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Robot kinematics: prismatic and revolute joints; kinematic descriptions of chains of rigid bodies; the Denavit-Hartenberg notation; the inverse kinematics problem, closed form solutions; differential kinematics; algebraic and geometric Jacobians. Sciavicco, L. Emanuelli, S. Embryonic Structures. Fingerprint Adenosine. To read information relating other academic years, use the list at the bottom of this page.
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Siciliano, L. Therefore, several links are not available and data may be incomplete. Prerequisites and Learning Activities The students must know the basic notions of calculus and mechanics.
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Sciavicco, L. Trajectory planning. Robot dynamics: Lagrange formulation; computation of the kinetic and potential energies for an open chain manipulator; the dynamic model of a robot and its properties; the Newton-Euler formulation and an efficient method for the computation of the inverse dynamics.
Cecati and M. Journal of Biological Regulators and Homeostatic Agents27 2