... - 1) / 2 = (0 + 0 + 0 - 1) / 2 = -1 / 2 TS. Phạm Đăng Phớc Robot công nghiệp 19 sin = 1 2 (O - a ) + (a - n ) + (n - O ) zy 2 xz 2 yx 2 = 1 2 (1 - 0) + (1 - 0) + (1 - 0) = 3 2 222 ... =4443 424 13433 323 1 24 2 322 211413 121 1aaaaaaaaaaaaaaaaA thì : dttatatatatatatatatatatatatatatatadA 4443 424 13433 323 1 24 23 22 211413 121 1= ... 0 1 4 1 -1 -1 1 1 -1 H = 1 0 0 0 0 0 0 0 4 4 0 1 0 0 0 0 2 2 0 0 0 0 0 1 1 1 1 1 1 1 4 4 6 6 4 4 = 1 -1 -1 1 1 1 0 0 0 0 4 4 1 1 1 1 1 1 -1 ,4,0,1 -1 ,0 ,2, 1 -1 ,0,0,11,4,0,1...