# Changes between Version 9 and Version 10 of Burt-Research/KinematicsJointRangesConversionFactors

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Timestamp:
Apr 16, 2018, 10:18:37 PM (17 months ago)
Comment:

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Unmodified
 v9 For example, to generate the transform from coordinate Frame 2 to coordinate Frame 1 (i.e. the position and orientation of Frame 2 described in terms of Frame 1 which is also a rotation about joint 2), use the parameters in the second row of Table 1 as follows: {{{ #!div class="center" align="center" {{{ #!latex $^{0}T_{3}=\left[\begin{array}{cccc} c1c2c3-c1s2s3 & -s1 & -c1c2s3-c1s2c3 & 0.435c1c2c3-0.435c1s2s3+0.069s1+0.650c1c2+0.156s1)\\ \sin(\theta_{2}) & \cos(\theta_{2})\cos(0) & -\cos(\theta_{2})\sin(0) & 0.650\sin(\theta_{2})\\ 0 & \sin(0) & \cos(0) & (0.156)\\ 0 & 0 & 0 & 1\end{array}\right]$ '''Equation 3: D-H Matrix Example''' }}} The forward kinematics of BURT are used to determine the end tip location and orientation. These transformations are generated using the parameters in Table 1 and the matrix in Equation 1.