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GT ECE 4560 - Intro to Automation & Robotics 17 Online
OpenStudy (anonymous):

For Problem 1, I used the formula g=gf*gi^-1 to find g. In the question we are supposed to show that gf=gi*e(xi*tau). When I worked this, I did not get the same gf. In the notes I seen that e(xi*tau) = g, so I used gf=gi*g. I'm just not sure where I went wrong.

OpenStudy (anonymous):

Nevermind, I realized my mistake. I was using g=gf*gi^-1 and I looked in the solutions from last week and I see that the formula is to be used as g=gi^-1*gf. I used it as gf*gi^-1 last week as well on problem 3, so that one is probably incorrect.

OpenStudy (anonymous):

Actually either way is valid. One way defines g as the transformation from gi to gf and the other defines g as the transformation from gf to gi. Your xi vector would essentially be negated from one to the other. In your case since you defined it opposite, you would look for \[g_i = g_f*e^{\xi*\tau}\]

OpenStudy (anonymous):

Okay thanks for your help!

OpenStudy (anonymous):

No problem

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