Spatial descriptions and transformations

see Introuction to Robotics Mechanics and Control, by Joh J. Craig, pdf link

Notation

Coordinate system notation
Fig. 1. Coordinate system notation.

homogenerous tranform

homogenerous tranform
Fig. 2. homogenerous tranform.

homogenerous tranform matric representation

homogenerous tranform matric representation
Fig. 3. homogenerous tranform matric representation.
Written on October 17, 2021