Tesi Robotica V+ Sim: Interprete Command Language e... | Page 121
Analogamente è possibile ricavare le espressioni delle matrici di rotazione sia
attorno all'asse x che attorno a y:
●
Rotazione attorno all'asse x
(A.1.16)
Figura 39: Rotazione dal
sistema S0 al sistema S1 di un
angolo Θ attorno all'asse x.
120
Tesi Robotica V+ Sim: Interprete Command Language e... | Page 120
Tesi Robotica V+ Sim: Interprete Command Language e... | Page 122
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