R.O \3t - 111orco6 Pn~lo R,ir;; dos 5oN lo5 - L'5 t.Q Ej,erc .-c.

os

")
5 i
5 2 5 l
0 A-:::; G.
B I C:: 8 3 ·"l
L. 0 == [ 4 1 fj
8 3 2
3 G 4 3 3 6 y
, -
,, .\'. )
l

E A. B
== => E= 2 5 l s ·15
0 3 2- :::
49
3 6 ½ 3 33

f:: A.c = > F =

2. 5 I 2 s l1 f 31 J6
t
(1

3 2. () 3 z. :-.
~6 6i 22.
-,
.:) c;; Lj :3 6 4 GG 57-- 31
Q_

.,,
'
G:: A.0 G;:- l 5
6] => Nio
?,:>

po5S , ve /
8 3 z [ l/ I e/

3 6 4

I
J,
I ' 't.1..
j , i
·- (; '
•• J
= '
I
'·!
' r,
I -

lr~
">b

j
I,.
:> ( .

u~ C.D ='> J= 3 c. . [ lj ...( ~> 1 1) ( l

3 6 q

1]
JO
6
JZ

1
M= f- ::> F:: [Y=l- 3l
6 i
/6]- l
46
;~ = d~tF
G6 51

-49 -2S~
l
-,~9'
- -G

-
631- - I 13
=> CQF" = +2G -1~04 ( I 169
ro31
~o 1 - G33 =>
F- I:= 2.b 401 -2'32i
=> F :
z. 401 - 298
-~ 'j 828~ 'G3f &2.8l i.,2.f I
-14oq -G33 /YLII
_ 2.9i
-
-,::,
-63t
l~YI
-2.94 -108 - 6::J..J !Lill'
bU) \ ( ,, - f
('c:.[
 n,.. dos 5JwL~)5 - L5 to [,.,erC;ci05
Ro fJE i . r1Qrco
AA ()A {o
j lttu f(
.,7,.

(p N== F.F- '

lJ 7- 31 16
J_
-169
-I -G
----
~J
-=='> N== 13 9
16 0
q f, GI 22
--
2
[i
-zg2> l
57-
- 401
---
b6 31 631- 6261 t2ol 0

Dec;'(. r .to 110

r
Oe~cr, to vv
- IO~
637- -----
_(;;33
~281
IY 4 I
&2Bt
®
s.~((µu 110~'<?,
"'J, ~Vi~~l<.1 F· )(0

Ap= R.. Br == '> Br=

[!] ~/
R. l( =
j
0

0
0
cose. • se u9
'.Se ,J '7 cos~
0
='> G -= 5 0 :: >

1 0 0 O
Ap :: Yl/l - Vl/z_
2
0 vi/2 = O
Ap = -2{2
0 l/l/2 o 'fi_f'l fz./2.
3iff
T

l\p =R..Bp ~R-' 4p = Ii3p => R'·f~ 0

ri12
0
-fr
2.
:=->

l. ~_) Vl/Z.
\'l
. .-:,. _ J
T
1-
! I
u u

=>-- fCD~r R_]

- =
f --
l
;-0 0
!L
J
1,;,
' I '
=;
de.t R i l -J~ k I
La I. --2. .,I
-
6p ;=
0 0 f2 ;-c...,, 11

-f f •l;~l j
o a:... K .r.. l I
0 = L5

AP ::: O
t\. •
8p ==) l .y . x pre. ,,
Mu 1L· 'f ,..cc.. '•
1
- '>
- 13 p -= [rJl ;:>
2

-.se. u
coso.c
0(.. o] [cos
O . <J
0J
se~~JJ 0 o
8 f3 "' 30 ° = >
lo
cos{3 <~,i -= > = w =
o 1 V=n13 C.OS 0
-5ell(.,J 9 cosw

- l
0
0

j
0

0 ~l I~ ; 0
O
0
1 0
i

0
0 l 0 j ~J 0 -I o o

C) 0 i 3
~p ,:a 0 1 0

- I 0 0 2
 ,;. poJ- - ff uI t :pI•cc. ,,
@ Ar~ R BP = ';,- u. v. tJ = ') ::: > Bp, [;) =- >

:::> R= 1 0 0 (.Cl 0 s~ C vJ - 5 lJ 0
0 CG- -se 0 1 0 . 5c,J CcJ 0
=w go~ '>
=> & = C< ="' =

0 56). c'9 -'Sol 0 Coc 0 0 J

::: R. =
i 0 0 0 0 l 0 -1 0 0 Q l 0 -I 0 0 0 i.
0 0 -I 0 j 0 1 0 0 :: l Q 0 • I 0 0 = O -l 0
0 L 0 -1 0 0 0 .i 0 0 0 J J 00
0 1 Q

