rt_diff2tr - convert a differential motion vector to a homogeneous transform[view code]

Calling Sequence

delta = rt_diff2tr(x)

Parameters

• x : 6-element vector. It represents a generalized velocity vector.
• delta : 4-by-4 matrix. Resulting homogeneous transform representing differential translation and rotation.

Description

Return a homogeneous transform representing differential translation and rotation corresponding to Cartesian velocity x. The resulting matrix contains a skew symmetric rotation submatrix.

Examples

   // A differential motion can be represented by a 6-element vector with
   // elements [dx dy dz drx dry drz]. This example shows how rt_diff2tr()
   // can be used to obtain the homogeneous transform which describes the
   // differential motion.

   // generate a differential motion
   T = rt_diff2tr([0.1, 0.2, 0, -0.2, 0.1, 0.1]),

  

See Also

rt_tr2diff,  

Authors

original Matlab version by

Peter I. Corke CSIRO Manufacturing Science and Technology

Scilab implementation by

Matteo Morelli Interdepartmental Research Center "E. Piaggio", University of Pisa

Bibliography

Corke, P.I. "A Robotics Toolbox for MATLAB", IEEE Robotics and Automation Magazine, Volume 3(1), March 1996, pp. 24-32

R. P. Paul, Robot Manipulators: Mathematics, Programming and Control. Cambridge, Massachusetts: MIT Press, 1981.