# Changing Coordinate Frames with Affine Transformations

Stuck with this questions could I get some help.

where uA and vA are two orthonormal vectors indicating the two axes, and oA is the origin. Suppose that all three frames of reference shown in Figure 3 are orthonormal, and suppose that A and B are related through the affine transformation N, and A and C are related through the affine transformation M. In particular,B=AN,and C=AM.Derive an expression of M using only the symbolsθ,d, andφ(in Figure 3) (i.e., matrix M is the function of θ,d, andφ ).

• Looks like a homework question. What have you tried? Jan 29, 2021 at 15:08
• I was tried using affine transformations but my got stuck when dealing with abstracting the transformation from A to B with regards to d and phi and theta. I am also a little confused with how to deal with the transformation matrix being on the right side of the coordinate frame matrix. I am stuck and not sure where to start with this question. Jan 29, 2021 at 17:05
• Show us your work. Jan 29, 2021 at 17:49