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Granada Jhonny
Alex Jami
Salazar Pablo
Villacres Roberto
T01:
⎡cos (q1) — sin (q1) 0 l1cos (q 1) ⎤
⎢ sin (q1) cos (q1) 0 l1 sin (q1)⎥
0 0 1 0
⎣ 0 0 0 1 ⎦
T12:
⎡— sin (q2) — cos (q2) 0 l2 sin (q2) ⎤
⎢ cos (q2) — sin (q2) 0 −l2 cos (q2) ⎥
⎢ 0 0 1 0 ⎥
⎣ 0 0 0 1 ⎦
T23:
cos (q3 + 145) — sin (q3 + 145) 0 0⎤
sin (q3 + 145) cos (q3 + 145) 0 0⎥
⎢ 0 0 1 l3 ⎥
⎣ 0 0 0 1⎦
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Tf = sp.simplify(T01*T12*T23)
print("Transformacion final T03"); display(Tf)
import numpy as np
def Tdh(d,th,a,alpha):
cth= np.cos(th)
sth=np.sin(th)
ca=np.cos(alpha)
sa=np.sin(alpha)
#transformaciones homogeneas de Dh
T01=Tdh(0,q[0],l1,0)
T12=Tdh(0,np.pi/2+q[1],-l2,0)
T23=Tdh(l3,145+q[2],0,0)
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