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<p>Stuck with this questions could I get some help.</p>
<p>where uA and vA are two orthonormal vectors indicating the two axes, and oA is the origin.  Suppose that all  three  frames  of  reference  shown  in  Figure  3  are  orthonormal,  and  suppose  that A and B are  related through  the  affine  transformation N,  and A and C are  related  through  the  affine  transformation M.   In particular,B=AN,and C=AM.Derive an expression of M using only the symbolsθ,d, andφ(in Figure 3) (i.e., matrix M is the function of θ,d, andφ ).</p>

CC BY-SA 4.0
2021-01-29T15:08:26.087Z
Looks like a homework question. What have you tried?
joojaa
CC BY-SA 4.0
2021-01-29T17:05:00.177Z
I was tried using affine transformations but my got stuck when dealing with abstracting the transformation from A to B with regards to d and phi and theta. I am also a little confused with how to deal with the transformation matrix being on the right side of the coordinate frame matrix. I am stuck and not sure where to start with this question.
gmjasonx
CC BY-SA 4.0
2021-01-29T17:49:54.543Z
Show us your work.
joojaa
<computational-geometry><geometry><vector-graphics><linear-algebra>
Changing Coordinate Frames with Affine Transformations
gmjasonx
# Changing Coordinate Frames with Affine Transformations

(Asked by: username_0 on 2021-01-29)

[![enter image description here](https://i.sstatic.net/S5SD0.png)](https://i.sstatic.net/S5SD0.png)

Stuck with this questions could I get some help.

where uA and vA are two orthonormal vectors indicating the two axes, and oA is the origin. Suppose that all three frames of reference shown in Figure 3 are orthonormal, and suppose that A and B are related through the affine transformation N, and A and C are related through the affine transformation M. In particular,B=AN,and C=AM.Derive an expression of M using only the symbolsθ,d, andφ(in Figure 3) (i.e., matrix M is the function of θ,d, andφ ).

**Tags:** computational-geometry, geometry, vector-graphics, linear-algebra

> **Comments:**
> **username_1**: Looks like a homework question. What have you tried?  
> **username_0**: I was tried using affine transformations but my got stuck when dealing with abstracting the transformation from A to B with regards to d and phi and theta. I am also a little confused with how to deal with the transformation matrix being on the right side of the coordinate frame matrix. I am stuck and not sure where to start with this question.  
> **username_1**: Show us your work.  

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## 0 answers

