1
$\begingroup$

I've just started taking a robotics course and I am having a little problem. I need to rotate the $O_i-1$ coordinate system into a position, where $X_i-1$ will be parallel with $X_i$.

The transformation matrix is given, but I have no idea how I can figure out this transformation matrix from the picture that can be found below.

Actually, I know why the last vector is [0 0 0 1] and the previous vector is [0 0 1 0], but I can't figure out why the first vector is [$\cos q_i$ $\sin q_i$ 0 0] and the second [$-\sin q_i$ $\cos q_i$ 0 0].

The picture

$\endgroup$
1
$\begingroup$

This is a standard rotation matrix with pure rotation about the Z axis. See for more info: http://en.wikipedia.org/wiki/Rotation_matrix

$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service, privacy policy and cookie policy

Not the answer you're looking for? Browse other questions tagged or ask your own question.