 31 -51 -543 330 100 -92 -614 329 180 -110
co 3 -73 62 -10 -142 185 -27 -66 112 25 -21 -73 63 -49 -26 25 103 -47 -09 06
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 08 -44 20 08 -14 07 07 -11 -24 06 04 05 -49 33 00 11 06 07 -18
dpco 2 -22 69 61 -06 -02 -04 18 -01 -40 17 20 106 16 -01 38 119 17 -09 32
dpco 3 04 -16 -10 30 20 -13 07 -30 05 -08 02 -42 17 -18 07 10 -13 07 -12
Lambdas Total x y z: -0,18 6,50 -0,17 2,61

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:56,971 √J0m:67,765 √Mm:87,136 λ:-0,18 |dp|m:0,1174 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:54,855 √J0m:65,539 √Mm:85,171 λ:-0,18 |dp|m:0,1174 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:52,744 √J0m:63,322 √Mm:83,210 λ:-0,18 |dp|m:0,1174 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:50,639 √J0m:61,115 √Mm:81,255 λ:-0,18 |dp|m:0,1174 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:48,540 √J0m:58,919 √Mm:79,308 λ:-0,18 |dp|m:0,1174 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:46,447 √J0m:56,734 √Mm:77,368 λ:-0,18 |dp|m:0,1174 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:44,363 √J0m:54,564 √Mm:75,438 λ:-0,18 |dp|m:0,1174 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:42,287 √J0m:52,408 √Mm:73,519 λ:-0,18 |dp|m:0,1174 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:40,220 √J0m:50,270 √Mm:71,613 λ:-0,18 |dp|m:0,1174 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:38,165 √J0m:48,151 √Mm:69,720 λ:-0,18 |dp|m:0,1174 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:36,122 √J0m:46,054 √Mm:67,843 λ:-0,18 |dp|m:0,1174 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:34,094 √J0m:43,982 √Mm:65,983 λ:-0,18 |dp|m:0,1174 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:32,084 √J0m:41,940 √Mm:64,143 λ:-0,18 |dp|m:0,1174 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:30,095 √J0m:39,931 √Mm:62,325 λ:-0,18 |dp|m:0,1174 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:28,130 √J0m:37,961 √Mm:60,531 λ:-0,18 |dp|m:0,1174 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:26,197 √J0m:36,036 √Mm:58,763 λ:-0,18 |dp|m:0,1174 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:24,301 √J0m:34,164 √Mm:57,026 λ:-0,18 |dp|m:0,1174 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:22,451 √J0m:32,354 √Mm:55,322 λ:-0,18 |dp|m:0,1174 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:20,661 √J0m:30,617 √Mm:53,654 λ:-0,18 |dp|m:0,1174 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:18,947 √J0m:28,966 √Mm:52,028 λ:-0,18 |dp|m:0,1174 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:17,332 √J0m:27,416 √Mm:50,447 λ:-0,18 |dp|m:0,1174 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:15,843 √J0m:25,987 √Mm:48,917 λ:-0,18 |dp|m:0,1174 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:14,522 √J0m:24,698 √Mm:47,443 λ:-0,18 |dp|m:0,1174 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:13,417 √J0m:23,574 √Mm:46,030 λ:-0,18 |dp|m:0,1174 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:12,583 √J0m:22,637 √Mm:44,687 λ:-0,18 |dp|m:0,1174 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:12,078 √J0m:21,913 √Mm:43,419 λ:-0,18 |dp|m:0,1174 mm
LINE SEARCH. Vez:27 Sal:44,0 Incr:1,0 √J1m:11,943 √J0m:21,423 √Mm:42,234 λ:-0,18 |dp|m:0,1174 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -10 25 -09 13 -05 -01 -01 -11 08 -06 15 11 20 -11 -04 -19 02 -07 11
co 2 -85 32 -37 14 -13 06 -08 -01 16 -13 00 47 -66 -17 -01 53 -66 -28 04
co 3 11 -04 07 11 -42 11 08 -06 -07 08 12 08 01 13 -08 -23 14 -02 04
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -13 -62 20 -37 55 -14 -06 77 17 30 -65 -54 -08 27 -04 52 -04 21 -20
co 2 116 -119 54 -34 69 -47 08 -26 30 22 -47 -174 137 -32 -26 -246 154 35 -33
co 3 -19 -32 -09 -60 224 -139 -24 92 -02 53 -80 -02 -25 -18 23 58 -03 07 -06
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -05 10 -04 05 -01 -01 -01 -03 05 -02 05 04 10 -05 -02 -08 01 -03 05
dpco 2 -39 12 -17 06 -04 01 -04 -02 09 -06 -02 17 -28 -10 -02 18 -28 -13 01
dpco 3 05 -03 03 03 -13 00 03 00 -04 06 03 04 00 06 -03 -09 07 -01 02
Lambdas Total x y z: -0,07 2,20 -0,01 0,53

