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Assignment

This document contains an assignment with 3 robotics questions. Each question describes an initial frame {B} overlapping with frame {A} and a point P attached to frame {B}. It then lists a series of rotations and translations applied to the frames, and asks to find the final position of point P.

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Lau Yeowhong
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36 views

Assignment

This document contains an assignment with 3 robotics questions. Each question describes an initial frame {B} overlapping with frame {A} and a point P attached to frame {B}. It then lists a series of rotations and translations applied to the frames, and asks to find the final position of point P.

Uploaded by

Lau Yeowhong
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Assignment

ENT372 Robotics
Submit before 4:00 pm, 26th May 2016

Question 1
Assume that a frame {} is initially overlapping with a frame {}. A point of (4,7,8) is attached to
the frame {}. Find the final position of point if the following actions were taken:
(a)
(b)
(c)
(d)

A rotation of 45 deg about the z-axis of frame {},


Followed by a translation of (2,4, 2) in frame {},
Followed by a translation of (3, 4,5) in frame {}, and
Finally, it is rotated 30 deg about x-axis of frame {}.

Question 2
Assume that a frame {} is initially overlapping with a frame {}. A point of (5,3,3) is attached to
the frame {}. Find the final position of point if the following actions were taken:
(a)
(b)
(c)
(d)

A rotation of 60 deg about the y-axis of frame {},


Followed by a translation of (5,4,2) in frame {},
Followed by a rotation of 90 deg about y-axis of frame {}, and
Finally followed by a translation of (3,3,2) in frame {}.

Question 3
Assume that a frame {} is initially overlapping with a frame {}. A point of (0,4,7) is attached to
the frame {}. Find the final position of point if the following actions were taken:
(a)
(b)
(c)
(d)

A rotation of 30 deg about z-axis of frame {}.


Followed by a translation of (10,4,1) in frame {},
A rotation of 60 deg about the x-axis of frame {}, and
Followed by a translation of (4,4,6) in frame {}.

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