Cody

Problem 44820. Relative pose in 2D: problem 2

Created by Peter Corke in Community

We consider a world reference frame denoted by {0} which has its x-axis pointing east and its y-axis pointing north. There is a robot with an attached body-fixed coordinate frame {B} whose origin is in the centre of the robot, and whose x-axis points in the robot's forward direction.

With respect to the robot's coordinate frame, the world frame origin is at a distance of 67.2m in the x-direction and 32.4m in the y-direction, and at a bearing angle of 42 degrees.

Write a 3x3 matrix homogeneous transformation matrix that expresses the pose of the robot frame {B} with respect to the world frame {O}.

Solution Stats

50.0% Correct | 50.0% Incorrect
Last solution submitted on Feb 07, 2019

Recent Solvers6

Suggested Problems

More from this Author11

Discover MakerZone

MATLAB and Simulink resources for Arduino, LEGO, and Raspberry Pi

Learn more

Discover what MATLAB® can do for your career.

Opportunities for recent engineering grads.

Apply Today

MATLAB Academy

New to MATLAB?

Learn MATLAB today!