. CN-CĐT2-K55 Trang 7 ROBOTICS Tiểu Luận ( ) ( ) 2 2 2 2 2 3 23 2 2 3 23 3 2 23 2 2 2 2 1 1 2 2 2 2 2 3 23 2 2 1 3 23 3 2 23 2 2 2 1 2 2 2 2 2 1 2 3 3 2 3 2 2 3 3 2 2 2 2 2 2 1 2 3 2 2 ( ) ( ) ( ) 2 (2. Luận ( ) ( ) ( ) ( ) ( ) 3 2 3 3 2 3 2 2 3 23 2 2 1 1 3 23 2 2 1 3 2 3 3 2 3 2 2 1 3 3 2 2 3 3 2 1 3 3 2 3 3 2 2 1 3 3 2 3 3 1 1 2 2 2 3 2 3 2 3 1 1 2 ( ) ( ) ( 2 ) ( p p p p p p p p p y y a. a c q q c q a q ÷ ÷ = ÷ ÷ 0 0 1 2 3 1 2. 3 .A A A A = 1 2 3 1 2 3 1 1 3 2 3 2 2 1 2 3 1 2 3 1 1 3 2 3 2 2 0 3 2 3 2 3 3 2 3 2 2 1 cos(q )cos( ) cos( )sin( ) sin( ) cos ( cos(