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:17,359 √J0m:20,418 √Mm:40,247 λ:-0,07 |dp|m:0,0388 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:16,605 √J0m:19,654 √Mm:39,364 λ:-0,07 |dp|m:0,0388 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:15,848 √J0m:18,890 √Mm:38,493 λ:-0,07 |dp|m:0,0388 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:15,087 √J0m:18,128 √Mm:37,634 λ:-0,07 |dp|m:0,0388 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:14,320 √J0m:17,367 √Mm:36,790 λ:-0,07 |dp|m:0,0388 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:13,549 √J0m:16,607 √Mm:35,960 λ:-0,07 |dp|m:0,0388 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:12,771 √J0m:15,849 √Mm:35,145 λ:-0,07 |dp|m:0,0388 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:11,985 √J0m:15,093 √Mm:34,348 λ:-0,07 |dp|m:0,0388 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:11,189 √J0m:14,338 √Mm:33,568 λ:-0,07 |dp|m:0,0388 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:10,383 √J0m:13,586 √Mm:32,808 λ:-0,07 |dp|m:0,0388 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:9,561 √J0m:12,836 √Mm:32,069 λ:-0,07 |dp|m:0,0388 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:8,721 √J0m:12,090 √Mm:31,351 λ:-0,07 |dp|m:0,0388 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:7,857 √J0m:11,348 √Mm:30,658 λ:-0,07 |dp|m:0,0388 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:6,959 √J0m:10,610 √Mm:29,990 λ:-0,07 |dp|m:0,0388 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:6,012 √J0m:9,878 √Mm:29,348 λ:-0,07 |dp|m:0,0388 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:4,988 √J0m:9,153 √Mm:28,736 λ:-0,07 |dp|m:0,0388 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:3,828 √J0m:8,438 √Mm:28,154 λ:-0,07 |dp|m:0,0388 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:2,334 √J0m:7,733 √Mm:27,605 λ:-0,07 |dp|m:0,0388 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:7,044 √Mm:27,090 λ:-0,07 |dp|m:0,0388 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:6,374 √Mm:26,611 λ:-0,07 |dp|m:0,0388 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:5,731 √Mm:26,171 λ:-0,07 |dp|m:0,0388 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:5,124 √Mm:25,771 λ:-0,07 |dp|m:0,0388 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:4,569 √Mm:25,414 λ:-0,07 |dp|m:0,0388 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:4,086 √Mm:25,100 λ:-0,07 |dp|m:0,0388 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:3,704 √Mm:24,831 λ:-0,07 |dp|m:0,0388 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:3,455 √Mm:24,609 λ:-0,07 |dp|m:0,0388 mm
Acabado Optimizado (izq). Cuadro 237 Distancia Esque. Antes y Despues Retoque:394,00 Distancias Despues con p y q: 3,00 787,00 mm


Comienzan Iteraciones para cuadro 238

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 21 -01 61 -85 -187 -217 -235 149 277 419 463 -19 -94 -103 -36 79 101 118 61
co 2 -350 -01 176 -134 -217 -293 -275 -76 -103 -103 -103 -491 -973 -1256 -1309 -478 -951 -1225 -1287
co 3 56 -01 -28 -81 -266 -544 -611 176 375 507 556 39 154 158 105 123 149 202 176
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -17 122 -70 -32 88 00 15 29 46 -76 -112 -32 60 49 -40 -25 -04 -73 51
co 2 249 -296 -196 30 45 56 -16 25 27 -04 -03 -386 150 277 32 -447 173 277 55
co 3 -40 79 28 -123 42 97 59 88 -42 -53 -123 136 -106 -38 32 -20 34 -89 23
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 05 37 09 -52 -66 -109 -113 84 153 186 197 -19 -29 -36 -31 32 49 37 46
dpco 2 -99 -91 28 -57 -95 -129 -142 -31 -43 -52 -52 -364 -441 -543 -644 -376 -423 -528 -627
dpco 3 16 24 -05 -78 -120 -242 -287 115 174 237 240 61 44 67 62 55 85 74 95
Lambdas Total x y z: -0,61 7,11 -0,33 3,43

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:354,655 √J0m:366,561 √Mm:118,479 λ:-0,61 |dp|m:0,8025 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:338,864 √J0m:350,777 √Mm:115,887 λ:-0,61 |dp|m:0,8025 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:323,079 √J0m:335,017 √Mm:113,328 λ:-0,61 |dp|m:0,8025 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:307,297 √J0m:319,287 √Mm:110,817 λ:-0,61 |dp|m:0,8025 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:291,518 √J0m:303,590 √Mm:108,365 λ:-0,61 |dp|m:0,8025 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:275,741 √J0m:287,931 √Mm:105,985 λ:-0,61 |dp|m:0,8025 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:259,963 √J0m:272,319 √Mm:103,688 λ:-0,61 |dp|m:0,8025 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:244,184 √J0m:256,761 √Mm:101,485 λ:-0,61 |dp|m:0,8025 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:228,401 √J0m:241,267 √Mm:99,387 λ:-0,61 |dp|m:0,8025 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:212,613 √J0m:225,850 √Mm:97,406 λ:-0,61 |dp|m:0,8025 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:196,818 √J0m:210,529 √Mm:95,553 λ:-0,61 |dp|m:0,8025 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:181,011 √J0m:195,325 √Mm:93,838 λ:-0,61 |dp|m:0,8025 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:165,190 √J0m:180,267 √Mm:92,272 λ:-0,61 |dp|m:0,8025 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:149,349 √J0m:165,396 √Mm:90,866 λ:-0,61 |dp|m:0,8025 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:133,479 √J0m:150,768 √Mm:89,628 λ:-0,61 |dp|m:0,8025 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:117,568 √J0m:136,459 √Mm:88,570 λ:-0,61 |dp|m:0,8025 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:101,596 √J0m:122,583 √Mm:87,698 λ:-0,61 |dp|m:0,8025 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:85,527 √J0m:109,303 √Mm:87,020 λ:-0,61 |dp|m:0,8025 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:69,292 √J0m:96,866 √Mm:86,542 λ:-0,61 |dp|m:0,8025 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:52,739 √J0m:85,640 √Mm:86,269 λ:-0,61 |dp|m:0,8025 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:35,419 √J0m:76,161 √Mm:86,204 λ:-0,61 |dp|m:0,8025 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:14,860 √J0m:69,152 √Mm:86,349 λ:-0,61 |dp|m:0,8025 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:65,412 √Mm:86,703 λ:-0,61 |dp|m:0,8025 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:65,504 √Mm:87,265 λ:-0,61 |dp|m:0,8025 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 10 -82 41 30 -41 22 14 -35 -59 09 29 23 -31 -23 31 09 -07 38 -40
co 2 -132 199 115 -07 -09 -08 38 -09 -08 13 12 309 -03 -61 109 349 -21 -64 92
co 3 21 -53 -16 91 -02 -11 21 -77 -09 -15 27 -95 56 10 -32 01 -38 40 -33
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 27 -03 00 -99 72 -22 -05 60 24 48 -112 -108 41 -31 36 94 -43 17 -15
co 2 505 -341 47 -67 89 -31 -02 -03 01 06 -03 -519 229 206 -124 -607 275 228 -114
co 3 -66 75 -09 -151 217 -87 -33 78 35 09 -90 51 -29 21 -28 116 -56 -14 09
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 07 -41 20 06 -14 09 06 -12 -27 09 05 02 -12 -14 19 13 -07 20 -21
dpco 2 -21 69 62 -10 04 -07 19 -05 -04 07 06 108 19 -12 43 120 14 -12 36
dpco 3 05 -20 -09 32 19 -13 08 -32 -01 -07 05 -43 25 07 -19 11 -24 19 -16
Lambdas Total x y z: -0,18 4,76 -0,17 2,19

