Robotics

import numpy as np

np.set_printoptions(precision=3,suppress=True,floatmode='fixed')

Rx = np.matrix([[1,0,0],
                [0,np.cos(90*np.pi/180),-np.sin(90*np.pi/180)],
                [0,np.sin(90*np.pi/180),np.cos(90*np.pi/180)]])
print("Matrix 1:\n", Rx)
Ry= np.matrix([[np.cos(45*np.pi/180),0,np.sin(45*np.pi/180)],
                [0,1,0],
                [-np.sin(45*np.pi/180),0,np.cos(45*np.pi/180)]])
print("Matrix 2:\n", Ry)
Rz = np.matrix([[np.cos(120*np.pi/180),-np.sin(120*np.pi/180),0],
                [np.sin(120*np.pi/180),np.cos(120*np.pi/180),0],
                [0,0,1]])
print("Matrix 3:\n", Rz)

R=Rz*Rx
print("Matrix Answer :\n", R)

XW=np.arccos(R[0,2])
print("Matrix XW : ",XW*180/np.pi)

P2=np.matrix([[1],[2],[1]])
P1=R*P2
print("Matrix P1 :\n", P1)
px,py,pz=P1[0,0],P1[1,0],P1[2,0]
absP=np.sqrt(px**2+py**2+pz**2)
uniteP1=P1/absP
print("Matrix absP:\n", absP)
print("Matrix uniteP1:\n", uniteP1)