function?Ad?=?Ad（g）
R?=?g（1:31:3）;
p?=?g（1:34）;
pHat?=?[0-p（3）p（2）;p（3）0-p（1）;-p（2）p（1）0];
Ad?=?[RpHat*R;zeros（3）R];

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2019-03-19?11:22??Path-Planning-for-UR5-Robot\
?????文件?????????126??2016-08-03?04:59??Path-Planning-for-UR5-Robot\Ad.m
?????文件????????4071??2016-08-03?04:59??Path-Planning-for-UR5-Robot\DummyMain_IK.m
?????文件????????4637??2016-08-03?04:59??Path-Planning-for-UR5-Robot\DummyMain_jacobian.m
?????文件?????????200??2016-08-03?04:59??Path-Planning-for-UR5-Robot\README.md
?????文件??????466610??2016-08-03?04:59??Path-Planning-for-UR5-Robot\Report.pdf
?????文件?????????397??2016-08-03?04:59??Path-Planning-for-UR5-Robot\cleanup_vrep.m
?????文件?????????239??2016-08-03?04:59??Path-Planning-for-UR5-Robot\eulerxyz.m
?????文件?????????324??2016-08-03?04:59??Path-Planning-for-UR5-Robot\eulerzyxinv.m
?????文件????????1064??2016-08-03?04:59??Path-Planning-for-UR5-Robot\getJacobian.m
?????文件?????????403??2016-08-03?04:59??Path-Planning-for-UR5-Robot\get_pose.m
?????文件???????????0??2016-08-03?04:59??Path-Planning-for-UR5-Robot\getf.m
?????文件????????1003??2016-08-03?04:59??Path-Planning-for-UR5-Robot\heart.mat
?????文件????????1325??2016-08-03?04:59??Path-Planning-for-UR5-Robot\move_robt.m
?????文件???????74006??2016-08-03?04:59??Path-Planning-for-UR5-Robot\remApi.m
?????文件??????134656??2016-08-03?04:59??Path-Planning-for-UR5-Robot\remoteApi.dll
?????文件???????33371??2016-08-03?04:59??Path-Planning-for-UR5-Robot\remoteApiProto.m
?????文件??????441315??2016-08-03?04:59??Path-Planning-for-UR5-Robot\report.ttt
?????文件??????????96??2016-08-03?04:59??Path-Planning-for-UR5-Robot\rotx.m
?????文件??????????96??2016-08-03?04:59??Path-Planning-for-UR5-Robot\roty.m
?????文件?????????101??2016-08-03?04:59??Path-Planning-for-UR5-Robot\rotz.m
?????文件?????????189??2016-08-03?04:59??Path-Planning-for-UR5-Robot\set_joints.m
?????文件????????1408??2016-08-03?04:59??Path-Planning-for-UR5-Robot\test.m
?????文件????????9493??2016-08-03?04:59??Path-Planning-for-UR5-Robot\test_for_project.m
?????文件????????2349??2016-08-03?04:59??Path-Planning-for-UR5-Robot\ur5_init.m
?????文件????????3551??2016-08-03?04:59??Path-Planning-for-UR5-Robot\ur5inv.m
?????文件????????1629??2016-08-03?04:59??Path-Planning-for-UR5-Robot\vrchk.m
?????文件?????????779??2016-08-03?04:59??Path-Planning-for-UR5-Robot\word.mat
?????文件?????????320??2016-08-03?04:59??Path-Planning-for-UR5-Robot\word1.mat
?????文件?????????519??2016-08-03?04:59??Path-Planning-for-UR5-Robot\word2.mat