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rfzeg/homogeneous_transform_matrix .py

Created August 17, 2018 15:08
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Individual Homogeneous Transform Matrix
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homogeneous_transform_matrix .py
T0_1 = Matrix([[ cos(q1), -sin(q1), 0, a0],
[sin(q1)*cos(alpha0), cos(q1)*cos(alpha0), -sin(alpha0), -sin(alpha0)*d1],
[sin(q1)*sin(alpha0), cos(q1)*sin(alpha0), cos(alpha0), cos(alpha0)*d1],
[ 0, 0, 0, 1]])
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