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:56,402 √J0m:67,202 √Mm:86,089 λ:-0,18 |dp|m:0,1161 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:54,309 √J0m:65,000 √Mm:84,155 λ:-0,18 |dp|m:0,1161 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:52,219 √J0m:62,807 √Mm:82,232 λ:-0,18 |dp|m:0,1161 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:50,132 √J0m:60,624 √Mm:80,319 λ:-0,18 |dp|m:0,1161 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:48,050 √J0m:58,450 √Mm:78,419 λ:-0,18 |dp|m:0,1161 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:45,972 √J0m:56,289 √Mm:76,533 λ:-0,18 |dp|m:0,1161 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:43,900 √J0m:54,141 √Mm:74,663 λ:-0,18 |dp|m:0,1161 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:41,833 √J0m:52,008 √Mm:72,808 λ:-0,18 |dp|m:0,1161 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:39,774 √J0m:49,892 √Mm:70,972 λ:-0,18 |dp|m:0,1161 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:37,721 √J0m:47,795 √Mm:69,156 λ:-0,18 |dp|m:0,1161 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:35,678 √J0m:45,719 √Mm:67,362 λ:-0,18 |dp|m:0,1161 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:33,646 √J0m:43,668 √Mm:65,591 λ:-0,18 |dp|m:0,1161 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:31,626 √J0m:41,646 √Mm:63,846 λ:-0,18 |dp|m:0,1161 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:29,621 √J0m:39,657 √Mm:62,129 λ:-0,18 |dp|m:0,1161 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:27,634 √J0m:37,705 √Mm:60,443 λ:-0,18 |dp|m:0,1161 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:25,669 √J0m:35,798 √Mm:58,791 λ:-0,18 |dp|m:0,1161 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:23,733 √J0m:33,942 √Mm:57,175 λ:-0,18 |dp|m:0,1161 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:21,832 √J0m:32,146 √Mm:55,599 λ:-0,18 |dp|m:0,1161 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:19,976 √J0m:30,423 √Mm:54,066 λ:-0,18 |dp|m:0,1161 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:18,178 √J0m:28,783 √Mm:52,581 λ:-0,18 |dp|m:0,1161 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:16,459 √J0m:27,242 √Mm:51,148 λ:-0,18 |dp|m:0,1161 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:14,846 √J0m:25,819 √Mm:49,772 λ:-0,18 |dp|m:0,1161 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:13,375 √J0m:24,532 √Mm:48,458 λ:-0,18 |dp|m:0,1161 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:12,099 √J0m:23,406 √Mm:47,212 λ:-0,18 |dp|m:0,1161 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:11,085 √J0m:22,465 √Mm:46,039 λ:-0,18 |dp|m:0,1161 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:10,410 √J0m:21,731 √Mm:44,946 λ:-0,18 |dp|m:0,1161 mm
LINE SEARCH. Vez:27 Sal:44,0 Incr:1,0 √J1m:10,141 √J0m:21,227 √Mm:43,939 λ:-0,18 |dp|m:0,1161 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -08 20 -10 15 -06 00 -02 -05 08 -13 18 19 -02 12 -15 -23 11 -13 13
co 2 -81 29 -37 16 -18 09 -08 03 01 -04 -02 43 -50 -32 02 54 -56 -36 04
co 3 10 -04 06 12 -48 22 02 01 -06 01 14 11 -07 -07 14 -26 21 -06 06
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -10 -46 18 -45 61 -22 01 59 27 33 -73 -52 08 -55 56 54 01 34 -36
co 2 82 -95 49 -38 84 -53 -02 -20 03 -05 01 -162 54 57 -48 -243 114 74 -42
co 3 -14 -21 -07 -73 263 -197 04 71 13 74 -106 -08 -17 45 -44 60 06 10 -16
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -04 09 -04 06 -02 -01 -01 -01 05 -06 07 08 -01 05 -06 -10 06 -05 05
dpco 2 -39 12 -17 07 -07 03 -04 01 01 -02 -01 18 -24 -14 00 21 -25 -16 01
dpco 3 05 -03 03 04 -17 06 01 02 -02 03 04 05 -04 -02 06 -11 11 -03 02
Lambdas Total x y z: -0,05 1,95 0,06 0,36

