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| <!-- http://excel2wiki.net -->
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| <table><tr><td>
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| {| class="wikitable"
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| | align="center" style="background:#d0d0d0;" colspan="6" | Head center
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| |-
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| | align="center" style="background:#f0f0f0;"|'''Link'''
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| | align="center" style="background:#f0f0f0;"|'''alpha'''
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| | align="center" style="background:#f0f0f0;"|'''R'''
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| | align="center" style="background:#f0f0f0;"|'''theta'''
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| | align="center" style="background:#f0f0f0;"|'''D'''
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| | align="center" style="background:#f0f0f0;"|''' '''
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| |-
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| | align="center"|0||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|virtual link
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| |-
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| | align="center"|1||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|M0 → M1
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| |-
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| | align="center"|2||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|-370||align="center"|M1 → M2
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| |-
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| | align="center"|3||align="center"|Pi||align="center"|132.21||align="center"|0||align="center"|0||align="center"|M2 → M3
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| |}
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| <table><tr><td>
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| {| class="wikitable"
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| | align="center" style="background:#d0d0d0;" colspan="6" | Right eye
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| |-
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| | align="center" style="background:#f0f0f0;"|'''Link'''
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| | align="center" style="background:#f0f0f0;"|'''alpha'''
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| | align="center" style="background:#f0f0f0;"|'''R'''
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| | align="center" style="background:#f0f0f0;"|'''theta'''
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| | align="center" style="background:#f0f0f0;"|'''D'''
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| | align="center" style="background:#f0f0f0;"|''' '''
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| |-
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| | align="center"|0||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|virtual link
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| |-
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| | align="center"|1||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|M0 → M1
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| |-
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| | align="center"|2||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|-370||align="center"|M1 → M2
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| |-
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| | align="center"|3||align="center"|Pi||align="center"|132.21||align="center"|0||align="center"|0||align="center"|M2 → M3
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| |-
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| | align="center"|4||align="center"|-Pi/2||align="center"|0||align="center"|0||align="center"|-111||align="center"|M3 → M4
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| |}
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| </td><td>
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| {| class="wikitable"
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| | align="center" style="background:#d0d0d0;" colspan="6" | Left eye
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| |-
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| | align="center" style="background:#f0f0f0;"|'''Link'''
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| | align="center" style="background:#f0f0f0;"|'''alpha'''
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| | align="center" style="background:#f0f0f0;"|'''R'''
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| | align="center" style="background:#f0f0f0;"|'''theta'''
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| | align="center" style="background:#f0f0f0;"|'''D'''
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| | align="center" style="background:#f0f0f0;"|''' '''
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| |-
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| | align="center"|1||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|virtual link
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| |-
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| | align="center"|1||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|M0 → M1
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| |-
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| | align="center"|2||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|-370||align="center"|M1 → M2
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| |-
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| | align="center"|3||align="center"|Pi||align="center"|132.21||align="center"|0||align="center"|0||align="center"|M2 → M3
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| |-
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| | align="center"|4||align="center"|-Pi/2||align="center"|0||align="center"|0||align="center"|111||align="center"|M3 → M5
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| |}
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| </td></tr></table>
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|
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| <table><tr><td>
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| {| class="wikitable"
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| | align="center" style="background:#d0d0d0;" colspan="6" | Right arm
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| |-
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| | align="center" style="background:#f0f0f0;"|'''Link'''
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| | align="center" style="background:#f0f0f0;"|'''alpha'''
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| | align="center" style="background:#f0f0f0;"|'''R'''
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| | align="center" style="background:#f0f0f0;"|'''theta'''
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| | align="center" style="background:#f0f0f0;"|'''D'''
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| | align="center" style="background:#f0f0f0;"|''' '''
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| |-
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| | 0||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|virtual link
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| |-
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| | 1||align="center"|-Pi/2||align="center"|0||align="center"|0||align="center"|-0.0805||align="center"|M0 → M0R
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| |-
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| | 2||align="center"|-Pi/2||align="center"|0||align="center"|0||align="center"|0.212||align="center"|M0R → M1R
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| |-
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| | 3||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0.10256||align="center"|M1R → M2R
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| |-
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| | 4||align="center"|-Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|M2R → M3R
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| |-
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| | 5||align="center"|-Pi/2||align="center"|0||align="center"|0||align="center"|0.16296||align="center"|M3R → M4R
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| |-
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| | 6||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|M4R → M5R
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| |-
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| | 7||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0.18925||align="center"|M5R → M6R
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| |-
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| | 8||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|M6R → M7R
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| |-
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| | 9||align="center"|-Pi/2||align="center"|-0.1||align="center"|0||align="center"|0||align="center"|M7R → End-effector
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| |}
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| </td><td>
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| {| class="wikitable"
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| | align="center" style="background:#d0d0d0;" colspan="6" | Left arm
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| |-
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| | align="center" style="background:#f0f0f0;"|'''Link'''
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| | align="center" style="background:#f0f0f0;"|'''alpha'''
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| | align="center" style="background:#f0f0f0;"|'''R'''
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| | align="center" style="background:#f0f0f0;"|'''theta'''
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| | align="center" style="background:#f0f0f0;"|'''D'''
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| | align="center" style="background:#f0f0f0;"|''' '''
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| |-
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| | 0||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|virtual link
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| |-
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| | 1||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0.0805||align="center"|M0 → M0L
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| |-
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| | 2||align="center"|-Pi/2||align="center"|0||align="center"|0||align="center"|-0.212||align="center"|M0L → M1L
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| |-
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| | 3||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0.10256||align="center"|M1L → M2L
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| |-
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| | 4||align="center"|-Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|M2L → M3L
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| |-
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| | 5||align="center"|-Pi/2||align="center"|0||align="center"|0||align="center"|-0.16296||align="center"|M3L → M4L
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| |-
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| | 6||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|M4L → M5L
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| |-
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| | 7||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|-0.18925||align="center"|M5L → M6L
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| |-
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| | 8||align="center"|Pi/2||align="center"|0||align="center"|0||align="center"|0||align="center"|M6L → M7L
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| |-
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| | 9||align="center"|-Pi/2||align="center"|-0.1||align="center"|0||align="center"|0||align="center"|M7L → End-effector
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| |}
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| </td></tr></table>
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| </td><td>
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| [[File:Vizzymmotorsnumber.jpg]]
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| </td></table>
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|
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| Virtual link corresponds to:
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| <math>
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| \begin{bmatrix}
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| 1.0 & 0.0 & 0.0 & 0.0\\
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| 0.0 & 0.0 & -1.0 & 0.0\\
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| 0.0 & 1.0 & 0.0 & 0.0\\
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| 0.0 & 0.0 & 0.0 & 1.0
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| \end{bmatrix}
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| </math>
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|
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| //H0 (1.0 0.0 0.0 0.0 0.0 0.0 -1.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 1.0) // given per rows (Very precise MATLAB Matrix)
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| Matrix H0(4,4);
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| H0.zero();
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| H0(0,0)=1.0;
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| H0(1,2)=-1.0;
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| H0(2,1)=1.0;
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| H0(3,3)=1.0;
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| ''Parameters by Nuno Conraria.''
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