--------------Questão 4 e 5 ----------------------------

>> Ry = [cos(n1) 0 sin(n1); 0 1 0 ; -sin(n1) 0 cos(n1)]

Ry =

[ cos(n1), 0, sin(n1)]
[ 0, 1, 0]
[ -sin(n1), 0, cos(n1)]

>> Rz = [cos(n2) -sin(n2) 0; sin(n2) cos(n2) 0; 0 0 1]

Rz =

[ cos(n2), -sin(n2), 0]
[ sin(n2), cos(n2), 0]
[ 0, 0, 1]

>> Rx = [ 1 0 0; 0 cos(n3) -sin(n3); 0 sin(n3) cos(n3)]

Rx =

[ 1, 0, 0]
[ 0, cos(n3), -sin(n3)]
[ 0, sin(n3), cos(n3)]

>> R = Ry*Rz*Rx

R=

[ cos(n1)*cos(n2), sin(n1)*sin(n3) - cos(n1)*cos(n3)*sin(n2), cos(n3)*sin(n1) + cos(n1)*sin(n2)*sin(n3)]

[ sin(n2), cos(n2)*cos(n3), -cos(n2)*sin(n3)]
[ -cos(n2)*sin(n1), cos(n1)*sin(n3) + cos(n3)*sin(n1)*sin(n2), cos(n1)*cos(n3) - sin(n1)*sin(n2)*sin(n3)]

>> n1 = 30*pi/180

n1 =

0.5236

>> n2 = 45*pi/180

n2 =

0.7854

>> n3 = 60*pi/180

n3 =

1.0472

>> Ry = [cos(n1) 0 sin(n1); 0 1 0 ; -sin(n1) 0 cos(n1)]

Ry =

0.8660 0 0.5000
0 1.0000 0

file:///C/Users/Ronan/Desktop/Curso/Robótica/rotacional.txt[28/09/2020 22:50:22]
 -0.5000 0 0.8660

>> Rz = [cos(n2) -sin(n2) 0; sin(n2) cos(n2) 0; 0 0 1]

Rz =

0.7071 -0.7071 0
0.7071 0.7071 0
0 0 1.0000

>> Rx = [ 1 0 0; 0 cos(n3) -sin(n3); 0 sin(n3) cos(n3)]

Rx =

1.0000 0 0
0 0.5000 -0.8660
0 0.8660 0.5000

>> R = Ry*Rz*Rx

R=

0.6124 0.1268 0.7803

0.7071 0.3536 -0.6124
-0.3536 0.9268 0.1268

>> roty(30)*rotz(45)*rotx(60)

ans =

0.6124 0.1268 0.7803

0.7071 0.3536 -0.6124
-0.3536 0.9268 0.1268

>> rotz(30)*rotx(30)

ans =

0.8660 -0.4330 0.2500

0.5000 0.7500 -0.4330
0 0.5000 0.8660

>> rotx(30)*rotz(30)

ans =

0.8660 -0.5000 0
0.4330 0.7500 -0.5000
0.2500 0.4330 0.8660

>> rotz(30)*rotx(30)

ans =

0.8660 -0.4330 0.2500

0.5000 0.7500 -0.4330
0 0.5000 0.8660

file:///C/Users/Ronan/Desktop/Curso/Robótica/rotacional.txt[28/09/2020 22:50:22]