30941

	1 0		0		1	0	0		1	0	0
^Rotx(a) ~	0 cosa		—sina	= 90° ->	0	0	-1	;-90° ->	0	0	1
	0 sina		cosa		0	1	0		.0	-1	0
	cos/?	0	sin/?		0	0	1		0	0	-1
50 O ]£*" 'w' II	0	1	0	= 90° ->	0	1	0	; -90° ->	0	1	0
	-sin/?	0	cos/?		-1	0	0		1	0	0
	cosy	-siny 0			0	-1	0		0	1	0
P°^z{y) ~	siny	cosy 0		= 90° ->	1	0	0	; -90° ->	-1	0	0
	0	0	lJ		0	0	1		0	0	1

p¹ = R^loP° Ro¹ = (R?)^t

fp°l			*1°	Pl	*	[p^1
1		.0	0	0 1.		1

(fi?) Pi

. 0 O O 1

(R?)^r    -(R?)^TR,°

i° =

>1 —

A\~ =

IS =

0 TjTjp^2 ToP^0		0 0 1
	cosOj	—sindjCosai	sinOisinaj	ajCosOj'
	sinOj	cos Oj cosa i	—cos9iSinaj	aiSinOj
	0	sina(	cosa,	di
	. 0 A\A\A	0 3 A* /\5 4^/ł5^/ł6	0	1