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注册日期: 2008-11-02
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这是一个空间三维机器人转角的变换矩阵,thet1,thet2,thet3,为未知量
5*cos(thet1)*(31*sin(thet2)*cos(thet3)+31*cos(thet2)*sin(thet3)-128*sin(thet2)*sin(thet3)+128*cos(thet2)*cos(thet3)+114*sin(thet2)+30)=790 5*sin(thet1)*(31*sin(thet2)*cos(thet3)+31*cos(thet2)*sin(thet3)-128*sin(thet2)*sin(thet3)+128*cos(thet2)*cos(thet3)+114*sin(thet2)+30)=0 155*cos(thet2+thet3)-640*sin(thet2+thet3)+570*cos(thet2)=725 各位高手如何求其中的三个thet解,多谢 |
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