![]() |
(3.85) |
![]() |
(3.86) |
![]() |
(3.87) |
Assume that the structure is shown in the zero configuration.
Suppose that the linkage is moved to the configuration
, in which
is
the angle of
,
is the angle of
with respect to
, and
is the angle of
with respect to
.
Using homogeneous transformation matrices, compute the position of the
point at
in Figure 3.30, when the linkage is
at configuration
(the
point is attached to
).
Implementations
Steven M LaValle 2020-08-14