3D Transformations. The Rainbow Graphics Group has available a simple robot
arm. This robot arm has, for the purposes of this question, the following
characteristics:
• Two joints, a shoulder joint and an elbow joint. The shoulder joint is connected
by a 2-unit length upper arm to the elbow joint, which in turn is connected by a
single unit lower arm to the hand.
• The joints can only rotate in the xy-plane.
• The shoulder joint is attached to a z-axis vertical slider, which can raise or lower
the entire robot arm, but is not able to translate it in the xy-plane.
• The initial position of the arm is:
shoulder joint: position (0,0,0), rotation 0°
elbow joint: position (2,0,0), rotation 0°
hand: position (3,0,0)
There is a soft drink can located at position (1,1,1). The robot hand must touch this
can. Specify the transformation matrices of the joints needed to achieve this.
2007-04-10
16:32:53
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2 answers
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asked by
LOST MAN
1
in
Mathematics