Documente Academic
Documente Profesional
Documente Cultură
R 6gdl Irb6400c
R 6gdl Irb6400c
m
clear all
clc
syms t1 t2 t3 t4 t5 t6 l1 l2 l3 l4;
pii=sym(pi);
A01=DH(t1,0,0,-pii/2)
A12=DH(t2,l1,0,pii/2)
A23=DH(t3-(pii/2),0,-l2,pii/2)
A34=DH(t4,l3,0,-pii/2)
A45=DH(t5,0,0,pii/2)
A56=DH(t6,l4,0,0)
T=A01*A12*A23*A34*A45*A56
Pgina 1