Report - Cinematica differenziale - uniroma1.itdeluca/rob1/11... · 2010-02-18 · Jacobiano geometrico robot 2R planare x 0 y 0 • E l 1 l 2 x 1 y 1 y 2 x 2 z 0 × p 0,E z 1 × p 1,E z 0

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