Introdução A Engenharia

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Introdução Read
introdução read
1 - INTRODUCTION Usually, our studies of robotics start with the manipulating robot kinematics. In order to proceed, concepts like forward kinematics, inverse kinematics, jacobian matrix, among others, should be assimilated. However, the familiarity with these concepts depends on others, out of which the basic principle, homogeneous transformations, is totally dependent on Denavit and Hartenberg conventions. This is just the most complex component for the beginners: - The algorithm to obtain the DH .

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