Question 3

disp('ME 5144 Robotics and Mechatronics Tutorial 1');

disp('W.A.Rasika Nandana');
% Please include robot9.9 rvctools toolbox properly before run this.
disp('Question 3 (a)');
aRb=rotx(45,'deg')*rotz(30,'deg')
aPborg=transpose([3,2,1])
aTb= transl(3,2,1) * trotx(45,'deg')* trotz(30,'deg')
disp('Question 3 (b)');
bP= transpose([1,1.5,-3])
aP=aRb*bP + aPborg
disp('Question 3 (c)');
aRb_Transpose =transpose(aRb)
bPaorg= -(aRb_Transpose * aPborg)
bTa=[aRb_Transpose,bPaorg;0,0,0,1]
disp('Question 3 (d)');
Aq=transpose([1.5,0,-2])
Bq=bTa * [Aq;1]
% ME 5144 - W.A.Rasika Nandana