Geometries with orientation support
Chapter 4
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
133
This diagram uses the combined transform matrix of translation and rotation
matrix around the Y axis.
The following diagram uses the combined transform matrix of the translation
matrix used with the translation vector of [5 0 3]
T
and rotation matrix of -45
around Y axis.
The transform matrix
A
T
B
is:
The translation matrix above can also be represented in user format with X = 5, Y
= 0, Z = 3, Rx = 0, Ry = 0, Rz = -45.
The point
A
P is with respect to base coordinate frame {A} with the translation
vector of [4 0 5]
T
and rotation matrix of 0 rotation or identity matrix.
The point
A
P is also specified in user format with X = 4, Y = 0, Z = 5, Rx = 0, Ry =
0, Rz = 0.