Sie sind auf Seite 1von 6

A P

R

ˆ

ˆ

ˆ

ˆ

Z A θ

X A φ

A P = R

1

0

A P = 0

0

A P = CφSθ

SφSθ


0

CφCθ

SφCθ

0


0

0


0

0

1

ˆ

Z B θ

X B φ

B P A P

ˆ

ˆ

Z θ

ˆ ˆ

Z θ X φ

A

B P = R ˆ

R

ˆ

C B T

U A T =

0.866

  0.500

0.000

0

1.000

B 0.000

A T =

0.000

0

C

U

T =

0.866

  0.433

0.250

0

0.500

0.866

0.000

0

0.000

0.866

0.500

0

0.500

0.750

0.433

0

0.000

0.000

1.000

0

0.000

0.500

0.866

0

0.000

0.500

0.866

0

1.0

8.0

11.0

1

0.0

10.0

 

20.0

1

3.0

3.0

3.0

1

B

C T =

B

A

U T 1 , C T 1

T

A

U

v = Rv

p 1 p 2 = Rp 1 Rp 2

φ x

θ z

ψ x

R = R R R

φ x

θ z

ψ x

R = R R R

φ x

θ z

ψ x

α z

R = R R R R

φ x

θ z

ψ x

α z

R = R R R R

o 1 x 1 y 1 z 1

x

y

o 0 x 0 y 0 z 0 π

2

π

2

0

= 0

1

= 0

0

0

0 1

1

0

1

0

0

1

0

1

0

0

R X, π

2

R Y, π

2

R X, π R Y, π

2

2

0

= 1

0

0

0

1

1

0

0

o 1 x 1 y 1 z 1 o 2 x 2 y 2 z 2 o 3 x 3 y 3 z 3

R

1

2

=

R

2

3

1

0

0

R 2 =

1

R

2

3

=

R

2

3

=

(R 2 ) T =

1

R 2 R

1

1

0

0

1

3

0

1

2

3

2

1

0

0

0

1

2

3

2

3

0

2

1

2

0

1 2

3

2

3

0

2

1

2

, R

− √ 3

0

2

1

2

0 0

1

0

1

0

1

0 =

0

0

3 =   0

1

1

0

2

1

2

3

0

1

0

0

1

2

3

2

0

0

1

1

0

0

1

1

H

0

0

H

2

H

2

0

2

H

1

0

= H

1

, H 2

0

2

H

H

0

1

=

1

2

H

1

0

0

0

=

0

0

1

  

1

1

0

0

0

0

0 1

0 0

0

0

0

0

1

0

1

0

1

0

0

0

0

1

1

0

  0

1

0

0

0

0

1

0

1

0

0

0

0

0 =

1

0

  1

0

0

0

0

1

0

1

0

0

0

0

1

0

1

o 1 x 1 y 1 z 1 o 2 x 2 y 2 z 2 o 3 x 3 y 3 z 3

o 2 x 2 y 2 z 2 o 3 x 3 y 3 z 3

0

2

H

=

0

1

0

0

0

0

1

0

1

0

0

0

0

0

0

1

0

3

H

2

3

H

=

=

1

0

0

1

0

1

0

0

0

1

0

0

0

0

0

0

1

0

1

0

1

0

0

0

18

0

1

0

1

0

1

1

90 zy

1

2

H

1

2

H

=

H

0

1

0

0

0

1

=

0

1

0

0

0

1

0

0

0

0

1

0

0

0

1

0

1

1

1

1

1

0

0

0

0

0

0

1

1

0

0

0

0

1

0

0

0

0

1

0

0

0 =

1

0

0

1

0

0

0

0

1

0

1

0

0

0

0

0

0

1

90 z 2

[0, .8, .1] T o 1 x 1 y 1 z 1

2

3

H

=

1

0

1

0

0

0

0

0

1

0

0

0

3

0

9 H

1

0

2

=

0

1

0

0

0

0

1

0

1

0

0

0

5

0

1

.1