Tesi Robotica V+ Sim: Interprete Command Language e... | Page 136
Un insieme di trasformazioni omogenee di base, per le traslazioni, รจ il seguente:
ove Transx,a sta ad indicare la traslazione, lungo l'asse x, di un valore a fissato.
Per le rotazioni risulta:
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Tesi Robotica V+ Sim: Interprete Command Language e... | Page 135
Tesi Robotica V+ Sim: Interprete Command Language e... | Page 137
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