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Prof. Alessandro De Luca - uniroma1.itdiag.uniroma1.it/~deluca/rob1/09_CinematicaDiretta.pdf · 1 -π/2 0 d 1>0 q 1=0 2 π/2 0 d 2>0 q 2=0 3 0 0 q 3>0 -π/2 4 -π/2 0 0 q 4=0 5 π/2
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