Before revision: Compose matrix exponential For each joint i, the matrix exponential for a given joint angle is calculated according to the formula: Compose structure equation The matrix exponentials are multiplied to produce a 4x4 affine transform from the base frame to the tool frame in a given configuration.
After revision: Compose matrix exponential For each joint i, the matrix exponential for a given joint angle is calculated according to the formula: Compose structure equation The matrix exponentials are multiplied to produce a 4 × 4 affine transform from the base frame to the tool frame in a given configuration.