绕Y轴旋转 cose 0 -sin 0 P-y:Hy:司0 1 0 0 sine 0 0 0 0 -P-Ry(0)绕Y轴旋转     ( ) 0 0 0 1 sin 0 cos 0 0 1 0 0 cos 0 sin 0 ' ' ' ' 1 1      y P R P x y z x y z = • − = =                