Compute Geometric Transforms Symbolically
Mathematica 6 makes it easy to combine geometric transforms in any number of dimensions—here to compute the motion of a 10-segment planar robot arm.
In[1]:=  |  Simplify[Apply[Composition,
Table[Composition[RotationTransform[Subscript[\[Theta], i]],
TranslationTransform[{Subscript[a, i], 0}]], {i, 10}]][{x,
y}]] // TraditionalForm |
Out[1]//TraditionalForm= | |
|  |