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<h1 id="struttura-robotica">Struttura Robotica</h1>
<h2 id="cosa-sono-gli-assi-e-i-gradi-di-liberta">Cosa sono gli assi e i gradi di libertà</h2>
<p>Un <strong>robot</strong> si muove nello spazio grazie a una serie di <strong>assi</strong>, cioè snodi o giunti che gli permettono di ruotare o traslare. Ogni asse aggiunge un <strong>grado di libertà (DoF, Degree of Freedom)</strong>, cioè una direzione possibile di movimento.</p>
<p>Un corpo nello spazio può avere fino a <strong>6 gradi di libertà</strong>:</p>
<ul>
<li>3 di <strong>traslazione</strong>: avanti/indietro, sinistra/destra, su/giù.</li>
<li>3 di <strong>rotazione</strong>: rollio, beccheggio, imbardata.</li>
</ul>
<p>Un robot con <strong>6 assi</strong> può quindi raggiungere qualsiasi posizione e orientamento nello spazio tridimensionale, proprio come il braccio di un essere umano.</p>
<hr/>
<h2 id="cinematica-diretta-e-cinematica-inversa">Cinematica diretta e cinematica inversa</h2>
<p>La <strong>cinematica</strong> studia il movimento dei corpi, senza preoccuparsi delle forze.</p>
<ul>
<li><strong>Cinematica diretta</strong>: si conoscono gli angoli dei giunti → si calcola dove si trova l’estremità del braccio (end-effector).</li>
<li><strong>Cinematica inversa</strong>: si conosce la posizione desiderata dell’estremità → si calcolano gli angoli da dare ai giunti.</li>
</ul>
<p>La cinematica inversa è particolarmente importante: ci permette di dire al robot <em>"Vai lì"</em> e il robot calcola come muoversi.</p>
<hr/>
<h2 id="che-struttura-ha-primo">Che struttura ha PRIMO</h2>
<p>PRIMO è un <strong>braccio robotico a 6 assi</strong>, ovvero un <strong>manipolatore articolato</strong> che ricorda il braccio umano. È composto da:</p>
<ol>
<li><strong>Base</strong> – ruota il braccio orizzontalmente</li>
<li><strong>Spalla</strong> – alza e abbassa il braccio</li>
<li><strong>Gomito</strong> – estende o ritrae il braccio</li>
<li><strong>Polso 1</strong> – piega verso l'alto o il basso</li>
<li><strong>Polso 2</strong> – ruota lateralmente</li>
<li><strong>Polso 3</strong> – ruota sull'asse dell'end-effector</li>
</ol>
<p>Questa struttura è molto diffusa nell'industria, perché permette di raggiungere molti punti nello spazio con grande flessibilità.</p>
<hr/>
<h2 id="cinematica-a-catena-aperta-visiva">Cinematica a catena aperta (visiva)</h2>
<p>PRIMO ha una <strong>struttura a catena aperta</strong>: ogni giunto è collegato al successivo in sequenza, come i segmenti di un braccio umano.</p>
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