Salud ocupacional
|Articulación |ᶿ |d |α |∝ |
|1|ᶿ1 |L0 |0 |0 |
|2 |ᶿ2|L1 |0 |π/2 |
|3 |0 |d3 |0|-π/2 |
0A1= C1 -S1 0 0 (0A1)-1= C1 S1 0 0
S1 C1 0 0-S1 C1 0 0
0 0 1 L0 0 0 1 -L0
0 0 0 00 0 0 1
1A2= C2 0 S2 0 (1A2)-1= C2 S2 0 0
S2 0 -C2 00 0 1 -L1
0 1 0 L1 S2 -C2 0 0
0 0 0 10 0 0 1
2A3= 1 0 0 0 (2A3)-1= 1 0 0 0
0 0 1 00 0 -1 d3
0 -1 0 d3 0 1 0 0
0 0 0 10 0 0 1
T= nx ox αx px
ny oy αy py
nz oz αz pz...
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