Scribd
Upload
12 views2 pages

ROBOTICA

The document presents a series of symbolic transformations in robotics using rotation matrices around the X, Y, and Z axes. It defines four transformation matrices (T1, T2, T3, T4) resulting from different combinations of these rotations. Each transformation matrix is displayed with its corresponding mathematical expression.

Uploaded by

diegodiazsan2015
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
12 views2 pages

ROBOTICA

The document presents a series of symbolic transformations in robotics using rotation matrices around the X, Y, and Z axes. It defines four transformation matrices (T1, T2, T3, T4) resulting from different combinations of these rotations. Each transformation matrix is displayed with its corresponding mathematical expression.

Uploaded by

diegodiazsan2015
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
You are on page 1/ 2

Diego Alejandro Diaz Sanabria

ROBOTICA

Ejercicio 1

syms a

X = [1 0 0; 0 cos(a) -sin(a); 0 sin(a) cos(a)]

syms b

Y = [cos(b) 0 sin(b); 0 1 0; -sin(b) 0 cos(b)]

syms d

Z = [cos(d) -sin(d) 0; sin(d) cos(d) 0; 0 0 1]

T1=Z*Y*X

T2=Y*Z*X

T3=Z*X*Y

T4=X*Z*Y

T1=Z*Y*X

T1 =

[ cos(b)*cos(d), cos(d)*sin(a)*sin(b) - cos(a)*sin(d), sin(a)*sin(d) + cos(a)*cos(d)*sin(b)]

[ cos(b)*sin(d), cos(a)*cos(d) + sin(a)*sin(b)*sin(d), cos(a)*sin(b)*sin(d) - cos(d)*sin(a)]

[ -sin(b), cos(b)*sin(a), cos(a)*cos(b)]

T2=Y*Z*X

T2 =

[ cos(b)*cos(d), sin(a)*sin(b) - cos(a)*cos(b)*sin(d), cos(a)*sin(b) + cos(b)*sin(a)*sin(d)]

[ sin(d), cos(a)*cos(d), -cos(d)*sin(a)]

[ -cos(d)*sin(b), cos(b)*sin(a) + cos(a)*sin(b)*sin(d), cos(a)*cos(b) - sin(a)*sin(b)*sin(d)]


T3=Z*X*Y

T3 =

[ cos(b)*cos(d) - sin(a)*sin(b)*sin(d), -cos(a)*sin(d), cos(d)*sin(b) + cos(b)*sin(a)*sin(d)]

[ cos(b)*sin(d) + cos(d)*sin(a)*sin(b), cos(a)*cos(d), sin(b)*sin(d) - cos(b)*cos(d)*sin(a)]

[ -cos(a)*sin(b), sin(a), cos(a)*cos(b)]

T4=X*Z*Y

T4 =

[ cos(b)*cos(d), -sin(d), cos(d)*sin(b)]

[ sin(a)*sin(b) + cos(a)*cos(b)*sin(d), cos(a)*cos(d), cos(a)*sin(b)*sin(d) - cos(b)*sin(a)]

[ cos(b)*sin(a)*sin(d) - cos(a)*sin(b), cos(d)*sin(a), cos(a)*cos(b) + sin(a)*sin(b)*sin(d)]

You might also like