Ci Si
-Si Ci
i i
Rz (ei) =
2. Translation the matrix
1 0
Trz(di) =
0 0 0 0
0 0 1 0 0 0 0 1
of di units along axis zi-1 described by
0 0 0 1 0 0
0 0 1 d 0 0 0 1
3. Translation of homogeneous transform
Trx (ai) =
ai units along axis xi, with
1 0 0 ai
0 1 0 0 0 0 1 0 0 0 0 1
4. Rotation about xi of angle ai,
Rx(a i) =
1 0 0 0
0 7i -Ci
0 ai i 0 a1 r
0 0 0 1
The matrix A1 of Eq. (2.1) is obtained by the product (Paul, 1981),
(2.3)
(2.4)
(2.5)
(2.6)
..