Coordinate Systems and Transformations

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Presentation transcript:

Coordinate Systems and Transformations

Coordinate Systems and Frames of Reference

Coordinate Systems and Right-‐Hand Rule

Nested Coordinate Systems (Frames of Reference) P {A}

Expressing Rotations “Express XB in the coordinate frame A”

Coordinate transformation

Matrix notation: Rotation

Transformation Arithmetic Rotation Matrix Euler Angles Inverse

Mapping from one frame to another Coordinate system B with respect to A Homogeneous Transform Inverse of homogeneous transformation

Combined transformations