Rob Lect4
Rob Lect4
(
(
(
(
(
(
(
(
(
(
(
(
=
1 0 0 0
0 cos sin 0
0 sin cos 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 1
1 0 0 0
1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 cos sin
0 0 sin cos
o o
o o u u
u u a
d
A
n
(
(
(
(
=
1 0 0 0
cos sin 0
sin sin cos cos cos sin
cos sin sin cos sin cos
d
a
a
A
n
o o
u o u o u u
u o u o u u
A Matriks antara link n dan link n-1
Parameter-Parameter Link pada Prismatic Joint
(
(
(
(
=
1 0 0 0
cos sin 0
0 sin cos cos cos sin
0 sin sin cos sin cos
d
A
n
o o
o u o u u
o u o u u
A Matrix untuk Prismatic Joint