Transformations
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In this article general transformations used in the context of robotics and the underlying mathematics are described.
Transformations are applied to vectors or coordinates in vector notation, respectively. All types of transformations can be achieved by matrix multiplication. To transform a vector to , has to be multilplied by the transformation matrix :
The basic transformation matrix is an identity matrix, which corresponds to an empty transformation. So an identity matrix as transformation matrix results in the original vector no matter how many dimensions the vector has. The following equations show this for two and three dimensions:
By modifying the components of the The different types of transformations are presented in the following subarticles: