SOLLECITAZIONE DI TAGLIO PURO
Generalità (1/5) Come si è già precisato nel capitolo precedente relativo alla contemporanea presenza delle sollecitazioni di taglio e torsione vogliamo ora caratterizzare ulteriormente lo stato...
View Article[MF] Inverse Kinematics Algorithms
Algorithmic Solutions Solution drift Operational space error Differentiating ... Find Jacobian (Pseudo-)Inverse Error dynamics linearization...
View ArticleInstitutions - The foundation of the city
I.1 - Rex, patres, tribus, curiae From 9th to 6th century B.C. Etruscans, Samnites, Sabines and Latins were the main ethnic groups in Italy. The first settlement of Rome was on the hills of Palatine...
View ArticleInstitutions - The Principate
I.1 - The Republic in crisis After the three Punic Wars (264-146 B.C.) and the Macedonian Wars (215-168 B.C.), Rome managed to dominate the entire Mediterranean. 275 B.C.: the defeat of Pyrrhus 247...
View ArticleInstitutions - The Republic
I.1 - The establishment With the Licinian-Sestian compromise, stability was brought to Rome. 443 B.C.: Pericles’ age 427 B.C.: Plato was born 384 B.C.: Aristotle was born 377 B.C.: Hippocrates dies 336...
View ArticleInstitutions - The late antiquity
I.1 - Diocletian: the joint-leadership (tetrarchy) The Distinction of the Empire periodisation in Principate and Dominate was by Theodor Mommsen and places Diocletian as a turning point. Many talk...
View ArticleRoman legal science - First appearance of ius
I.1 - Origins: fas and ius In ancient Rome the ius mirrored itself with Fatum (destiny/fate), which was: “the Gods’ decisions revealed to Man through signs”. The tribes dwelling in the area, which was...
View ArticleRoman legal science - The building of legal science in the Republic
I.1 - Orality and writing Sixty years after the pontificate of Tiberius Coruncanius, Sextus Aelius Peto Cato, a plebeian nobleman, consul in 198 B.C., censor in 194 B.C., wrote the Tripertita, a book...
View ArticleRoman legal science - Jurists and power I: the compromise
I.1 - Labeo At the very beginning of the Principate lived Marcus Antistius Labeo, an aristocrat who followed a political career refusing honours offered by Augustus. He retired from public life...
View ArticleRoman legal science - Jurists and power II: the alliance
I.1 - The jurists under the Severi How did the role of jurists change with the rise of the Empire? I.2 - The jurists under the Severi The jurisprudential Roman model, generated for a town, which...
View ArticleCodes - The code pattern
I.1 - What is a code? What is a code nowadays? I.2 - What is a code? We can define it as a collection of juridical materials, which are brand new, complete, exhaustive, systematic, coherent and unify...
View ArticleCodes - The quest for order
I.1 - The crisis In late antiquity the crisis in and of justice (coupled with the uncertainty of the laws which should have been applied in courts especially in provinces) increased; a cultural change...
View ArticleCodes - The Theodosian code
I.1 - The original proposal The Gregorianus and the Hermogenianus codices didn’t resolve the uncertainty of law and the crisis of justice; was a complaint made by many late-antiquity historians. I.2 -...
View ArticleCodes - The great legal reform by Justinian
I.1 - His personality The arrival point of the entire Roman juridical experience was the great codificatory project by Justinian, who succeeded the throne of Constantinople in 527 A.D. and immediately...
View Article[MF] Introduction to Robotics
Introduction to Robotics Questa è una slide di prova The Age of Robots Robot Robot (robota = executive labour) One of human beings' greatest ambitions has been to give life to their artifacts...
View Article[MF] Industrial Robotics and Advanced Robotics
Industrial Robotics Industrial robotics discipline concerning robot design, control and applications in industry Its products have by now reached the level of a mature technology Industrial robots...
View Article[MF] Representation of Orientation
Kinematics Relationship between the joint positions and the end-effector position and orientation Representations of orientation Rotation matrix Euler angles Four-parameter representations Direct...
View Article[MF] Direct Kinematics
Homogeneous Representation of a Vector Coordinate transformation (translation + rotation) Inverse transformation Homogeneous representation ...
View Article[MF] Inverse Kinematics
Inverse Kinematics Problem Inverse kinematics Complexity Possibility to find closed-form solutions (nonlinear equations to solve) Existence of multiple solutions Existence of infinite solutions...
View Article[MF] Jacobian
Differential Kinematics Relationship between the joint velocities and the end-effector linear and angular velocities Jacobian Derivative of a rotation matrix Jacobian computation Jacobian of typical...
View Article[MF] Differential Kinematics
Kinematic Singularities Those configurations at which is rank-deficient are termed kinematic singularities Reduced mobility (it is not possible to impose an arbitrary motion to the end-effector)...
View Article[MF] Statics
Statics Relationship between the generalized forces (force and moment) pplied to the end-effector (forces) and the generalized forces (forces and/or torques) applied to the joints (torques), with the...
View Article[MF] Lagrange Formulation
Dynamics Relationship between the joint actuator torques and the motion of the structure Lagrange formulation Equations of motion Notable properties of dynamic model Dynamic model of two-link planar...
View Article[MF] Use of Dynamic Model
Two-link Planar Arm Masses Inertia moments Jacobians Dynamic Model Inertia matrix Centrifugal and Coriolis torques...
View Article[MF] Newton-Euler Formulation
Link Velocities and Accelerations Dynamic parameters of augmented link : link mass : link inertia tensor : rotor moment of inertia : vector from origin of Frame to centre of mass : vector from...
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