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In terms of the x^s,y^s,,z^s coordinates of a fixed space frame {s}, the frame (a) has its x^a-axis pointing in the direction (0,0,1) and its y^a-axis pointing in the direction (1,0,0), and frame (b) has its x^b-axis pointing in the direction (1,0,0) and its j^ b-axis pointing in the direction (0,0,1). The origin of (a) is at (0,0,1) in (s) and the origin of (b) is at (0,2,0). Draw the (s),(a), end (b) frames, similar to examples in the book and videos, for easy reference in this question and later questions. 6) a twist vis replesented in (s) as Vs=(3,2,1,1,2,3) what it's representation Va? 7) calculate the matrix logalithm [S] of Tsa. write rotation amount Q in radians with at least 2 decimal places 8) calculate the matrix exponetial coriestonding tos the exposential of rigid body motion S=(0,1,2,3,0,0) the maximum allowable error for any matrix element is 0.01, so give enough deciral places where necessary 3) Use Tsb to chang representation of the wrench Fb=(1,0,0,21,0)T in (b) coordinat to (s) coordinate In terms of the x^s,y^s,,z^s coordinates of a fixed space frame {s}, the frame (a) has its x^a-axis pointing in the direction (0,0,1) and its y^a-axis pointing in the direction (1,0,0), and frame (b) has its x^b-axis pointing in the direction (1,0,0) and its j^ b-axis pointing in the direction (0,0,1). The origin of (a) is at (0,0,1) in (s) and the origin of (b) is at (0,2,0). Draw the (s),(a), end (b) frames, similar to examples in the book and videos, for easy reference in this question and later questions. 6) a twist vis replesented in (s) as Vs=(3,2,1,1,2,3) what it's representation Va? 7) calculate the matrix logalithm [S] of Tsa. write rotation amount Q in radians with at least 2 decimal places 8) calculate the matrix exponetial coriestonding tos the exposential of rigid body motion S=(0,1,2,3,0,0) the maximum allowable error for any matrix element is 0.01, so give enough deciral places where necessary 3) Use Tsb to chang representation of the wrench Fb=(1,0,0,21,0)T in (b) coordinat to (s) coordinate