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transformation matrix

sunlab 2020. 7. 9. 14:55
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planning.cs.uiuc.edu/node111.html

 

The homogeneous transformation matrix

As in the 2D case, the first matrix, , is special. To represent any position and orientation of , it could be defined as a general rigid-body homogeneous transformation matrix, (3.50). If the first body is only capable of rotatio

planning.cs.uiuc.edu

 

planning.cs.uiuc.edu/node108.html#eqn:chain

 

Homogeneous transformation matrices for 2D chains

We are now prepared to determine the location of each link. The location in of a point in is determined by applying the 2D homogeneous transformation matrix (3.35), As shown in Figure 3.10, let be the distance between t

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