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:17,741 √J0m:20,171 √Mm:42,091 λ:-0,05 |dp|m:0,0403 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:16,946 √J0m:19,372 √Mm:41,167 λ:-0,05 |dp|m:0,0403 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:16,147 √J0m:18,574 √Mm:40,257 λ:-0,05 |dp|m:0,0403 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:15,345 √J0m:17,777 √Mm:39,361 λ:-0,05 |dp|m:0,0403 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:14,538 √J0m:16,981 √Mm:38,480 λ:-0,05 |dp|m:0,0403 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:13,726 √J0m:16,185 √Mm:37,615 λ:-0,05 |dp|m:0,0403 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:12,907 √J0m:15,391 √Mm:36,767 λ:-0,05 |dp|m:0,0403 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:12,080 √J0m:14,598 √Mm:35,937 λ:-0,05 |dp|m:0,0403 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:11,245 √J0m:13,806 √Mm:35,128 λ:-0,05 |dp|m:0,0403 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:10,397 √J0m:13,016 √Mm:34,339 λ:-0,05 |dp|m:0,0403 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:9,535 √J0m:12,228 √Mm:33,574 λ:-0,05 |dp|m:0,0403 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:8,653 √J0m:11,442 √Mm:32,832 λ:-0,05 |dp|m:0,0403 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:7,745 √J0m:10,660 √Mm:32,117 λ:-0,05 |dp|m:0,0403 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:6,802 √J0m:9,881 √Mm:31,429 λ:-0,05 |dp|m:0,0403 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:5,804 √J0m:9,106 √Mm:30,771 λ:-0,05 |dp|m:0,0403 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:4,719 √J0m:8,338 √Mm:30,145 λ:-0,05 |dp|m:0,0403 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:3,465 √J0m:7,577 √Mm:29,551 λ:-0,05 |dp|m:0,0403 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:1,701 √J0m:6,827 √Mm:28,994 λ:-0,05 |dp|m:0,0403 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:6,091 √Mm:28,474 λ:-0,05 |dp|m:0,0403 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:5,374 √Mm:27,993 λ:-0,05 |dp|m:0,0403 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:4,687 √Mm:27,554 λ:-0,05 |dp|m:0,0403 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:4,043 √Mm:27,158 λ:-0,05 |dp|m:0,0403 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:3,468 √Mm:26,808 λ:-0,05 |dp|m:0,0403 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:3,001 √Mm:26,504 λ:-0,05 |dp|m:0,0403 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:2,698 √Mm:26,249 λ:-0,05 |dp|m:0,0403 mm
Acabado Optimizado (izq). Cuadro 238 Distancia Esque. Antes y Despues Retoque:393,00 Distancias Despues con p y q: 2,00 785,00 mm


Comienzan Iteraciones para cuadro 239

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 26 -01 61 -81 -182 -213 -231 162 304 428 467 -10 -89 -89 -14 87 101 70 26
co 2 -341 -01 176 -134 -217 -297 -275 -01 -103 -116 -116 -483 -969 -1251 -1300 -465 -951 -1256 -1331
co 3 61 -01 -28 -81 -266 -540 -606 260 405 556 609 48 154 149 101 132 154 171 154
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -18 80 -70 -34 88 01 14 107 -08 -64 -100 -35 72 43 -44 -38 -47 -09 38
co 2 258 -250 -196 33 42 63 -19 -123 102 14 -02 -384 148 281 28 -436 184 244 66
co 3 -42 52 28 -122 40 101 57 77 22 -64 -132 126 -106 -25 28 -29 -06 -35 15
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 07 26 08 -52 -62 -106 -111 116 149 193 201 -16 -21 -31 -21 31 35 32 25
dpco 2 -86 -82 24 -56 -95 -128 -144 -41 -18 -54 -59 -367 -436 -534 -641 -375 -415 -548 -644
dpco 3 17 17 -04 -80 -120 -237 -285 155 210 257 261 65 42 66 59 56 75 74 82
Lambdas Total x y z: -0,65 7,58 -0,39 3,88

