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Katedra za automatiku/ ETF-BL. 2. Denavi - Harterberg (DH) . Koordinatni po~etak vezanog koordinatnog sistema u centru zgloba Si. Osa Zi poklapa se sa osom ei zgloba. Osa Xi normalna na Zi, a istovremeno normalna na ei-1 (odnosno na Zi-1).Osa Yi normalno na Xi i Zi tako da se dobije desni koord

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