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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