Anda di halaman 1dari 3

xo yo z0 jacobiano inversa

-1990 28710 2.887824E-05 0.01340452


10 10 10 110 280 270 -4.68623E-05 -0.00259057
30 270 320 3.683273E-05 0.00092912
15.4164307 -3.10975618 4 0.0839400229 0.01917065
-3.10975618 8.41643068 6.72767625 -6.21951236 7.81697124 -25.2492921 0.1129373188 0.06317973
-25.2492921 16.0569448 21.4164307 0.0142879952 -0.02476735
6.90304198 -1.79002835 4 0.2157425697 0.13099431
-1.79002835 -0.09695802 6.28032121 -3.5800567 9.15903637 0.29087407 0.0869773447 0.16521581
0.29087407 11.6504063 12.903042 -0.083397026 -0.15212956
10.6314279 4.52224321 4 0.0801034634 -0.03222743
4.52224321 3.63142793 -0.13582954 9.04448643 28.4074886 -10.8942838 -0.007866475 0.05462706
-10.8942838 -13.7025592 16.6314279 0.045989979 0.02389668
8.28086317 2.41740232 4 0.1158910367 -0.02220814
2.41740232 1.28086317 2.23234675 4.83480464 21.3029597 -3.8425895 -0.022077038 0.05435027
-3.8425895 -5.01986021 14.2808632 0.0234228164 0.01312904
7.66634138 1.52883004 4 0.1256686212 -0.01336098
1.52883004 0.66634138 3.20637851 3.05766007 18.3808645 -1.99902415 -0.019115796 0.05704093
-1.99902415 -1.3801116 13.6663414 0.016451563 0.00380599
7.56049082 1.40810891 4 0.1279926827 -0.01195328
1.40810891 0.56049082 3.34169598 2.81621781 17.974912 -1.68147246 -0.01868235 0.05771866
-1.68147246 -0.88263074 13.5604908 0.0146548202 0.00227463
7.55807526 1.40509505 4 0.1280452986 -0.01191611
1.40509505 0.55807526 3.34504829 2.8101901 17.9648551 -1.67422579 -0.018667854 0.05773648
-1.67422579 -0.87023686 13.5580753 0.0146135261 0.0022344
7.55807385 1.40509334 4 0.1280453298 -0.01191609
1.40509334 0.55807385 3.34505019 2.81018668 17.9648494 -1.67422155 -0.018667846 0.05773649
-1.67422155 -0.87022983 13.5580739 0.0146135017 0.00223438
7.55807385 1.40509334 4 0.1280453298 -0.01191609
1.40509334 0.55807385 3.34505019 2.81018668 17.9648494 -1.67422155 -0.018667846 0.05773649
-1.67422155 -0.87022983 13.5580739 0.0146135017 0.00223438
inversa b xi,yi,zi xi yi zi xi+1 yi+1
-0.01390098 -67860 -13.1097562
0.00639022 -2769 -1.58356932 -13.1097562 -1.58356932 -3.27232375 -3.10975618 8.41643068
-0.00096353 -1868 -3.27232375
0.0069239 45.0306355 1.31972783
0.05339331 -63.4615801 -8.51338871 1.31972783 -8.51338871 -0.44735504 -1.79002835 -0.09695802
0.0148246 -179.601954 -0.44735504
-0.06983416 11.235356 6.31227156
-0.03068783 9.68384058 3.72838595 6.31227156 3.72838595 -6.41615075 4.52224321 3.63142793
0.10678402 -37.5145754 -6.41615075
-0.04037588 -23.5345846 -2.10484089
0.03767498 -111.610431 -2.35056476 -2.10484089 -2.35056476 2.3681763 2.41740232 1.28086317
0.06471947 94.5256402 2.3681763
-0.03843612 -4.94756484 -0.88857228
0.02080784 -21.1300105 -0.61452178 -0.88857228 -0.61452178 0.97403176 1.52883004 0.66634138
0.06699583 20.4092463 0.97403176
-0.03873629 -0.54604703 -0.12072113
0.01393858 -2.58525191 -0.10585056 -0.12072113 -0.10585056 0.13531747 1.40810891 0.56049082
0.06891398 2.23670481 0.13531747
-0.03923677 -0.0127784 -0.00301386
0.01266781 -0.05754388 -0.00241556 -0.00301386 -0.00241556 0.0033523 1.40509505 0.55807526
0.06970289 0.05265863 0.0033523
-0.0392483 -7.2801E-06 -1.7095E-06
0.01263714 -3.3376E-05 -1.4128E-06 -1.7095E-06 -1.4128E-06 1.90636E-06 1.40509334 0.55807385
0.06972131 2.99381E-05 1.90636E-06
-0.03924831 -2.4158E-12 -5.6838E-13
0.01263712 -1.1003E-11 -4.6454E-13 -5.6838E-13 -4.6454E-13 6.33176E-13 1.40509334 0.55807385
0.06972132 9.94049E-12 6.33176E-13
-0.03924831
0.01263712 1.40509334 0.55807385
0.06972132
zi+1 distacia

6.72767625 13.6044662

6.28032121 8.62667928

-0.13582954 9.74231105

2.23234675 3.94509428

3.20637851 1.45462559

3.34169598 0.20997321

3.34504829 0.00511431

3.34505019 2.92448E-06

3.34505019 9.69413E-13

3.34505019