2.1 soluti on:
According to the equation of pure transition transformation,the new point after transition is as follows:
2 丁 3 5 4 7
'5' 1 0 0 8 11
0 0 0 1 1 1
0 1 0 % = Tss(d“dMJx% =
23 soluti on:
According to the constraint equations:
〃 ? G = 0;〃 ? o = 0;a ? o = 0
n = 1
Thus,the matrix should be like this: 'o 0 -1 5\ 0 -1 5\
1 0 0 0 3 or -1 0 0 3
-1 0 2 0 -1 0 2 0 0 1 _0 0 0 1 0
2.4 Solution:
Solution:
According to the equation of pure
rotation transformation , the new
coordinates are as follows:
0
化川=s 心,45°)xP =
V2 2
返
2
2.9
Solution:
Acording to the equations for the combined transformations ,the new coordinates are as follows:
0 -1 A
P = Rot(z,90 )XTrans(5Rot(x.90°)x P= °t . 1 0 y3,6)x Q
0 0
Transformations relative to the reference frame
0 1 00 0o-
丁
0 3 0 4 1
1
'1 '10 9 1
机器人学导论第二章作业答案
