analisis hd manipulador RRR directo

> restart;
> with(linalg);
BlockDiagonal, GramSchmidt, JordanBlock, LUdecomp, QRdecomp, Wronskian, addcol,
addrow, adj, adjoint, angle, augment, backsub, band, basis, bezout, blockmatrix, charmat,charpoly, cholesky, col, coldim, colspace, colspan, companion, concat, cond, copyinto,
crossprod, curl, definite, delcols, delrows, det, diag, diverge, dotprod, eigenvals,
eigenvalues,eigenvectors, eigenvects, entermatrix, equal, exponential, extend, ffgausselim,
fibonacci, forwardsub, frobenius, gausselim, gaussjord, geneqns, genmatrix, grad,
hadamard, hermite, hessian, hilbert,htranspose, ihermite, indexfunc, innerprod, intbasis,
inverse, ismith, issimilar, iszero, jacobian, jordan, kernel, laplacian, leastsqrs, linsolve,
matadd, matrix, minor, minpoly, mulcol, mulrow, multiply,norm, normalize, nullspace,
orthog, permanent, pivot, potential, randmatrix, randvector, rank, ratform, row, rowdim,
rowspace, rowspan, rref, scalarmul, singularvals, smith, stackmatrix, submatrix,subvector,
sumbasis, swapcol, swaprow, sylvester, toeplitz, trace, transpose, vandermonde, vecpotent,
vectdim, vector, wronskian

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Esta hoja Maple determina el análisis directo de unmanipulador
tridimensional del tipo RRR.... Ejemplo 2013.....

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> Hom_z:=proc(d,theta_1);
> Matrix([[ 1 , 0 , 0 , 0 ],
[ 0 , cos(theta_1) , -sin(theta_1) , 0 ],
[ 0 , sin(theta_1) ,cos(theta_1) , 0 ],
[ d , 0 , 0 , 1 ]]);
> end proc;
Hom_z := proc d, theta_1
Matrix 1, 0, 0, 0 , 0, cos theta_1 , K sin theta_1 , 0 , 0, sin theta_1 , cos theta_1 ,
0 , d, 0, 0, 1
end proc
>Hom_x:=proc(a,alpha_1);
> Matrix([[ 1 , 0 , 0 , 0 ],
[ a , 1 , 0 , 0 ],
[ 0 , 0 , cos(alpha_1) , -sin(alpha_1) ],
[ 0 , 0 , sin(alpha_1) , cos(alpha_1) ]]);
> end proc;
Hom_x := proc a, alpha_1Matrix 1, 0, 0, 0 , a, 1, 0, 0 , 0, 0, cos alpha_1 , K sin alpha_1 , 0, 0,
sin alpha_1 , cos alpha_1
end proc
> theta[1]:=30*(Pi/180);
1
θ1 :=
π
6
> theta[2]:=-10*(Pi/180);

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