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:358,768 √J0m:370,901 √Mm:116,440 λ:-0,65 |dp|m:0,8108 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:342,824 √J0m:354,973 √Mm:113,942 λ:-0,65 |dp|m:0,8108 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:326,880 √J0m:339,071 √Mm:111,507 λ:-0,65 |dp|m:0,8108 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:310,934 √J0m:323,201 √Mm:109,151 λ:-0,65 |dp|m:0,8108 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:294,984 √J0m:307,368 √Mm:106,885 λ:-0,65 |dp|m:0,8108 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:279,026 √J0m:291,576 √Mm:104,722 λ:-0,65 |dp|m:0,8108 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:263,060 √J0m:275,833 √Mm:102,674 λ:-0,65 |dp|m:0,8108 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:247,082 √J0m:260,149 √Mm:100,752 λ:-0,65 |dp|m:0,8108 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:231,087 √J0m:244,534 √Mm:98,967 λ:-0,65 |dp|m:0,8108 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:215,073 √J0m:229,002 √Mm:97,330 λ:-0,65 |dp|m:0,8108 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:199,032 √J0m:213,572 √Mm:95,852 λ:-0,65 |dp|m:0,8108 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:182,958 √J0m:198,267 √Mm:94,543 λ:-0,65 |dp|m:0,8108 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:166,839 √J0m:183,120 √Mm:93,412 λ:-0,65 |dp|m:0,8108 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:150,661 √J0m:168,172 √Mm:92,467 λ:-0,65 |dp|m:0,8108 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:134,402 √J0m:153,481 √Mm:91,717 λ:-0,65 |dp|m:0,8108 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:118,026 √J0m:139,130 √Mm:91,167 λ:-0,65 |dp|m:0,8108 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:101,477 √J0m:125,234 √Mm:90,822 λ:-0,65 |dp|m:0,8108 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:84,653 √J0m:111,964 √Mm:90,687 λ:-0,65 |dp|m:0,8108 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:67,346 √J0m:99,571 √Mm:90,762 λ:-0,65 |dp|m:0,8108 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:49,048 √J0m:88,423 √Mm:91,049 λ:-0,65 |dp|m:0,8108 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:27,868 √J0m:79,049 √Mm:91,546 λ:-0,65 |dp|m:0,8108 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:72,145 √Mm:92,251 λ:-0,65 |dp|m:0,8108 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:68,461 √Mm:93,160 λ:-0,65 |dp|m:0,8108 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:68,518 √Mm:94,268 λ:-0,65 |dp|m:0,8108 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 10 -57 44 33 -45 20 13 -93 -25 03 25 26 -43 -22 33 18 23 -01 -30
co 2 -151 180 123 -11 -08 -15 41 88 -63 02 13 324 -09 -77 110 359 -37 -50 85
co 3 24 -37 -18 95 -02 -19 20 -81 -56 -09 34 -95 61 03 -30 07 -11 08 -26
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -05 -114 01 -80 70 -19 -06 232 -30 33 -98 -112 41 -41 46 63 -17 27 -25
co 2 542 -356 17 -70 91 -28 -03 11 -04 05 18 -548 236 227 -134 -616 378 144 -121
co 3 -98 -110 -03 -137 205 -67 -39 332 -43 32 -106 43 -20 22 -30 94 -43 00 00
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 05 -38 22 10 -17 09 06 -28 -15 04 05 04 -18 -14 20 14 10 02 -17
dpco 2 -32 61 63 -11 03 -10 20 45 -32 01 08 118 14 -20 44 131 12 -13 33
dpco 3 04 -27 -09 37 15 -15 07 -14 -31 -02 09 -44 29 03 -18 11 -09 04 -13
Lambdas Total x y z: -0,16 2,97 -0,15 1,42

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:59,112 √J0m:69,933 √Mm:93,463 λ:-0,16 |dp|m:0,1238 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:56,836 √J0m:67,565 √Mm:91,375 λ:-0,16 |dp|m:0,1238 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:54,561 √J0m:65,206 √Mm:89,303 λ:-0,16 |dp|m:0,1238 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:52,286 √J0m:62,855 √Mm:87,249 λ:-0,16 |dp|m:0,1238 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:50,011 √J0m:60,514 √Mm:85,216 λ:-0,16 |dp|m:0,1238 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:47,737 √J0m:58,185 √Mm:83,204 λ:-0,16 |dp|m:0,1238 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:45,463 √J0m:55,868 √Mm:81,215 λ:-0,16 |dp|m:0,1238 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:43,189 √J0m:53,566 √Mm:79,252 λ:-0,16 |dp|m:0,1238 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:40,915 √J0m:51,280 √Mm:77,316 λ:-0,16 |dp|m:0,1238 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:38,641 √J0m:49,013 √Mm:75,410 λ:-0,16 |dp|m:0,1238 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:36,368 √J0m:46,767 √Mm:73,536 λ:-0,16 |dp|m:0,1238 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:34,095 √J0m:44,545 √Mm:71,696 λ:-0,16 |dp|m:0,1238 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:31,823 √J0m:42,351 √Mm:69,894 λ:-0,16 |dp|m:0,1238 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:29,551 √J0m:40,191 √Mm:68,132 λ:-0,16 |dp|m:0,1238 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:27,279 √J0m:38,069 √Mm:66,413 λ:-0,16 |dp|m:0,1238 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:25,009 √J0m:35,993 √Mm:64,741 λ:-0,16 |dp|m:0,1238 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:22,739 √J0m:33,970 √Mm:63,120 λ:-0,16 |dp|m:0,1238 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:20,470 √J0m:32,011 √Mm:61,554 λ:-0,16 |dp|m:0,1238 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:18,203 √J0m:30,129 √Mm:60,046 λ:-0,16 |dp|m:0,1238 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:15,939 √J0m:28,338 √Mm:58,602 λ:-0,16 |dp|m:0,1238 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:13,678 √J0m:26,658 √Mm:57,226 λ:-0,16 |dp|m:0,1238 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:11,423 √J0m:25,109 √Mm:55,924 λ:-0,16 |dp|m:0,1238 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:9,178 √J0m:23,719 √Mm:54,701 λ:-0,16 |dp|m:0,1238 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:6,952 √J0m:22,516 √Mm:53,562 λ:-0,16 |dp|m:0,1238 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:4,772 √J0m:21,532 √Mm:52,513 λ:-0,16 |dp|m:0,1238 mm
LINE SEARCH. Vez:26 Sal:44,0 Incr:1,0 √J1m:2,749 √J0m:20,797 √Mm:51,559 λ:-0,16 |dp|m:0,1238 mm
LINE SEARCH. Vez:27 Sal:44,0 Incr:1,0 √J1m:1,634 √J0m:20,340 √Mm:50,708 λ:-0,16 |dp|m:0,1238 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 36 -10 08 -03 -01 -02 -24 12 -07 13 16 02 13 -17 -17 -02 -05 12
co 2 -72 29 -32 16 -16 09 -09 -23 15 -02 -07 33 -44 -27 01 38 -66 -17 04
co 3 14 30 05 05 -40 18 03 -46 21 -04 13 14 -10 -05 13 -20 11 -02 06
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -12 -172 19 -22 50 -17 -01 211 -33 50 -69 -46 06 -62 63 42 02 16 -19
co 2 81 -151 46 -05 76 -55 02 -29 50 05 -07 -124 30 53 -43 -182 157 -11 -31
co 3 -19 -231 -03 -43 230 -171 -03 292 -24 82 -103 -15 -10 41 -40 47 -05 12 -08
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 -01 18 -05 04 -02 00 -01 -12 06 -04 07 08 01 07 -08 -08 -01 -03 06
dpco 2 -36 14 -16 08 -08 04 -05 -11 08 -01 -03 16 -22 -13 00 19 -33 -08 02
dpco 3 07 15 02 02 -20 09 02 -23 11 -02 06 07 -05 -02 06 -10 05 -01 03
Lambdas Total x y z: 0,00 0,84 0,36 0,25

