绕X轴旋转 1 0 0 0 4s1: cos0 _sin O 0 -sin0 cos0 0 0 0 =P●Rx(O) 绕X轴旋转     ( ) 0 0 0 1 0 sin cos 0 0 cos sin 0 1 0 0 0 ' ' ' ' 1 1      x P R P x y z x y z = • − = =                