Tesi Robotica V+ Sim: Interprete Command Language e... | Page 95
Posizioniamo le terne in accordo con le convenzioni e, consultando il foglio delle
caratteristiche dimensionali del robot, definiamo i parametri DH
Adesso possiamo facilmente calcolare tutte le trasformazioni omogenee:
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Tesi Robotica V+ Sim: Interprete Command Language e... | Page 96
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