04-06-2012 11:29

MATLAB Command Window

>> T03
T03 =
[1. cos(t1) cos(t2) - 1. sin(t1) sin(t2) ,
-1. cos(t1) sin(t2) - 1. sin(t1) cos(t2) , 0. ,
0.550000000000000 cos(t1) cos(t2) - 0.550000000000000 sin(t1) sin(t2)
+ 0.700000000000000 cos(t1)]
[1. sin(t1) cos(t2) + 1. cos(t1) sin(t2) ,
1. cos(t1) cos(t2) - 1. sin(t1) sin(t2) , 0. ,
0.550000000000000 sin(t1) cos(t2) + 0.550000000000000 cos(t1) sin(t2)
+ 0.700000000000000 sin(t1)]
[0. , 0. , 1. , 0.0500000000000000]
[0. , 0. , 0. , 1.]
>> T36
T36 =
[cos(t4) cos(t5) cos(t6) + sin(t4) sin(t6) ,
-cos(t4) cos(t5) sin(t6) + sin(t4) cos(t6) , -1. cos(t4) sin(t5) ,
-0.0500000000000000 cos(t4) sin(t5)]
[sin(t4) cos(t5) cos(t6) - cos(t4) sin(t6) ,
-sin(t4) cos(t5) sin(t6) - cos(t4) cos(t6) , -1. sin(t4) sin(t5) ,
-0.0500000000000000 sin(t4) sin(t5)]
[-sin(t5) cos(t6) , sin(t5) sin(t6) , -1. cos(t5) ,
-0.0500000000000000 cos(t5)]
[0. , 0. , 0. , 1.]
>>

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