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  • =) cosθ 0 sin θ 0 1 0 − sin θ 0 cosθ sin θ= A B C cosθ −sinθ 0 sinθ cosθ 0 0 0 1 cos θ= = = = − = =− = 0 1 1

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    Lemuel Hernandez
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    FOMULARIO

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    =) cosθ 0 sin θ 0 1 0 − sin θ 0 cosθ sin θ= A B C cosθ −sinθ 0 sinθ cosθ 0 0 0 1 cos θ= = = = − = =− = 0 1 1

    Uploaded by

    Lemuel Hernandez

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 1

    Adj ( A T )

    A−1=
    det
    cos θ 0 sin θ A
    (
    R y (θ ) = 0 1 0
    −sin θ 0 cos θ ) sin θ=
    CO
    H B C
    cos θ −sinθ 0
    (
    R z ( θ ) = sinθ cos θ 0
    0 0 1 ) cos θ=
    CA
    H
    A ∙ A−1=I

    P0=R 01 ∙ P1 P0=O01 ∙ P 1 −O01=O10 O 10=−( R01 )T O 01


    R AB OBA P B
    T BA= ( 0 )( )
    1 1

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