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1. Simulação Dinâmica e Controlo de Robôs Industriais

Faculdade de Engenharia FEUP Departamento de Engenharia Electrot cnica e de Computadores Simula o Din mica e Controlo de Rob s Industriais Disserta o submetida para provas de Mestrado em Engenharia Electrot cnica e de Computadores Nuno Miguel Fonseca Ferreira Porto Setembro de 1999 ndice Agradecimentos Resumo CAP TULO 1 1 1 Introdu o 1 2 Objectivos 1 3 Estrutura da Disserta o CAP TULO 2 2 1 Introdu o 2 2 Manipuladores R
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