author: hajime asama

... Equation σ(θ) (7), is them determined σ is from determined Equation from (6). (8). 6. From Equation (1), τ(θ) is determined. 7. Finally, by substituting σ(θ) and τ(θ) into Equation (4), the Drawbar Pull is obtained. 0 -5 0 -10-15Fig.2 ...

... charging unit which will simply be referred to as the " charger " . The charger is conceptually very similar to a robot but its energy level is constant . Let the j - th charger c , EC | C | = nc where : ν c ; = < p j‚h j‚v j‚w ¡ ‚ Ñ¡‚Œ ...