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    TX Ty TZ Ty TZ TX TZ TX Ty Matlab Code:: % Symbolizing The Variables

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    Hassaan Asif
    The document presents Matlab code that defines transformation matrices TX, TY, and TZ representing rotations around the x, y, and z axes. It then calculates the matrix products TX*TY*TZ, TY*TZ*TX, and TZ*TX*TY. For the matrices to be equal, the corresponding elements must be equal, but this system is underdetermined with more unknowns than equations. The matrices may be equal in special cases where there is no rotation along a minimum of 2 axes or if the rotation is equal along all axes.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    TX Ty TZ Ty TZ TX TZ TX Ty Matlab Code:: % Symbolizing The Variables

    Uploaded by

    Hassaan Asif
    42 views3 pages
    The document presents Matlab code that defines transformation matrices TX, TY, and TZ representing rotations around the x, y, and z axes. It then calculates the matrix products TX*TY*TZ, TY*TZ*TX, and TZ*TX*TY. For the matrices to be equal, the corresponding elements must be equal, but this system is underdetermined with more unknowns than equations. The matrices may be equal in special cases where there is no rotation along a minimum of 2 axes or if the rotation is equal along all axes.

    Original Description:

    Matlab Code

    Original Title

    Matlab_Part2

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    The document presents Matlab code that defines transformation matrices TX, TY, and TZ representing rotations around the x, y, and z axes. It then calculates the matrix products TX*TY*TZ, TY*TZ*TX, and TZ*TX*TY. For the matrices to be equal, the corresponding elements must be equal, but this system is underdetermined with more unknowns than equations. The matrices may be equal in special cases where there is no rotation along a minimum of 2 axes or if the rotation is equal along all axes.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    42 views3 pages

    TX Ty TZ Ty TZ TX TZ TX Ty Matlab Code:: % Symbolizing The Variables

    Uploaded by

    Hassaan Asif
    The document presents Matlab code that defines transformation matrices TX, TY, and TZ representing rotations around the x, y, and z axes. It then calculates the matrix products TX*TY*TZ, TY*TZ*TX, and TZ*TX*TY. For the matrices to be equal, the corresponding elements must be equal, but this system is underdetermined with more unknowns than equations. The matrices may be equal in special cases where there is no rotation along a minimum of 2 axes or if the rotation is equal along all axes.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 3

    Conditions under which TX*TY*TZ = TY*TZ*TX = TZ*TX*TY

    Matlab Code:
    % Symbolizing the Variables
    syms x y z
    syms cosx sinx cosy siny cosz sinz
    % Transformation Matrices

    TX = [ 1 0 0 x;0 cosx -sinx y;0 sinx cosx z;0 0 0 1];


    TY = [ cosy 0 siny x;0 1 0 y;-siny 0 cosy z;0 0 0 1];
    TZ = [ cosz -sinz 0 x;sinz cosz 0 y;0 0 1 z;0 0 0 1];
    A=TX*TY*TZ;
    B=TY*TZ*TX;
    C=TZ*TX*TY;
    % Displaying Matrices
    disp('TX')
    disp (TX)
    disp('TY')
    disp (TY)
    disp('TZ')
    disp (TZ)
    disp('TX*TY*TZ')
    disp(A)
    disp('TY*TZ*TX')
    disp(B)
    disp('TZ*TX*TY')
    disp(C)
    disp ('For the Matrices to be equal, the corresponding elements of the
    matrices have to be equal')
    disp (A==B==C)

    Command Window:
    TX
    [ 1, 0, 0, x]
    [ 0, cosx, -sinx, y]
    [ 0, sinx, cosx, z]
    [ 0, 0, 0, 1]

    TY
    [ cosy, 0, siny, x]
    [ 0, 1, 0, y]
    [ -siny, 0, cosy, z]
    [ 0, 0, 0, 1]
    TZ
    [ cosz, -sinz, 0, x]
    [ sinz, cosz, 0, y]
    [ 0, 0, 1, z]
    [ 0, 0, 0, 1]

