Alumno : Eddy Urbano Ramos

Rotación en ángulos de Euler:

Matrices de Transformación homogénea

>> T10=Trasladar(z,(a-d))*Trasladar(y,(c+e))*Rot4(x,-90)*Rot4(y,180)

T10 =

[ -1, 0, 0, 0]

[ 0, 0, -1, c + e]

[ 0, -1, 0, a - d]

[ 0, 0, 0, 1]
>> T20=Trasladar(y,(c+e))*Trasladar(x,(-b))*Rot4(z,180)

T20 =

[ -1, 0, 0, -b]

[ 0, -1, 0, c + e]

[ 0, 0, 1, 0]

[ 0, 0, 0, 1]

>> T30=Trasladar(z,a)*Trasladar(y,c)*Trasladar(x,-b)*Rot4(y,-90)*Rot4(x,180)*Rot4(z,90)

T30 =

[ 0, 0, 1, -b]

[ -1, 0, 0, c]

[ 0, -1, 0, a]

[ 0, 0, 0, 1]

>> T40=Trasladar(z,(a-d))*Trasladar(x,(-b))

T40 =

[ 1, 0, 0, -b]

[ 0, 1, 0, 0]

[ 0, 0, 1, a - d]

[ 0, 0, 0, 1]
>> T50=Trasladar(z,a)*Rot4(x,-90)*Rot4(z,90)

T50 =

[ 0, -1, 0, 0]

[ 0, 0, 1, 0]

[ -1, 0, 0, a]

[ 0, 0, 0, 1]

>> T10=Trasladar(z,1)*Trasladar(y,3)*Trasladar(x,-3.5)*Rot4(x,180)

T10 =
 1.0000 0 0 -3.5000

0 -1.0000 0 3.0000

0 0 -1.0000 1.0000

0 0 0 1.0000

>> T20=Trasladar(x,-3.5)*Rot4(x,90)*Rot4(z,90)

T20 =

0 -1. 0 -3.5000

0 0 -1 0

1 0 0 0

0 0 0 1.0000

>> T30=Trasladar(z,5)*Trasladar(x,-3.5)*Rot4(x,-53)

T30 =

1.0000 0 0 -3.5000

0 0.6018 0.7986 0

0 -0.7986 0.6018 5.0000

0 0 0 1.0000

>> T40=Trasladar(z,5)*Rot4(x,-53)*Rot4(y,180)

T40 =
-1.0000 0 0 0

0 0.6018 -0.7986 0

0 -0.7986 -0.6018 5.0000

0 0 0 1.0000