{t [)]
0 0 i
== > Ap =
:a
0 -j 0
1 0 0

® e' l LA w LE u J80. u -I> 6) z. tv -:> LC lJ -0 d3 \J

JLL~ • 50c,,.,
L4 ==

30 c,-, d;JOcn,, Q,' ~5,

--
Le.
CQ\
=

:,Q,
30 c /)l'\
-562,
cei
0
C)
px
I
Pyl pj ,= LB .:SeN e,
P)( := L6 cos(:),
I
,-e -·
[,:~Ir
l " .,.. ·,
··50-,.,_
re
(_,

0
!
P,,
P11.
Pr~
l P:.; z."' Le . C.OG G}z
P~'l.:: Le. seNOl
-

0 0 J. P.. , ro C,
P..~= d3
0
.......
e 0 1 l - ,
i\~ = LA ,~.\ JeG"u _LO 0 0 I .J

------- r:-
cs, -5624 Lecos9, 10 0 v·j r£0-~ --so.I. (j
Lccc~f\j--
lo
0
~/ sQ, CG 1 0 LB~IJ~I -.i 0 - I O CJ , t SQ. ..
CG,_ 0 Le =-eM£.1;?_ :: > I I
d?
- J

0 j ,LA ( 00-1 o_ 0 l
0
0 0 0 -
I
.l - 0 o O J 0 0 0 J_

58, LBC6>1 C~2. -S(?l i!. CY Lc. CQ 2

C~1 0
~>
+5G 1 -C&1 o - L6 se, SQ.2. CQz. 0 Le.. 50 l ='>
/

I
D 0 -l LA Q - 0 l d5
l l I '
. r,

0 0 0 l 0 0 Q 1

ce ,ce '{_-t 5Q,50r SQ,cG-z. -SQzC6) 1 O

~,CGz -501.CQ, - '50, 5/yz. -CQ,CQl 0

0 0 -1
<=C P)( ::: SY, 95 f c,.,,

0 0 0 l

p~ = JO,606 - 311 + IS 1,235 CM

Pi = _ !O + 50 = 40 U('1

------
ROBES- /~arco~ Poulo Rizzi d05 5:)Ntos ·- 5!XD/b99 I

1) C&5 El; , co5 0<. ,- £eN e; seN~4- se tJ G-, O . i CO'JGi o," 30~ Ql.:: 45· \Y. ::0
_;

Ai, .::::
°'J:: lbJ,
5eN Gi C05xi CG5~· -seNc<.; cos~; Q;5eNQi ctr..= O" C..(1
J
=0

0 ,6fij cl i C(J5 o<'..; di 0.1 -- .:>

2 0 (,1,,
0 z. "~-UTtl 0 j-= U

0 0 0 1 Cl1=socrr,, dz.= c, d 3 :: lvc.1

T == A Ai ce., se-, 0 3JCQ.1

I. .A3 => AI~
SQ., -Coll' 0 3o se-,
0 0 - SC>
Q 0 0 1

l 0 0
Az. == CGe.
0
- SQ.2. 0 30 .C02.
30. 59 z.
0 1 v 0
5 Qt. CQt 0 I f~ j ~- -'
-/

0 0 l 0 0 0 i Jo
0 0 0 i 0 0 0 J
L-

., . r , -,

=> T;; co,

(CQ "' c. I

SQ, ' •
:.:,L -l•

SQ, -(QJ
0.

0
I
::J0(.f), ·

~5£).: l~Q
,2
•..., l
-SQ 2.
CG·:.
G
0 305l-'z
I

(o
1 C
I
0

0
-1I
::.')
I 0 10
0 0 -1 50
0 0 - 0 0
0 0 0 1 0 0 j
0 0 0 J 0
..J

_, C.G.i 5~, 0 30CQ, CG-z. -50-z d 3OCGZ

:::=")
I -= 3Q5G-t.
SQ, -GQ, () 305Q, SQ!:: CG z 0
==

0 0 - I 50 0 0 l JO
0 0 0 1 0 0 0 l

CG.,CGl +5Q 1SO z.. SOz.CQ.l -'.:Q 2CQ 1 0 CQ, ( 30C6lz)+ 5Q, -(305Q 2 ) t2()CQ 1

= SQ 1 CQ-z_-5Q'2.CQ. 2 - ":)Qli~'l. -CQ,CQ-z. 0 S Q , ( 3QCG-z )~ce, C?D5faz.) 3 0 _SQ 1

,::')

0 0 -i 50 - /0
0 0 l
0

p)( ::: to s (30 ) . cos ( q5) . 30 + se N( 301 . seN Cll 5 l . 30. co 5 ( 3o) . l
J
t
S4 ,9St
p SCN (30) . COS(~ s I. 30 - cos( 30). 3eN
(" 5 1 • 30 -t 30. se 1v C30 J L
7
1,2-35
PC: = ~o LIO