13 Combination of homogeneous transformations Assume that the origin of the frames B1, and B2 are at T d1 10 20 20 1 T Gd2 15 20 30 1 The orientation of B1 in B2 can be found by a rotation of 60 deg about 2u 1 2 4 and the orientation of B2 in the global frame G can be found by a rotation of 30 deg...

The transformations for the origin of the frames B1 a ...

13. Combination of homogeneous transformations. Assume that the origin of the frames B1, and B2 are...

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