Review Alternative form to represent a rotation- Euler Angles a sequence of rotation Q=Q(0)Q(阝)Q(y) a,B, y rotation angles about certain axes Coordinate Transformation General form pA=[bA+[Q]A[T]B Origin offset Homogeneous form pJA=TJAT)E ①TA≡ LA b pM [p] 1Review • Alternative form to represent a rotation – Euler Angles A sequence of rotation: Q = Q()Q()Q() , ,  rotation angles about certain axes. • Coordinate Transformation General form Homogeneous form Origin offset