Write a MATLAB program to calculate the homogeneous transformation matrix AT when the user enters Z-Y-X...

 

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Write a MATLAB program to calculate the homogeneous transformation matrix AT when the user enters Z-Y-X Euler angles a-ß-y and the position vector PB. Test for two examples: i) a = 10°, B= 20°, y = 30°, and Pg = {1 2 3 1. ii) For ß = 20° (α =y=0), P = (3 0 1}. Define AT to be the result from (a)(i) and 27 to be the result from (a)(ii). i) Calculate 7, and show the relationship via a transform graph. Do the same for CT. ii) Given T and T from (d)(i)-assume you don't know 4T, calculate it, and compare your result with the answer you know. iii) Given 47 and 47 from (d)(i)-assume you don't know T, calculate it, and compare your result with the answer you know. Write a MATLAB program to calculate the homogeneous transformation matrix AT when the user enters Z-Y-X Euler angles a-ß-y and the position vector PB. Test for two examples: i) a = 10°, B= 20°, y = 30°, and Pg = {1 2 3 1. ii) For ß = 20° (α =y=0), P = (3 0 1}. Define AT to be the result from (a)(i) and 27 to be the result from (a)(ii). i) Calculate 7, and show the relationship via a transform graph. Do the same for CT. ii) Given T and T from (d)(i)-assume you don't know 4T, calculate it, and compare your result with the answer you know. iii) Given 47 and 47 from (d)(i)-assume you don't know T, calculate it, and compare your result with the answer you know.

Answer rating: 100% (QA)

function homogeneousTransformationExample i Example 1 alpha deg2rad10 beta deg2rad20 gamma deg2rad30 APR 1 2 3 Position vector Calculate the rotation ... View the full answer