书中介绍了一些Ruby语言特性——既有普通的也有高级的，都是Rails中使用到的。- * Get up to speed on Ruby basics, including objects, irb, and built-ins * Explore the Model, Controller, and View layers of the Rails fr a mework * Understand the “c

Device-Tree bindings for ST IRB IP.

Jacobian of IRB 1200

The kinematics of ABB IRB 1200 robot is modeled by D-H parameters. The pose matrix of the end coordinate system of the robot relative to the base coordinate system can be obtained by calculation.