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

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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Hassaan Asif
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69 views3 pages

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

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.

Uploaded by

Hassaan Asif
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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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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