Tham khảo tài liệu 'crc press - robotics and automation handbook episode 1 part 3', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | This is the forward reduction. for i 0 i n i coef a i i for j n-1 j 0 j-- y i j coef a i j coef for k i 1 k n k coef a k i a i i for j n-1 j 0 j-- y k j - coef y i j a k j - coef a i j This is the back substitution. for i n-1 i 0 i-- for k i-1 k 0 k-- coef a k i a i i for j 0 j n j y k j - coef y i j a k j - coef a i j return y File This file is matrix . This file multiples a and b both square n by n matrices and returns a pointer to the matrix c. Copyright C 2003 Bill Goodwine. double matrixproduct double a double b double c int n int i j k for i 0 i n i for j 0 j n j c i j Copyright 2005 by CRC Press LLC for i 0 i n i for j 0 j n j for k 0 k n k c i j a i k b k j return c File Copyright C 2003 Bill Goodwine. include include include define MAX_ITERATIONS 1000 define EPS define PERTURBATION define DIAGONAL_EPS define N 6 double forwardkinematics double alpha double a double d double theta double T double matrixinverse double J double Jinv int n double pseudoinverse double J double Jinv double computejacobian double alpha double a double d double theta double T double J double matrixproduct double a double b double c int n double homogeneoustransformation double alpha double a double d double theta double T File 0 0 0 -90 0 0 0 24 6 -90 2 24 90 0 0 -90 0 0 Copyright 2005 by CRC Press LLC File 0 12 0 -1 0 12 0 -12 0 0 0 1 File References 1 Craig . 1989 . Introduction to Robotics Mechanics and Control. Addison-Wesley Reading MA. 2 Denavit J. and Hartenberg . 1955 . A kinematic notation for lower-pair mechanisms based on matrices J. Appl. Mech. 215-221. 3 Murray . Zexiang . and Sastry . 1994 . A Mathematical Introduction to Robotic Manipulation CRC Press Boca Raton FL. 4 Gupta . 1997 . Mechanics and Control of Robots. Springer-Verlag .