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Wrong subscript #6

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Oct 8, 2020
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Wrong subscript #6

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4 changes: 2 additions & 2 deletions Pages/GettingStarted.md
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Expand Up @@ -75,7 +75,7 @@

3）计算变换矩阵：

$${^i_{i-1}}T = Rot(x_{i-1}, \alpha_{i-1}) \cdot Trans(x_{i-1},a_i) \cdot Rot(z_i, \theta_i) \cdot Trans(z_i, d_i)$$
$${^i_{i-1}}T = Rot(x_{i-1}, \alpha_{i-1}) \cdot Trans(x_{i-1},a_{i-1}) \cdot Rot(z_i, \theta_i) \cdot Trans(z_i, d_i)$$

$${^i_{i-1}}T=\begin{bmatrix}cos(\theta_i)&-sin(\theta_i)&0&a_{i-1}\\sin(\theta_i)cos(\alpha_{i-1})&cos(\theta_i)cos(\alpha_{i-1})&-sin(\alpha_{i-1})&-d_isin(\alpha_{i-1})\\sin(\theta_i)sin(\alpha_{i-1})&cos(\theta_i)sin(\alpha_{i-1})&cos(\alpha_{i-1})&d_icos(\alpha_{i-1})\\0&0&0&1\end{bmatrix}$$

Expand Down Expand Up @@ -205,4 +205,4 @@ $$F = m \cdot a$$

是的，于是你发现了基于动力学前馈的 PID 控制算法。

Craig 书上剩下的其他一些部分，可以大概浏览一下，因为有不少内容已经比较旧了。
Craig 书上剩下的其他一些部分，可以大概浏览一下，因为有不少内容已经比较旧了。