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:19,204 √J0m:19,291 √Mm:48,874 λ:0,00 |dp|m:0,0444 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:18,316 √J0m:18,404 √Mm:47,796 λ:0,00 |dp|m:0,0444 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:17,429 √J0m:17,517 √Mm:46,731 λ:0,00 |dp|m:0,0444 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:16,541 √J0m:16,630 √Mm:45,679 λ:0,00 |dp|m:0,0444 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:15,653 √J0m:15,743 √Mm:44,642 λ:0,00 |dp|m:0,0444 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:14,765 √J0m:14,856 √Mm:43,620 λ:0,00 |dp|m:0,0444 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:13,877 √J0m:13,969 √Mm:42,614 λ:0,00 |dp|m:0,0444 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:12,989 √J0m:13,083 √Mm:41,627 λ:0,00 |dp|m:0,0444 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:12,101 √J0m:12,197 √Mm:40,658 λ:0,00 |dp|m:0,0444 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:11,212 √J0m:11,311 √Mm:39,710 λ:0,00 |dp|m:0,0444 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:10,323 √J0m:10,425 √Mm:38,784 λ:0,00 |dp|m:0,0444 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:9,434 √J0m:9,541 √Mm:37,881 λ:0,00 |dp|m:0,0444 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:8,544 √J0m:8,656 √Mm:37,004 λ:0,00 |dp|m:0,0444 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:7,654 √J0m:7,773 √Mm:36,154 λ:0,00 |dp|m:0,0444 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:6,762 √J0m:6,891 √Mm:35,333 λ:0,00 |dp|m:0,0444 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:5,870 √J0m:6,011 √Mm:34,544 λ:0,00 |dp|m:0,0444 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:4,975 √J0m:5,134 √Mm:33,787 λ:0,00 |dp|m:0,0444 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:4,076 √J0m:4,261 √Mm:33,066 λ:0,00 |dp|m:0,0444 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:3,171 √J0m:3,397 √Mm:32,382 λ:0,00 |dp|m:0,0444 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:2,252 √J0m:2,548 √Mm:31,739 λ:0,00 |dp|m:0,0444 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:1,289 √J0m:1,740 √Mm:31,138 λ:0,00 |dp|m:0,0444 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:1,069 √Mm:30,582 λ:0,00 |dp|m:0,0444 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:0,913 √Mm:30,072 λ:0,00 |dp|m:0,0444 mm
Acabado Optimizado (izq). Cuadro 239 Distancia Esque. Antes y Despues Retoque:397,00 Distancias Despues con p y q: 1,00 794,00 mm


Comienzan Iteraciones para cuadro 240

Iteración 1
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 26 -01 61 -81 -182 -209 -231 162 273 414 458 -14 -89 -81 -41 83 101 65 21
co 2 -341 -01 176 -134 -226 -297 -279 -05 -103 -63 -50 -483 -973 -1256 -1300 -465 -951 -1260 -1335
co 3 61 -01 -32 -81 -257 -536 -611 260 370 498 547 48 149 140 233 132 149 167 154
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -23 79 -69 -38 94 -01 14 127 -05 -78 -109 -30 77 07 -19 -33 -54 -06 39
co 2 257 -253 -195 21 60 50 -12 -166 216 -23 -35 -383 148 289 20 -436 189 238 68
co 3 -42 47 33 -118 36 109 50 91 -22 -49 -120 121 -106 52 -42 -33 -02 -31 11
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 06 23 10 -52 -63 -105 -111 119 135 184 197 -16 -22 -38 -26 32 34 31 22
dpco 2 -94 -76 29 -60 -95 -133 -143 -52 13 -38 -35 -356 -442 -541 -644 -363 -419 -559 -647
dpco 3 18 14 -06 -76 -118 -235 -290 157 178 234 238 60 43 86 104 56 74 74 80
Lambdas Total x y z: -0,60 6,90 -0,36 4,18

