function?p?=?axis6_fkine3（theta0theta1theta2theta3theta4theta5xyz）
%T1
t1?=?[
????cosd（theta0）?-sind（theta0）?0?0;
????sind（theta0）?cosd（theta0）?0?0;
????0?0?1?0;
????0?0?0?1
????];
%T2
t2?=?[
????0?0?1?0;
????-sind（theta1）?-cosd（theta1）?0?0;
????cosd（theta1）?-sind（theta1）?0?0.178;
????0?0?0?1
????];
%T3
t3?=?[
????cosd（theta2）?-sind（theta2）?0?0.205;
????sind（theta2）?cosd（theta2）?0?0;
????0?0?1?0;
????0?0?0?1
????];
%T4
t4?=?[
????0?0?1?0.105;
????-cosd（theta3）??sind（theta3）?0?0.000;
????-sind（theta3）?-cosd（theta3）?0?0;
????0?0?0?1;
????];
%T5
t5?=?[
????sind（theta4）??cosd（theta4）?0?0;
????0?0?1?0;
????cosd（theta4）?-sind（theta4）?0?0.105;
????0?0?0?1
????];
%T6
t6?=?[
????0???0?1?0.1315;
????cosd（theta5）??-sind（theta5）?0?0;
????sind（theta5）?

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件??????12098??2016-04-04?22:40??axis6_fkine3.m

?????文件???????7672??2016-04-04?22:38??axis6_ikine3.m

-----------?---------??----------?-----??----

????????????????19770????????????????????2