产品:33
function H = KUKA_2_Tm(xyzabc)（库卡机器人）
% [x,y,z,A,B,C] (mm /deg) 变为 4x4 矩阵.
x = xyzabc(1);
y = xyzabc(2);
z = xyzabc(3);
a = xyzabc(4)*pi/180;
b = xyzabc(5)*pi/180;
c = xyzabc(6)*pi/180;
H = [ cos(b)*cos(a), cos(a)*sin(c)*sin(b) - cos(c)*sin(a), sin(c)*sin(a) + cos(c)*cos(a)*sin(b), x;
cos(b)*sin(a), cos(c)*cos(a) + sin(c)*sin(b)*sin(a), cos(c)*sin(b)*sin(a) - cos(a)*sin(c), y;
-sin(b), cos(b)*sin(c), cos(c)*cos(b), z;
0, 0, 0, 1];
end
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