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:357,297 √J0m:368,677 √Mm:117,402 λ:-0,60 |dp|m:0,8089 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:341,362 √J0m:352,758 √Mm:114,880 λ:-0,60 |dp|m:0,8089 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:325,427 √J0m:336,865 √Mm:112,416 λ:-0,60 |dp|m:0,8089 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:309,492 √J0m:321,000 √Mm:110,022 λ:-0,60 |dp|m:0,8089 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:293,553 √J0m:305,168 √Mm:107,708 λ:-0,60 |dp|m:0,8089 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:277,611 √J0m:289,374 √Mm:105,485 λ:-0,60 |dp|m:0,8089 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:261,661 √J0m:273,625 √Mm:103,365 λ:-0,60 |dp|m:0,8089 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:245,703 √J0m:257,930 √Mm:101,357 λ:-0,60 |dp|m:0,8089 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:229,733 √J0m:242,298 √Mm:99,473 λ:-0,60 |dp|m:0,8089 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:213,748 √J0m:226,743 √Mm:97,722 λ:-0,60 |dp|m:0,8089 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:197,744 √J0m:211,281 √Mm:96,114 λ:-0,60 |dp|m:0,8089 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:181,714 √J0m:195,936 √Mm:94,661 λ:-0,60 |dp|m:0,8089 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:165,650 √J0m:180,736 √Mm:93,370 λ:-0,60 |dp|m:0,8089 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:149,541 √J0m:165,721 √Mm:92,251 λ:-0,60 |dp|m:0,8089 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:133,369 √J0m:150,947 √Mm:91,313 λ:-0,60 |dp|m:0,8089 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:117,108 √J0m:136,493 √Mm:90,563 λ:-0,60 |dp|m:0,8089 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:100,712 √J0m:122,470 √Mm:90,008 λ:-0,60 |dp|m:0,8089 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:84,104 √J0m:109,046 √Mm:89,651 λ:-0,60 |dp|m:0,8089 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:67,123 √J0m:96,471 √Mm:89,499 λ:-0,60 |dp|m:0,8089 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:49,386 √J0m:85,123 √Mm:89,552 λ:-0,60 |dp|m:0,8089 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:29,558 √J0m:75,555 √Mm:89,813 λ:-0,60 |dp|m:0,8089 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:68,519 √Mm:90,280 λ:-0,60 |dp|m:0,8089 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:64,843 √Mm:90,951 λ:-0,60 |dp|m:0,8089 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:65,099 √Mm:91,822 λ:-0,60 |dp|m:0,8089 mm
Iteración 2
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 12 -52 40 33 -44 21 14 -100 -24 10 26 21 -42 03 16 14 26 -02 -28
co 2 -135 167 111 -01 -17 -03 36 110 -132 21 28 301 00 -65 117 334 -29 -31 89
co 3 22 -31 -19 86 02 -18 28 -86 -22 -17 24 -85 55 -48 05 09 -13 04 -23
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -06 -124 01 -76 71 -12 -12 330 -124 46 -107 -99 31 -27 32 61 -14 25 -25
co 2 494 -310 18 -73 94 -31 -01 78 -80 46 -31 -488 204 212 -128 -563 367 108 -107
co 3 -93 -130 -03 -131 212 -46 -64 424 -139 21 -83 35 -13 -77 64 82 -35 01 00
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 06 -33 20 12 -18 10 06 -31 -19 08 07 05 -19 00 10 10 12 00 -15
dpco 2 -39 65 57 -05 -03 -04 18 60 -71 13 12 122 12 -20 51 134 07 -09 38
dpco 3 05 -23 -10 35 13 -12 10 -18 -19 -07 07 -40 27 -29 06 09 -09 02 -11
Lambdas Total x y z: -0,12 1,70 -0,10 0,94

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:59,031 √J0m:66,715 √Mm:90,839 λ:-0,12 |dp|m:0,1295 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:56,546 √J0m:64,192 √Mm:88,791 λ:-0,12 |dp|m:0,1295 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:54,061 √J0m:61,675 √Mm:86,746 λ:-0,12 |dp|m:0,1295 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:51,577 √J0m:59,164 √Mm:84,704 λ:-0,12 |dp|m:0,1295 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:49,093 √J0m:56,660 √Mm:82,667 λ:-0,12 |dp|m:0,1295 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:46,609 √J0m:54,165 √Mm:80,634 λ:-0,12 |dp|m:0,1295 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:44,125 √J0m:51,678 √Mm:78,608 λ:-0,12 |dp|m:0,1295 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:41,641 √J0m:49,203 √Mm:76,589 λ:-0,12 |dp|m:0,1295 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:39,157 √J0m:46,740 √Mm:74,581 λ:-0,12 |dp|m:0,1295 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:36,671 √J0m:44,292 √Mm:72,587 λ:-0,12 |dp|m:0,1295 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:34,183 √J0m:41,860 √Mm:70,609 λ:-0,12 |dp|m:0,1295 mm
LINE SEARCH. Vez:12 Sal:44,0 Incr:1,0 √J1m:31,691 √J0m:39,449 √Mm:68,652 λ:-0,12 |dp|m:0,1295 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:29,195 √J0m:37,063 √Mm:66,721 λ:-0,12 |dp|m:0,1295 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:26,692 √J0m:34,705 √Mm:64,819 λ:-0,12 |dp|m:0,1295 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:24,179 √J0m:32,384 √Mm:62,952 λ:-0,12 |dp|m:0,1295 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:21,652 √J0m:30,106 √Mm:61,127 λ:-0,12 |dp|m:0,1295 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:19,104 √J0m:27,883 √Mm:59,350 λ:-0,12 |dp|m:0,1295 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:16,525 √J0m:25,729 √Mm:57,628 λ:-0,12 |dp|m:0,1295 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:13,896 √J0m:23,662 √Mm:55,968 λ:-0,12 |dp|m:0,1295 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:11,179 √J0m:21,709 √Mm:54,380 λ:-0,12 |dp|m:0,1295 mm
LINE SEARCH. Vez:21 Sal:44,0 Incr:1,0 √J1m:8,289 √J0m:19,901 √Mm:52,871 λ:-0,12 |dp|m:0,1295 mm
LINE SEARCH. Vez:22 Sal:44,0 Incr:1,0 √J1m:4,925 √J0m:18,283 √Mm:51,451 λ:-0,12 |dp|m:0,1295 mm
LINE SEARCH. Vez:23 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:16,908 √Mm:50,131 λ:-0,12 |dp|m:0,1295 mm
LINE SEARCH. Vez:24 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:15,841 √Mm:48,919 λ:-0,12 |dp|m:0,1295 mm
LINE SEARCH. Vez:25 Sal:44,0 Incr:1,0 √J1m:NeuN √J0m:15,146 √Mm:47,827 λ:-0,12 |dp|m:0,1295 mm
Iteración 3
==== bp: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -01 24 -06 05 -03 -01 00 -30 20 -08 11 10 02 03 -07 -10 -02 -03 07
co 2 -47 18 -18 10 -10 05 -05 -26 30 -09 00 22 -27 -19 00 27 -45 -10 01
co 3 09 22 03 05 -29 09 05 -44 22 00 08 08 -06 17 -09 -12 07 -01 03
==== h: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 2 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
co 3 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02 02
==== Λ: vector incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
co 1 -06 -156 08 -23 42 -07 -07 231 -67 60 -71 -28 02 -33 33 31 02 09 -13
co 2 48 -79 20 -16 66 -49 08 -102 121 12 -18 -63 -06 57 -39 -122 120 -18 -20
co 3 -10 -224 -02 -40 206 -134 -23 306 -61 81 -90 -16 -03 -76 78 33 -04 07 -04
Pesos de cada articulacion en cada esqueleto:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
Esque 1 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00 1,00
Esque 2 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00 0,00
Dp incremental en mm:
Arti. 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19
dpco 1 00 17 -03 04 -03 00 00 -23 12 -06 08 06 01 03 -04 -06 -01 -02 04
dpco 2 -25 11 -10 06 -07 04 -03 -10 11 -05 01 13 -13 -11 01 18 -27 -04 01
dpco 3 05 19 02 04 -21 09 03 -33 13 -03 07 04 -03 11 -07 -07 03 -01 02
Lambdas Total x y z: 0,07 0,75 0,82 0,24

