[三]正运动学与DH坐标变换
附上一段矩阵运算的C语言代码
#include<stdio.h>
#include<math.h>
#define unExist 9999
#define Free_N 5 //自由度个数为N则DH表N+1
#define pi 3.1415926
#define Arm_a 9
#define Arm_b 10
#define Arm_c 11
#define Arm_d 12
float theit_1;
float theit_2;
float theit_3;
float theit_4;
float theit_5;
//---------------------------------L(i-1)--α(i-1)----D(i)
float DH_table[Free_N+1]</