(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