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  • Exercise On Coordinate Frames

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    mck_medo
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    This document describes the transformation of a coordinate frame F through a series of rotations and translations. It shows that rotating F about the y-axis by 90 degrees, translating along the z-axis by a, rotating about the x-axis by 90 degrees, and translating along the y-axis by a results in a new coordinate frame with its axes oriented differently than the original frame F. The final transformation matrix is provided.

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    Rot

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    This document describes the transformation of a coordinate frame F through a series of rotations and translations. It shows that rotating F about the y-axis by 90 degrees, translating along the z-axis by a, rotating about the x-axis by 90 degrees, and translating along the y-axis by a results in a new coordinate frame with its axes oriented differently than the original frame F. The final transformation matrix is provided.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    19 views2 pages

    Exercise On Coordinate Frames

    Uploaded by

    mck_medo
    This document describes the transformation of a coordinate frame F through a series of rotations and translations. It shows that rotating F about the y-axis by 90 degrees, translating along the z-axis by a, rotating about the x-axis by 90 degrees, and translating along the y-axis by a results in a new coordinate frame with its axes oriented differently than the original frame F. The final transformation matrix is provided.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
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    of 2

    ‫‪Exercise on‬‬

    ‫‪Coordinate Frames‬‬

    ‫ﻋﻤﻞ ﺍﻟﻄﺎﻟﺐ‪ /‬ﳏﻤﺪ ﺭﺃﻓﺖ ﺍﻟﻮﻛﻴﻞ‬

    ‫ﺍﻟﻔﺮﻗﺔ ‪ /‬ﺭﺍﺑﻌﺔ ﺇﻧﺘﺎﺝ‬

    ‫ﲢﺖ ﺇﺷﺮﺍﻑ ‪/‬‬

    ‫ﺩ‪.‬ﻡ‪ .‬ﺳﺎﻣﻲ ﻋﺴﻞ‬


    Rot (y,90) Trans (z,a) Rot (x,90) Trans (y,a) F

    1 0 0 0
    0 1 0 0
    F=  
    0 0 1 0
     
    0 0 0 1
    1 0 0 0  1 0 0 0 1 0 0 0
    0 1 0 a  0 1 0 0  0 1 0 a
    F1 = Trans (y,a) F =  *  =  
    0 0 1 0  0 0 1 0 0 0 1 0
         
    0 0 0 1  0 0 0 1 0 0 0 1

    1 0 0 0  1 0 0 0 1 0 0 0
    0 0  1 a  0 1 0 a  0 0  1 0
    F2 = Rot (x,90) F1 =  *  =  
    0 1 0 0  0 0 1 0 0 1 0 a
         
    0 0 0 1  0 0 0 1 0 0 0 1

    1 0 0 0  1 0 0 0  1 0 0 0
    0 1 0 0  0 0  1 0  0 0 1 0 
    F3 = Trans (z,a) F2 =  *  =  
    0 0 1 a  0 1 0 a  0 1 0 2a 
         
    0 0 0 1  0 0 0 1  0 0 0 1

    0 0 1 0  1 0 0 0 0 1 0 2a 
    0 1 0 0  0 0 1 0  0 0 1 0 
    F4 = Rot (y,90) F3 =  *  =  
    - 1 0 0 0  0 1 0 2a   1 0 0 0
         
    0 0 0 1  0 0 0 1 0 0 0 1

    0 1 0 2a 
    0 0 1 0 
    Rot (y,90) Trans (z,a) Rot (x,90) Trans (y,a) F =  
     1 0 0 0
     
    0 0 0 1

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