OPTIMIZO GLOBAL
LINE SEARCH. Vez:1 Sal:44,0 Incr:1,0 √J1m:18,450 √J0m:14,073 √Mm:45,840 λ:0,07 |dp|m:0,0410 mm
LINE SEARCH. Vez:2 Sal:44,0 Incr:1,0 √J1m:17,671 √J0m:13,272 √Mm:44,824 λ:0,07 |dp|m:0,0410 mm
LINE SEARCH. Vez:3 Sal:44,0 Incr:1,0 √J1m:16,902 √J0m:12,474 √Mm:43,817 λ:0,07 |dp|m:0,0410 mm
LINE SEARCH. Vez:4 Sal:44,0 Incr:1,0 √J1m:16,143 √J0m:11,678 √Mm:42,820 λ:0,07 |dp|m:0,0410 mm
LINE SEARCH. Vez:5 Sal:44,0 Incr:1,0 √J1m:15,397 √J0m:10,886 √Mm:41,834 λ:0,07 |dp|m:0,0410 mm
LINE SEARCH. Vez:6 Sal:44,0 Incr:1,0 √J1m:14,666 √J0m:10,099 √Mm:40,859 λ:0,07 |dp|m:0,0410 mm
LINE SEARCH. Vez:7 Sal:44,0 Incr:1,0 √J1m:13,952 √J0m:9,317 √Mm:39,897 λ:0,07 |dp|m:0,0410 mm
LINE SEARCH. Vez:8 Sal:44,0 Incr:1,0 √J1m:13,257 √J0m:8,543 √Mm:38,948 λ:0,07 |dp|m:0,0410 mm
LINE SEARCH. Vez:9 Sal:44,0 Incr:1,0 √J1m:12,586 √J0m:7,778 √Mm:38,015 λ:0,07 |dp|m:0,0410 mm
LINE SEARCH. Vez:10 Sal:44,0 Incr:1,0 √J1m:11,942 √J0m:7,026 √Mm:37,097 λ:0,07 |dp|m:0,0410 mm
LINE SEARCH. Vez:11 Sal:44,0 Incr:1,0 √J1m:11,329 √J0m:6,291 √Mm:36,197 λ:0,07 |dp|m:0,0410 mm
LINE SEARCH. Vez:12 Sal:44s,0 Incr:1,0 √J1m:10,753 √J0m:5,580 √Mm:35,317 λ:0,07 |dp|m:0,0410 mm
LINE SEARCH. Vez:13 Sal:44,0 Incr:1,0 √J1m:10,221 √J0m:4,903 √Mm:34,457 λ:0,07 |dp|m:0,0410 mm
LINE SEARCH. Vez:14 Sal:44,0 Incr:1,0 √J1m:9,740 √J0m:4,277 √Mm:33,619 λ:0,07 |dp|m:0,0410 mm
LINE SEARCH. Vez:15 Sal:44,0 Incr:1,0 √J1m:9,317 √J0m:3,727 √Mm:32,806 λ:0,07 |dp|m:0,0410 mm
LINE SEARCH. Vez:16 Sal:44,0 Incr:1,0 √J1m:8,961 √J0m:3,292 √Mm:32,019 λ:0,07 |dp|m:0,0410 mm
LINE SEARCH. Vez:17 Sal:44,0 Incr:1,0 √J1m:8,679 √J0m:3,021 √Mm:31,260 λ:0,07 |dp|m:0,0410 mm
LINE SEARCH. Vez:18 Sal:44,0 Incr:1,0 √J1m:8,481 √J0m:2,961 √Mm:30,532 λ:0,07 |dp|m:0,0410 mm
LINE SEARCH. Vez:19 Sal:44,0 Incr:1,0 √J1m:8,370 √J0m:3,123 √Mm:29,836 λ:0,07 |dp|m:0,0410 mm
LINE SEARCH. Vez:20 Sal:44,0 Incr:1,0 √J1m:8,352 √J0m:3,476 √Mm:29,176 λ:0,07 |dp|m:0,0410 mm
Acabado Optimizado (izq). Cuadro 240 Distancia Esque. Antes y Despues Retoque:394,00 Distancias Despues con p y q: 3,00 789,00 mm

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redactado el 13 oct de 2016

 

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