《机器人技术基础》实验指导书

TA(1))*sin(ALFA(1)) ,cos(ALFA(1)) , cos(ALFA(1))*D(1) ;0,0,0,1]; T_1_2=[cos(THETA(2)),-sin(THETA(2)),0,A(2) ; sin(THETA(2))*cos(ALFA(2)),cos(THETA(2))*cos(ALFA(2)),-sin(ALFA(2)),- sin(ALFA(2))*D(2) ; sin(ALFA(2))*sin(ALFA(2)),cos(THETA(2))*sin(ALFA(2)),cos(ALFA(2)),cos (ALFA(2))*D( 2);0,0,0,1] T_2_3=[cos(THETA(3)),-sin(THETA(3)),0,A(3) ; sin(THETA(3))*cos(ALFA(3)),cos(THETA(3))*cos(ALFA(3)),-sin(ALFA(3)),- sin(ALFA(3))*D(3) ; sin(ALFA(3))*sin(ALFA(3)),cos(THETA(3))*sin(ALFA(3)),cos(ALFA(3)),cos (ALFA(3))*D( 3);0,0,0,1] T_0_1,T_1_2 ,T_2_3,T_0_3 T_0_3=T_0_1*T_1_2*T_2_3 ; 结果: T_0_1 = 机器人技术基础实验指导书 4 0.0000 -1.0000 00 1.0000 0.0000 00 001.0000 0 0001.0000 T_1_2 =10025 010000100001 T_2_3 =10025 010000100001 T_0_3 =0.0000 -1.0000 00.0000 1.0000 0.0000 050.0000 001.0000 0 0001.0000 所以程序运算结果与计算结果一致