Z.2 POSITIONER COORDINATE SYSTEM TRANSFORMATIONS

Any point of the Positioner coordinate system (P Xp , P Yp , P Zp ) can be expressed in the Isocenter coordinate system (P X , P Y , P Z ) by applying the following transformation:

(P X , P Y , P Z ) T = (R 2 . R 1 ) T . ( R 3 T . (P Xp , P Yp , P Zp ) T )

And inversely, any point of the Isocenter coordinate system (P X , P Y , P Z ) can be expressed in the Positioner coordinate system (P Xp , P Yp , P Zp ) by applying the following transformation:

(P Xp , P Yp , P Zp ) T = R 3 . ( (R 2 . R 1 ) . (P X , P Y , P Z ) T )

Where R 1 , R 2 and R 3 are defined as follows:

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