Re: A nomenclature question

On Mon, 7 Jul 2003, Leopold Palomo Avellaneda wrote:

[...]
> > No, that's not a myth, but then you should use homegeneous
> > transformation matrices. (Or some "minimized" form of them.) 
> 
> minimized form ... are you talking about to have some kind way to construct 
> your homegeneous transformation matrices but with less parameters that 12?

Indeed. That's where these special family-dependent models are used
for. For example, in all the kinematics routines for the serial 321
family, no homogeneous transformation matrix is calculated
_explicitly_, although the algorithms are based on them. The reason is
that there has been a a posteriori optimization of the algorithms.

Herman

-- 
  K.U.Leuven, Mechanical Engineering, Robotics Research Group
<http://people.mech.kuleuven.ac.be/~bruyninc> Tel: +32 16 322480