Tesi Robotica V+ Sim: Interprete Command Language e... | Page 147
ove ogni trasformazione omogenea è nella forma
e quindi
ove, è ben ricordare,
Si consideri adesso un manipolatore ad n bracci, q1...,qn le variabili di giunto, e
sia
146
Tesi Robotica V+ Sim: Interprete Command Language e... | Page 146
Tesi Robotica V+ Sim: Interprete Command Language e... | Page 148
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