Allen-Bradley 1756-HYD02 User Manual page 133

Geometries with orientation support
This diagram uses the combined transform matrix of translation and rotation
matrix around the Y axis.
The following diagram uses the combined transform matrix of the translation
matrix used with the translation vector of [5 0 3]
around Y axis.
The transform matrix
A
The translation matrix above can also be represented in user format with X = 5, Y
= 0, Z = 3, Rx = 0, Ry = 0, Rz = -45.
The point P is with respect to base coordinate frame {A} with the translation
A
vector of [4 0 5] T and rotation matrix of 0
The point A P is also specified in user format with X = 4, Y = 0, Z = 5, Rx = 0, Ry =
0, Rz = 0.
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
T
T is:
B
rotation or identity matrix.
Chapter 4
and rotation matrix of -45
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