A1=sym（‘[C10-S10;S10C10;0-10L1;0001]‘）;
A2=sym（‘[C2-S20L2*C2;S2C20L2*S2;0010;0001]‘）;
A3=sym（‘[C3-S30L3*C3;S3C30L3*S3;0010;0001]‘）;

T=A1*A2*A3;?


%2DOF??PLANE
A1=sym（‘[C1-S10;S1C10;001]‘）;
A1X=sym（‘[10L1;010;001]‘）;
A1=A1*A1X;

A2=sym（‘[C2-S20;S2C20;001]‘）;
A2X=sym（‘[10L2;010;001]‘）;
A2=A2*A2X;

A3=sym（‘[C3-S30;S3C30;001]‘）;
A3X=sym（‘[10L3;010;001]‘）;
A3=A3*A3X;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2017-03-31?16:59??LnYa?Matlab?Simulation?Little?20170315\
?????文件?????????456??2016-12-02?09:00??LnYa?Matlab?Simulation?Little?20170315\3DOFSym?Calculation.m
?????文件?????????918??2017-03-08?15:48??LnYa?Matlab?Simulation?Little?20170315\Build_3DOFRobot_Lnya.m
?????文件????????1185??2017-03-06?14:54??LnYa?Matlab?Simulation?Little?20170315\Build_Puma560_Lnya.m
?????文件?????????122??2000-09-05?17:10??LnYa?Matlab?Simulation?Little?20170315\Connect3D.m
?????文件?????????978??2017-03-06?16:09??LnYa?Matlab?Simulation?Little?20170315\DHfk3Dof_Lnya.m
?????文件????????1364??2017-03-08?20:52??LnYa?Matlab?Simulation?Little?20170315\DHfk_J_Puma560_Lnya.m
?????文件????????1362??2017-03-09?13:41??LnYa?Matlab?Simulation?Little?20170315\DHfk_Puma560_Lnya.m
?????文件?????????877??2004-12-27?12:15??LnYa?Matlab?Simulation?Little?20170315\DrawCylinder.m
?????文件?????????339??2017-03-03?20:40??LnYa?Matlab?Simulation?Little?20170315\IK_3DOF_Rob_Lnya.m
?????文件????????1250??2017-03-08?16:50??LnYa?Matlab?Simulation?Little?20170315\Jacobian6DoF_Ln.m
?????文件?????????733??2016-11-29?08:48??LnYa?Matlab?Simulation?Little?20170315\Ln_IK3DOF.m
?????文件?????????108??2016-11-20?00:16??LnYa?Matlab?Simulation?Little?20170315\Ln_IK3DOFCyl.m
?????文件?????????964??2016-11-27?16:36??LnYa?Matlab?Simulation?Little?20170315\Lnya_3DOFRobotCyl.m
?????文件????????1679??2016-11-22?10:45??LnYa?Matlab?Simulation?Little?20170315\Lnya_3DOF_CylMov.m
?????文件?????????656??2016-11-22?09:51??LnYa?Matlab?Simulation?Little?20170315\Lnya_3DOF_CylWorkspace.m
?????文件????????4930??2016-11-28?22:27??LnYa?Matlab?Simulation?Little?20170315\Lnya_3DOF_LTracking.m
?????文件?????????714??2016-11-27?16:36??LnYa?Matlab?Simulation?Little?20170315\Lnya_DHfk3DofCyl.m
?????文件?????????822??2016-12-01?14:30??LnYa?Matlab?Simulation?Little?20170315\Manipuilityellipse.m
?????文件?????????523??2017-03-06?16:09??LnYa?Matlab?Simulation?Little?20170315\Matrix_DH_Ln.m
?????文件????????4334??2017-03-14?21:24??LnYa?Matlab?Simulation?Little?20170315\Mov_3DOF_Rob_Lnya.m
?????文件?????????677??2017-03-09?13:42??LnYa?Matlab?Simulation?Little?20170315\Mov_Jaco_Puma560_Lnya.m
?????文件????????2442??2017-03-06?16:11??LnYa?Matlab?Simulation?Little?20170315\Mov_Puma560_Lnya.m
?????文件?????????925??2017-03-15?19:39??LnYa?Matlab?Simulation?Little?20170315\Mov_Trajectory_3DOF_Rob_Lnya.m
?????文件??????273396??2016-11-28?11:57??LnYa?Matlab?Simulation?Little?20170315\Puma560workspace.fig
?????文件?????1067431??2016-11-28?13:19??LnYa?Matlab?Simulation?Little?20170315\Puma560workspace2.fig
?????文件????????1622??2016-12-02?09:49??LnYa?Matlab?Simulation?Little?20170315\Singularpoint_2Dofs.m
?????文件????????1300??2017-03-08?20:15??LnYa?Matlab?Simulation?Little?20170315\Singularpoint_3DOF_Rob_Lnya.m
?????文件????????1450??2017-03-06?15:29??LnYa?Matlab?Simulation?Little?20170315\WorkspaceMov3Dof_Puma560_Lnya.m
?????文件????????1478??2017-03-08?18:57??LnYa?Matlab?Simulation?Little?20170315\WorkspaceMov_Puma560_Lnya.m
?????文件????????2190??2017-03-08?18:58??LnYa?Matlab?Simulation?Little?20170315\Workspace_Puma560_Lnya.m
............此處省略0個文件信息