FORMULÁRIO ROBÓTICA 1° SEMESTRE
C
2
+ S
2
= 1
C
12
= C
1
C
2
– S
1
S
2
S
12
= S
1
C
2
+ C
1
S
2
C
(1-2)
= C
1
C
2
+ S
1
S
2
S
(1-2)
= S
1
C
2
- C
1
S
2
tang
12
=
tang
(1-2)
=
tang x =
TH = n
s
a
p
n
s
a
p
n
s
a
p
o o o 1
= !
0 0 0 1#
$
%
= &− !(!
− !)!
− !*!
0 0 0 1 +
,
-
- = &./- −0/-.1- 0/-01- 2-./-
0/- ./-.1- −./-01- 2-0/-
0 01- .1- 3-
0 0 0 1 +
R(z, θ% = &./−0/0 0
0/./0 0
0 0 1 0
0 0 0 1+
R(x, θ% = &1 0 0 0
0 ./−0/0
0 0/./0
0 0 0 1+
R(y, θ% = &./0 0/0
0 1 0 0
−0/0 ./0
0 0 0 1+
T(x, y, z% =&1 0 0 56
0 1 0 57
0 0 1 58
0 0 0 1+
∆:=<=->?@
?/->
-A
