%?fangzhen
clear?all;
close?all;
clc;
%format?short
%syms?s1?s2?s3?s4?s5?s6?c1?c2?c3?c4?c5?c6?a2?a3?d4?real?a?b
%syms?nx?ny?nz?ox?oy?oz?ax?ay?az?px?py?pz?real
%
%T10=[c1?-s1?0?0;c1?s1?0?0;0?0?1?0;0?0?0?1]
%T21=[c2?-s2?0?0;0?0?1?0;-c2?-s2?0?0;0?0?0?1]
%T32=[c3?-s3?0?a2;s3?c3?0?0;0?0?1?0;0?0?0?1]
%T43=[c4?-s4?0?a3;0?0?1?d4;-s4?-c4?0?0;0?0?0?1]
%T54=[c5?-s5?0?0;0?0?1?0;-s5?-c5?0?0;0?0?0?1]
%T65=[c6?-s6?0?0;0?0?1?0;-s6?-c6?0?0;0?0?0?1]
%
%T10_inv=[c1?s1?0?0;-s1?c1?0?0;0?0?1?0;0?0?0?1]
%T21_inv=[c2?0?-s2?0;-s2?0?-c2?0;0?1?0?0;0?0?0?1]
%T32_inv=[c3?s3?0?-c3*a2;-s3?c3?0?s3*a2;0?0?1?0;0?0?0?1]
%T43_inv=[c4?0?-s4?-c4*a3;-s4?0?-c4?s4*a3;0?1?0?-d4;0?0?0?1]
%T54_inv=[c5?0?-s5?0;-s5?0?-c5?0;0?1?0?0;0?0?0?1]
%T65_inv=[c6?0?-s6?0;-s6?0?-c6?0;0?1?0?0;0?0?0?1]
%
%T64=T54*T65
%T63=T43

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

?????文件???????9261??2012-05-14?22:08??robotics.m

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

?????????????????9261????????????????????1