I am studying robotic kinematics , and given the following manipulator with its D-H frames addignedassigned:
I have to find the rotation matrix $R_{e}^{2}$, which is the rotation matrix of frame $e$ with respect to frame $2$.
I know that this matrix is :
$\begin{pmatrix} 0 &sin\beta & cos\beta \\ 0& cos\beta & -sin\beta\\ -1 &0 &0 \end{pmatrix}$
but I cannot understand why.
Can somebody please help me understand how does this reotation matrix comes out?
I am studying robotic kinematics , and given the following manipulator with its D-H frames addigned:
I have to find the rotation matrix $R_{e}^{2}$, which is the rotation matrix of frame $e$ with respect to frame $2$.
I know that this matrix is :
$\begin{pmatrix} 0 &sin\beta & cos\beta \\ 0& cos\beta & -sin\beta\\ -1 &0 &0 \end{pmatrix}$
but I cannot understand why.
Can somebody please help me understand how does this reotation matrix comes out?
I am studying robotic kinematics , and given the following manipulator with its D-H frames assigned:
I have to find the rotation matrix $R_{e}^{2}$, which is the rotation matrix of frame $e$ with respect to frame $2$.
I know that this matrix is :
$\begin{pmatrix} 0 &sin\beta & cos\beta \\ 0& cos\beta & -sin\beta\\ -1 &0 &0 \end{pmatrix}$
but I cannot understand why.
Can somebody please help me understand how does this reotation matrix comes out?
I am studying robotic kinematics , and given the following manipulator with its D-H frames addigned:
I have to find the rotation matrix $R_{e}^{2}$, which is the rotation matrix of frame $e$ with respect to frame $2$.
I know that this matrix is :
$\begin{pmatrix} 0 &sin\beta & cos\beta \\ 0& cos\beta & -sin\beta\\ -1 &0 &0 \end{pmatrix}$
but I cannot understand why.
Can somebody please help me understand how does this reotation matrix comes out?
