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References in periodicals archive ?
* Tdisp(x, y, z) represents a homogeneous transformation matrix corresponding to a displacement without rotation by coordinates x, y and z;
Then the homogeneous transformation matrix is applied for representing geometric relations between cameras from different coordinate system.
First, according to the joint angles measured by the absolute position sensor, the homogeneous transformation matrix [sup.base][T.sub.end] between the end and the mounting base of the manipulator is calculated by the manipulator's forward kinematics.
The mapping between configuration space and task space can be described by homogeneous transformation matrix from the base to the end-effector.
In the article the direct kinematics problem for Hauff manipulator have been solved in the form of a homogeneous transformation matrix. The advantages of the using approach consist in the same type of equations (1 - 9) and as a consequence the same type of non-linearity in all of equations.