Tesi Robotica V+ Sim: Interprete Command Language e... | Page 120
A.1.2 Rotazioni di base
Dal precedente esempio è stata ricavata la seguente uguaglianza:
Figura 38: Rotazione dal sistema S0 al
sistema S1 di un angolo Θ
che esprime la rotazione di un angolo Θ attorno all'asse z:
(A.1.15)
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Tesi Robotica V+ Sim: Interprete Command Language e... | Page 119
Tesi Robotica V+ Sim: Interprete Command Language e... | Page 121
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