Biomedical Engineering Reference
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A
z
A
y
A
x
A
x
B
y
C
7
z
B
0.5
B
y
B
Q
C
5
z
C
1
x
C
FIGURE 2.8
The upper limb with three embedded coordinate systems at the shoulder, elbow, and
hand.
A point
Q
on the thumb is represented by a vector embedded in the hand and
given by
C
. It is required to
(a)
Determine the homogenous transformation matrix
A
T
x
Q
5
0
:
50
11
2
T
B
.
(b)
Determine the homogenous transformation matrix
B
T
C
.
(c)
Determine the homogenous transformation matrix
A
T
C
.
(d)
Determine the coordinates of the vector
x
Q
with respect to the shoulder
coordinate system
A
(i.e.,
A
x
Q
).
The transformation matrix relating coordinate systems
A
to
B
is
2
4
3
5
10 07
01 00
00
2
A
T
B
5
(2.26)
10
00 01
2
2
4
3
5
01 00
10 05
00
B
T
C
5
(2.27)
10
00 01
2
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