绕Z轴旋转 x'=xcos0-ysine y'=xsinθ+ycos0 z=z cos0 0 p=yy -sin O cose 0 0 0 0 =P•R(O)z z y x y x x y = = + = − ' ' sin cos ' cos sin         ( ) 0 0 0 1 0 0 1 0 sin cos 0 0 cos sin 0 0 ' ' ' ' 1 1      z P R P x y z x y z = • − = =                 绕Z轴旋转