    TX*TY*TZ
    [ cosy*cosz, -cosy*sinz, siny,
    2*x + cosy*x + siny*z]
    [ cosx*sinz + cosz*sinx*siny, cosx*cosz - sinx*siny*sinz, -cosy*sinx,
    y + 2*cosx*y - sinx*z - cosy*sinx*z + sinx*siny*x]
    [ sinx*sinz - cosx*cosz*siny, cosz*sinx + cosx*siny*sinz, cosx*cosy,
    z + cosx*z + 2*sinx*y + cosx*cosy*z - cosx*siny*x]
    [ 0, 0, 0,
    1]

    TY*TZ*TX
    [ cosy*cosz, sinx*siny - cosx*cosy*sinz, cosx*siny + cosy*sinx*sinz,
    x + cosy*x + 2*siny*z + cosy*cosz*x - cosy*sinz*y]
    [ sinz, cosx*cosz, -cosz*sinx,
    2*y + cosz*y + sinz*x]
    [ -cosz*siny, cosy*sinx + cosx*siny*sinz, cosx*cosy - sinx*siny*sinz,
    z + 2*cosy*z - siny*x - cosz*siny*x + siny*sinz*y]
    [ 0, 0, 0,
    1]

    TZ*TX*TY
    [ cosy*cosz - sinx*siny*sinz, -cosx*sinz, cosz*siny + cosy*sinx*sinz,
    x + 2*cosz*x - sinz*y - cosx*sinz*y + sinx*sinz*z]
    [ cosy*sinz + cosz*sinx*siny, cosx*cosz, siny*sinz - cosy*cosz*sinx,
    y + cosz*y + 2*sinz*x + cosx*cosz*y - cosz*sinx*z]
    [ -cosx*siny, sinx, cosx*cosy,
    2*z + cosx*z + sinx*y]
    [ 0, 0, 0,
    1]

    For the Matrices to be equal, the corresponding elements of the


    matrices have to be equal
    [ (cosy*cosz == cosy*cosz) == cosy*cosz - sinx*siny*sinz,
    (-cosy*sinz == sinx*siny - cosx*cosy*sinz) == -cosx*sinz, (siny ==
    cosx*siny + cosy*sinx*sinz) == cosz*siny + cosy*sinx*sinz, (2*x +
    cosy*x + siny*z == x + cosy*x + 2*siny*z + cosy*cosz*x - cosy*sinz*y)
    == x + 2*cosz*x - sinz*y - cosx*sinz*y + sinx*sinz*z]
    [ (cosx*sinz + cosz*sinx*siny == sinz) == cosy*sinz + cosz*sinx*siny,
    (cosx*cosz - sinx*siny*sinz == cosx*cosz) == cosx*cosz, (-
    cosy*sinx == -cosz*sinx) == siny*sinz - cosy*cosz*sinx, (y + 2*cosx*y
    - sinx*z - cosy*sinx*z + sinx*siny*x == 2*y + cosz*y + sinz*x) == y +
    cosz*y + 2*sinz*x + cosx*cosz*y - cosz*sinx*z]
    [ (sinx*sinz - cosx*cosz*siny == -cosz*siny) == -cosx*siny,
    (cosz*sinx + cosx*siny*sinz == cosy*sinx + cosx*siny*sinz) == sinx,
    (cosx*cosy == cosx*cosy - sinx*siny*sinz) == cosx*cosy, (z + cosx*z +
    2*sinx*y + cosx*cosy*z - cosx*siny*x == z + 2*cosy*z - siny*x -
    cosz*siny*x + siny*sinz*y) == 2*z + cosx*z + sinx*y]
    [ (0 == 0) == 0,
    (0 == 0) == 0, (0
    == 0) == 0,
    (1 == 1) == 1]

    Remarks
    For the Matrices to be equal, the corresponding elements of the matrices have to be equal. The system
    is an underdetermined system with more unknowns the equations.

    In some special cases they become equal such as

     If there is no rotation along a minimum of 2 axis then the condition is satisfied


     If the rotation is equal along all of the Axis

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