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\left(\begin{array}{ccc}路-路\cos\!\left(\theta_{r,1}路+路
\psi_b\right)路&路-路\sin\!\left(\theta_{r,1}路+路
\psi_b\right)路&路x_{b}路-路\mathrm{L_1}\,路
\cos\!\left(\theta_{r,1}路+路\psi_b\right)路+路\frac{L_b\,路
\cos\!\left(\psi_b\right)}{2}\\路\sin\!\left(\theta_{r,1}路
+路\psi_b\right)路&路-路\cos\!\left(\theta_{r,1}路+路
\psi_b\right)路&路y_{b}路+路\mathrm{L_1}\,路
\sin\!\left(\theta_{r,1}路+路\psi_b\right)路-路\frac{L_b\,路
\sin\!\left(\psi_b\right)}{2}\\路0路&路0路&路1路
\end{array}\right)卢
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\left(\begin{array}{ccc} - \cos\!\left(\theta_{r,1} + \psi_b\right) & - \sin\!\left(\theta_{r,1} + \psi_b\right) & x_{b} - \mathrm{L_1}\, \cos\!\left(\theta_{r,1} + \psi_b\right) + \frac{L_b\, \cos\!\left(\psi_b\right)}{2}\\ \sin\!\left(\theta_{r,1} + \psi_b\right) & - \cos\!\left(\theta_{r,1} + \psi_b\right) & y_{b} + \mathrm{L_1}\, \sin\!\left(\theta_{r,1} + \psi_b\right) - \frac{L_b\, \sin\!\left(\psi_b\right)}{2}\\ 0 & 0 & 1 \end{array}\right)
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