Professional Documents
Culture Documents
displacement vector (origin). The columns of 𝑺(𝑛) represent the coordinates of the
(𝑛) (1)
vectors 𝒂𝑖 relative to 𝒂𝑖 . The column 𝒅(𝑛) represents the origin of the
(𝑛)
corresponding coordinate system 𝒂𝑖 . The transformation of the coordinates from the
(𝑛) (1)
coordinate system 𝒂𝑖 to the coordinate system 𝒂𝑖 must go via:
(1) (𝑛) (𝑛)
𝑥1 𝑆11 𝑆12 𝑆13 𝑥1 𝑑1
(1)
(𝑥2 ) = (𝑆21 𝑆22 𝑆23 ) (𝑥2(𝑛) ) + (𝑑2(𝑛) ) (1)
(1) 𝑆31 𝑆32 𝑆33 (𝑛) (𝑛)
𝑥3 𝑥3 𝑑3
Identify the transformation matrix and displacement vector for each of these
operations. Hint: use the equation (1) and the lecture materials.