ToDeg?=?180/pi;
ToRad?=?pi/180;
UX?=?[1?0?0]‘;
UY?=?[0?1?0]‘;
UZ?=?[0?0?1]‘;

link=?struct（‘name‘‘Body‘??‘th‘??0?‘dz‘?0?‘dx‘?0?‘a(chǎn)lf‘0*ToRad‘a(chǎn)z‘UZ）;?????%?az?
link（1）=?struct（‘name‘‘base‘??‘th‘??0*ToRad?‘dz‘?0?‘dx‘?0?‘a(chǎn)lf‘0*ToRad‘a(chǎn)z‘UZ）;????????%base?to?1
link（2）?=?struct（‘name‘‘J1‘??‘th‘???90*ToRad?‘dz‘?450?‘dx‘?155?‘a(chǎn)lf‘90*ToRad‘a(chǎn)z‘UZ）;???????%1?TO?2?
link（3）?=?struct（‘name‘‘J2‘??‘th‘??0*ToRad?‘dz‘?0?‘dx‘?614?‘a(chǎn)lf‘0*ToRad‘a(chǎn)z‘UZ）;????%2?TO?3
link（4）?=?struct（‘name‘‘J3‘??‘th‘??90*ToRad?‘dz‘?0?‘dx‘?200?‘a(chǎn)lf‘90*ToRad‘a(chǎn)z‘UZ）;??????????%3?TO?4
link（5）?=?struct（‘name‘‘J4‘??‘th‘??0*ToRad?‘dz‘?385?‘dx‘?0?‘a(chǎn)lf‘-90*ToRad‘a(chǎn)z‘UZ）;??????????%4?TO?5
link（6）?=?struct（‘name‘‘J5‘??‘th‘??0*ToRad?‘dz‘?0?‘dx‘?0?‘a(chǎn)lf‘90*ToRad‘a(chǎn)z‘UZ）;??????????%5?TO?6
link（7）?=?struct（‘name‘‘J6‘??‘th‘??0*ToRad?‘dz‘?100?‘dx‘?0?‘a(chǎn)lf‘0‘a(chǎn)z‘UZ）;??????????%6?TO?E
link（8）?=?struct（‘name‘‘J7‘??‘th‘??0*ToRad?‘dz‘?0?‘dx‘?100?‘a(chǎn)lf‘90*ToRad‘a(chǎn)z‘UZ）;??????????%E?TO?E1
link（9）?=?struct（‘name‘‘J8‘??‘th‘??0*ToRad?‘dz‘?0?‘dx‘?-200?‘a(chǎn)lf‘0‘a(chǎn)z‘UZ）;??????????%E1?TO?E2

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2017-06-23?11:32??2111604227-石純一-安川MA1440\
?????文件?????1790795??2017-06-23?11:32??2111604227-石純一-安川MA1440\1.機器人學(xué)課程設(shè)計--石純一.doc
?????目錄???????????0??2017-06-23?11:30??2111604227-石純一-安川MA1440\2.MA1440源程序\
?????文件????????1148??2017-03-29?11:10??2111604227-石純一-安川MA1440\2.MA1440源程序\Build_MA1440_Lnya.m
?????文件?????????122??2000-09-05?17:10??2111604227-石純一-安川MA1440\2.MA1440源程序\Connect3D.m
?????文件????????1027??2017-03-29?11:15??2111604227-石純一-安川MA1440\2.MA1440源程序\DHfk_J_MA1440_Lnya.m
?????文件????????1097??2017-03-29?11:16??2111604227-石純一-安川MA1440\2.MA1440源程序\DHfk_MA1440_Lnya.m
?????文件?????????698??2017-03-29?11:18??2111604227-石純一-安川MA1440\2.MA1440源程序\DrawCylinder.m
?????文件?????????835??2017-03-29?11:19??2111604227-石純一-安川MA1440\2.MA1440源程序\Jacobian6DoF_Ln.m
?????文件?????????433??2017-03-29?11:20??2111604227-石純一-安川MA1440\2.MA1440源程序\Matrix_DH_Ln.m
?????文件?????????598??2017-03-29?11:21??2111604227-石純一-安川MA1440\2.MA1440源程序\Mov_Jaco_MA1440_Lnya.m
?????文件????????2464??2017-03-29?11:22??2111604227-石純一-安川MA1440\2.MA1440源程序\Mov_MA1440_Lnya.m
?????文件?????????732??2017-03-30?19:35??2111604227-石純一-安川MA1440\2.MA1440源程序\WorkspaceMov3Dof_MA1440_Lnya.m
?????文件?????????755??2017-03-30?19:35??2111604227-石純一-安川MA1440\2.MA1440源程序\WorkspaceMov_MA1440_Lnya.m
?????文件?????????784??2017-03-29?11:25??2111604227-石純一-安川MA1440\2.MA1440源程序\Workspace_MA1440_Lnya.m
?????目錄???????????0??2017-06-23?11:30??2111604227-石純一-安川MA1440\3.錄像\
?????文件?????3711840??2017-03-30?16:21??2111604227-石純一-安川MA1440\3.錄像\工作空間.avi
?????文件????17022340??2017-03-30?16:19??2111604227-石純一-安川MA1440\3.錄像\微分運動.avi
?????文件?????9631768??2017-03-30?16:20??2111604227-石純一-安川MA1440\3.錄像\正運動.avi
?????文件?????2255818??2017-03-30?16:30??2111604227-石純一-安川MA1440\4.MA1440說明書.pdf
?????文件?????2523136??2017-06-23?11:31??2111604227-石純一-安川MA1440\5.發(fā)表用的PPT.ppt