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(201415)
(CourseAssignment)#1
1.1
3 ,
1 (l0, l1, l2, l3: ).
() Denavit-Hartenberg (D-H), ( 1)
.
() ,
1
2
A2 ( q2 ) AE (q3 ) .
:
1. 1.
q3
q1
z0
l3
y0
O0
l2
z
y
OE
q2
x0
l0
l1
1: 3 .
1.2
(q1, q2, q3)
:
0
0
A1 (q1 )
0
0
c1 s1
s1
c1
l1
c2
0 1
0
, A2 ( q2 )
s
0
2
0
1
0 s2 0
1
1 0 0
0
2
A3 ( q3 )
0
0 c2 0
0 0 1
c3 s3
s3
c3
l2
0
0
1