2

𝐴3
𝐶𝑜𝑠𝜃3 𝐶𝑜𝑠(90° ) + 𝑆𝑒𝑛𝜃3 𝑆𝑒𝑛(90° ) −𝑆𝑒𝑛(𝜃3 − 90)𝐶𝑜𝑠(90° ) (𝑆𝑒𝑛𝜃3 𝐶𝑜𝑠(90° ) − 𝐶𝑜𝑠𝜃3 𝑆𝑒𝑛(90° ))𝑆𝑒𝑛(90° ) −𝑙2 (𝐶𝑜𝑠𝜃3 𝐶𝑜𝑠(90° ) + 𝑆𝑒𝑛𝜃3 𝑆𝑒𝑛(90° ))
°
= 𝑆𝑒𝑛𝜃3 𝐶𝑜𝑠(90 ) − 𝐶𝑜𝑠𝜃3 𝑆𝑒𝑛(90 )
°
𝑆𝑒𝑛𝜃3 𝐶𝑜𝑠(90° ) −(𝐶𝑜𝑠𝜃3 − 𝐶𝑜𝑠(90° ))𝑆𝑒𝑛(90° ) −𝑙2 (𝑆𝑒𝑛𝜃3 𝐶𝑜𝑠(90° ) − 𝐶𝑜𝑠𝜃3 𝑆𝑒𝑛(90° ))
0 𝑆𝑒𝑛(90° ) 𝐶𝑜𝑠(90° ) 0
[ 0 0 0 1 ]

𝑆𝜃3 0 −𝐶𝜃3 −𝑙2 𝑆𝜃3

2
−𝐶𝜃3 0 −𝑆𝜃3 𝑙2 𝐶𝜃3
𝐴3 = [ ]
0 1 0 0
0 0 0 1

𝐶𝑜𝑠𝜃4 −𝑆𝑒𝑛𝜃4 𝐶𝑜𝑠𝛼4 𝑆𝑒𝑛𝜃4 𝑆𝑒𝑛𝛼4 𝑎4 𝐶𝑜𝑠𝜃4

3
𝑆𝑒𝑛𝜃4 𝐶𝑜𝑠𝜃4 𝐶𝑜𝑠𝛼4 −𝐶𝑜𝑠𝜃4 𝑆𝑒𝑛𝛼4 𝑎4 𝑆𝑒𝑛𝜃4
𝐴4 = [ ]
0 𝑆𝑒𝑛𝛼4 𝐶𝑜𝑠𝛼4 𝑑4
0 0 0 1
𝐶𝑜𝑠𝜃4 −𝑆𝑒𝑛𝜃4 𝐶𝑜𝑠(−90° ) 𝑆𝑒𝑛𝜃4 𝑆𝑒𝑛(−90° ) 0𝐶𝑜𝑠𝜃4
3
𝐴4 = 𝑆𝑒𝑛𝜃4 𝐶𝑜𝑠𝜃4 𝐶𝑜𝑠(−90° ) −𝐶𝑜𝑠𝜃4 𝑆𝑒𝑛(−90° ) 0𝑆𝑒𝑛𝜃4
0 𝑆𝑒𝑛(−90° ) 𝐶𝑜𝑠(−90° ) 𝑙3
[ 0 0 0 1 ]
𝐶𝜃4 0 −𝑆𝜃4 0
3
𝑆𝜃 0 𝐶𝜃4 0
𝐴4 = [ 4 ]
0 −1 0 𝑙3
0 0 0 1

𝐶𝑜𝑠𝜃5 −𝑆𝑒𝑛𝜃5 𝐶𝑜𝑠𝛼5 𝑆𝑒𝑛𝜃2 𝑆𝑒𝑛𝛼5 𝑎5 𝐶𝑜𝑠𝜃5

4 𝑆𝑒𝑛𝜃5 𝐶𝑜𝑠𝜃5 𝐶𝑜𝑠𝛼5 −𝐶𝑜𝑠𝜃2 𝑆𝑒𝑛𝛼5 𝑎5 𝑆𝑒𝑛𝜃5
𝐴5 = [ ]
0 𝑆𝑒𝑛𝛼5 𝐶𝑜𝑠𝛼5 𝑑5
0 0 0 1
𝐶𝑜𝑠𝜃5 −𝑆𝑒𝑛𝜃5 𝐶𝑜𝑠(90° ) 𝑆𝑒𝑛𝜃5 𝑆𝑒𝑛(90° ) 0𝐶𝑜𝑠𝜃5
4
𝐴5 = 𝑆𝑒𝑛𝜃5 𝐶𝑜𝑠𝜃5 𝐶𝑜𝑠(90° ) −𝐶𝑜𝑠𝜃5 𝑆𝑒𝑛(90° ) 0𝑆𝑒𝑛𝜃5
0 𝑆𝑒𝑛(90° ) 𝐶𝑜𝑠(90° ) 0
[ 0 0 0 1 ]
𝐶𝜃5 0 𝑆𝜃5 0
4
𝑆𝜃 0 −𝐶𝜃5 0
𝐴5 = [ 5 ]
0 1 0 0
0 0 0 1

𝐶𝑜𝑠𝜃6 −𝑆𝑒𝑛𝜃6 𝐶𝑜𝑠𝛼6 𝑆𝑒𝑛𝜃6 𝑆𝑒𝑛𝛼6 𝑎6 𝐶𝑜𝑠𝜃6

5
𝑆𝑒𝑛𝜃6 𝐶𝑜𝑠𝜃6 𝐶𝑜𝑠𝛼6 −𝐶𝑜𝑠𝜃6 𝑆𝑒𝑛𝛼6 𝑎6 𝑆𝑒𝑛𝜃6
𝐴6 = [ ]
0 𝑆𝑒𝑛𝛼6 𝐶𝑜𝑠𝛼6 𝑑6
0 0 0 1