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A Unit Cube: Objective: L.O.1.3 IHW #2

The document describes moving a unit cube through four sequential steps: 1) translating along the XR axis, 2) rotating about the OC vector, 3) rotating about the ZR axis, and 4) translating along the OA vector. Based on the student's ID, the document asks the student to: plot the cube's posture after each step, calculate the homogeneous transformation matrix describing the cube's final position and orientation, and determine the coordinates of point P with respect to the reference frame R.

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Nguyen Hoang
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92 views3 pages

A Unit Cube: Objective: L.O.1.3 IHW #2

The document describes moving a unit cube through four sequential steps: 1) translating along the XR axis, 2) rotating about the OC vector, 3) rotating about the ZR axis, and 4) translating along the OA vector. Based on the student's ID, the document asks the student to: plot the cube's posture after each step, calculate the homogeneous transformation matrix describing the cube's final position and orientation, and determine the coordinates of point P with respect to the reference frame R.

Uploaded by

Nguyen Hoang
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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Objective: L.O.1.

3 IHW #2

A. Requirement

There is a unit cube described in a fixed frame {R}. Its bottom surface OABC is on the plane
XR-YR as shown in the figure.
ZR
Your student ID is always formatted in a
form: XXYYZZZ. For example, if your
{R} student ID is 2930276

P
O C then:
XX = 29
YR
A B YY = 30
ZZZ = 276
XR

From the location in the figure, the cube is moved step by step as follows:
 Step 1: Translate it XX (m) in XR
 Step 2: Then, rotate it about its vector OC by ZZZ (degrees)
 Step 3: Then, rotate it about ZR by ZZZ (degrees)
 Step 4: Finally, translate it YY (m) along its vector OA.

After 4 steps of movement above, do followings according to your student ID:


a. Plot the posture of the cube after each step of movement.
b. Calculate a homogeneous matrix 44 so that the position and the orientation of the
cube are determined with respect to {R}. It is assumed that the cube has a local frame
{C} which is coincident to {R} at the initial location. ( 𝑅𝐶𝐓 = ?)
c. Determine the coordinates of P with respect to {R}. (RpP = ?)

B. Notes:
The report uploaded to BKEL has to be formatted in A4 pages as follows:
 File name: ‘IHW_2_XXXXXXX.pdf’ with XXXXXXX is your student ID.
 Font style: Times New Roman
 Font size: 12pt
 Margin: Left: 3cm, Right: 2cm, Top: 3cm, Bottom: 3cm
 The contents should be organized as illustrated

Course: ME3015 1/4


Individual homework #2
Student name: ............................................................ Student ID: .......................................
Class / group: .............................................................. Date:..................................................

My student ID is xxyyzzz. Thus

XX = xx (m)
YY = yy (m)
ZZZ = zzz0

a. Postures of the cube after each step of movement:


- Initially:

- After step 1: < Translate the cube XX (m) in XR >

- After step 2:

- After step 3:

- After step 4:

Course: ME3015 2/4


b. Determine the homogeneous matrix 𝑹𝑪𝐓 after 4 steps
- Initially:
1 0 0 0
𝑹 0 1 0 0]
𝑪𝐓 = [0 0 1 0
0 0 0 1
- After step 1: <Analysis from transformation matrices>
 𝑹𝑪𝐓 = [? ]

- After step 2:

- After step 3: …

- After step 4:…

c. The coordinates of P
…..

Course: ME3015 3/4

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