This document discusses translating and rotating frames in 3D space in MATLAB. It defines a universal coordinate system {U} and another frame {A}. Commands like transl() and trplot() are used to translate and rotate frames and plot them in 3D. Transl() translates a frame by moving its origin to specified coordinates, while trplot() plots coordinate frames and allows setting options like axis dimensions, colors, and view parameters.

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“TRANSLATION AND ROTATION OF FRAMES IN SPACE”
Objectives:
 Understand the Translation of frames in 3D in MATLAB.
 Understand the Rotation of frames in 3D in MATLAB.
Theory:
Let us consider a universal co-ordinate system and we call it {U},
if we have another frame in the plane let it be called {A}, then to
define a vector in the frame {U} or {A} and conversion b/w frames we do
some math.
But here in MATLAB it is done through commands. Following are
the commands used to translate, rotate and plot frames in 3D.
T= transl (x, y,z)
x,y and z are the coordinates of the origin of the new frame to which
we want to translate. E.g. T= transl2(3,2,4); translates to a frame
which has its origin moved to (3,2, 4) w.r.t original co-ordinate system.
Trplot (T, options) //Plots a 3D coordinate frame while options will be
discussed later.
H = trplot (T, options); // creates a frame H and plots T w.r.t H
Trplot (H, T);
Options:
 ‘axis’…. A set dimension of the MATLAB axis.
 ‘color’….The color to draw axis, MATLAB colorspec.
 ‘no axes’….Don’t display axes on the plot.
 ‘frame’….The frame I named F and it is subscript.
 ‘text opts’….A cell array of MATLAB text properties.
 ‘handle’….Draw in MATLAB axes specified by h.
 ‘view’….Set plot view parameters V=[az el], or
 ‘auto’…. For view towards origin of coordinate.
 ‘arrow’…. Use arrows rather than the segment for axes.

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