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Assignment 4: Due: Friday, July 24, 2015 Submit in Elearning by 10Pm

Assignment 4 details 4 problems to be completed and submitted by July 24th, 2015 through eLearning as a single ZIP folder with appropriately labeled files, including generating plots and simulations of rotational transformations, homogeneous transformations of a rotated cube, a surface of revolution, and robot joint trajectories following a specified tool-point path.

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Celeste Lopez
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47 views2 pages

Assignment 4: Due: Friday, July 24, 2015 Submit in Elearning by 10Pm

Assignment 4 details 4 problems to be completed and submitted by July 24th, 2015 through eLearning as a single ZIP folder with appropriately labeled files, including generating plots and simulations of rotational transformations, homogeneous transformations of a rotated cube, a surface of revolution, and robot joint trajectories following a specified tool-point path.

Uploaded by

Celeste Lopez
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Assignment 4

Due: Friday, July 24, 2015


Submit in eLearning by 10pm

This assignment must be submitted in eLearning by the date and time indicated. No late assignments will be accepted. Submit a single ZIP folder with
Matlab files, Word file or scanned PDF file of handwritten work. Label files
appropriately so they can be easily identified. Show all your work to receive
credit.
1. (15 Points) Suppose the transformation matrix R provided below rep and the angle .
resents a rotation. Determine the unit vector n

0.8387 0.0000 0.5446

R = 0.0000 1.0000 0.0000


0.5446 0.0000 0.8387
2. (15 Points) A unit cube centered about the origin is rotated by = 45
about the line passing through the point P0 = (5, 0, 0) and having a unit
= (0, 0, 1). Provide the homogeneous transformation matrix and
vector n
3D coordinates of all eight vertices in the original and rotated locations.
3. (35 Points) Find the equation of the surface of revolution formed by
revolving the profile curve G(u) = (u, u2 , 0), u [0, 1] about the line
y = x. Provide a Matlab script file that generates a plot of the surface.
4. (35 Points) Write a Matlab script file that generates the joint trajectories of the planar robot of Example 9 of the geometric transformation notes. The tool-point trajectory the robot should follow is shown in
Figure 1 where each Pi = (xi , yi , i ), i = 0, ..., 3 is the location of the
tool-point (xi , yi ) and the orientation i relative to the +X-axis. Let
P0 = (0, 3/4, 0 ) correspond to time t = 0, P1 = (3/4, 1, 0 ) to time
t = 1, P2 = (5/4, 1/2, 25 ) to time t = 2 and P3 = (1/2, 0, 90 ) to
1

time t = 3. The robot returns to P0 at time t = 4. For this problem,


submit the following:
(a) the Matlab script file(s) used to create a skeleton (stick figure) animation of the robot (the script should also generate a properly labeled
Matlab plot of the three joint trajectories)
(b) and a video of the robot simulated in either CREO or SolidWorks.

P1
P0
P2

P3

Figure 1: The trajectory of the robot for Problem 4. The trajectories between
the tool-points are linear (including in the orientation).

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