Assignment I (Robotics MCE 51021)

1. Figure 1. shows a frame {B}, which is rotated relative to frame {A} about Z by 30 degrees,
translated 10 units in XA, and translated 5 units in YA. Find A P , where
P = 3.0 7.0 0.0 .
B T

Figure 1. Frame {B} rotated and translated

2. Figure 2 shows a vector A P1 =  0.0 2.0 0.0 . Compute the vector obtained by rotating
T

this vector about Z by 30 degrees. Call the new vector A P2 .

Figure 2. The vector A P1 rotated 30

degrees about Z

Figure 3. The vector A P1 rotated and

translated to form A P2

3. Figure 3 shows a vector A P1 . We wish to rotate it about Z by 30 degrees and translate it 10

units in XA and 5 units in YA. Find A P2 , where B P = 3.0 7.0 0.0 .
T
4. Figure 4. shows a frame {B} that is rotated relative to frame {A} about Z by 30 degrees
and translated four units in X A and three units in YA. Thus, we have a description of ATB .
Find BTA .

Figure 4. {B} relative to {A}

5. A vector is described as P = 3i + 5j + 2k. Express the vector in matrix form:
(a) With a scale factor of 2.
(b) If it were to describe a direction as a unit vector.
6. A vector p is 5 units long and is in the direction of a unit vector q described below.
Express the vector in matrix form.

7. For the following frame, find the values of the mission elements and complete the matrix
representation of the frame:
 ? 0 ? 5
0.707 ? ? 3 
F = 
 ? ? 0 2
 
 0 0 0 1
8. Find the missing elements of the following frame representation:
 ? 0 ? 3
 0.5 ? ? 9 
F = 
 0 ? ? 7
 
 0 0 0 1
9. A frame F has been moved 10 units along the y-axis and 5 units along the z-axis of the
reference frame. Find the new location of the frame.
 0.527 −0.527 0.628 5 
 0.369 0.819 0.439 3
F= 
 −0.766 0 0.643 8 
 
 0 0 0 1
10. A point p = (2,3,4)T is attached to a rotating frame. The frame rotates 90˚ about the x-axis
of the reference frame. Find the coordinates of the point relative to the reference frame
after the rotation, and verify the result graphically.
11. A point p = (7,3,1)T is attached to a frame Fnoa and is subjected to the following
transformations. Find the coordinates of the point relative to the reference frame at the
conclusion of transformations.
1. Rotation of 90˚ about the z-axis,
2. Followed by a rotation of 90˚ about the y-axis,
3. Followed by a translation of [4, -3,7].
12. A point p = (7,3,1)T is attached to a frame Fnoa and is subjected to the following
transformations. Find the coordinates of the point relative to the reference frame at the
conclusion of transformations.
1. Rotation of 90˚ about the z-axis,
2. Followed by a translation of [4, -3,7],
3. Followed by a rotation of 90˚ about the y-axis.
13. A point p = (7,3,1)T is attached to a frame Fnoa and is now subjected to the same
transformations, but all relative to the current moving frame, as listed below. Find the
coordinates of the point relative to the reference frame after transformations are completed.
1. A rotation of 90˚ about the a-axis,
2. Then a translation of [4,-3,7] along n-, o-, a-axes
3. Followed by a rotation of 90˚ about the o-axis.
14. A frame B was rotated about the x-axis 90˚, then it was translated about the current a-axis
3 inches before it was rotated about the z-axis 90˚. Finally, it was translated about current
o–axis 5 inches.
(a) Write an equation that describes the motions.
(b) Find the final location of a point p(1,5,4)T attached to the frame relative to the reference
frame.
15. A frame F was rotated about the y-axis 90˚, followed by a rotation about the o-axis of 30˚,
followed by a translation of 5 units along the n-axis, and finally, a translation of 4 units
along the x-axis. Find the total transformation matrix.
16. Calculate the matrix representing Rot (x, 40)-1.
17. Calculate the inverse of the given transformation matrix:
 0.5 0 0.866 3 
 0.866 0 −0.5 2 
T = 
 0 1 0 5
 
 0 0 0 1
18. In a robotic set-up, a camera is attached to the fifth link of a 6-DOF robot. It observes an
object and determines its frame relative to the camera’s frame. Using the following
information, determine the necessary motion the end effector must make to get to the
object:
 0 0 −1 3  0 −1 0 0 
0 −1 0 0  1 0 0 0 
5
Tcam =  , 5
TH =  ,
 −1 0 0 5 0 0 1 4
   
0 0 0 1 0 0 0 1
0 0 1 2 1 0 0 0
1 0 0 2  0 1 0 0 
cam
Tobj =  , H
TE = 
0 1 0 4 0 0 1 3
   
0 0 0 1 0 0 0 1

Camera

5th Joint

Object

Figure 5
19. It is desired to position the origin of the hand frame of a Cartesian robot at point p = [3,4,7]T.
Calculate the necessary Cartesian coordinate motions that need to be made.
20. It is desired to place the origin of the hand frame of a cylindrical robot at point p = [3,4,7]T.
Calculate the joint variables of the robot.
21. The position and restored orientation of a cylindrical robot are given. Find the matrix
representing the original position and orientation of the robot before it was restored.
1 0 0 −2.394 
0 1 0 6.578 
T = 
0 0 1 9 
 
0 0 0 1 
22. It is desired to place the origin of the hand frame of a spherical robot at point p = [3,4,7]T.
Calculate the joint variables of the robot.
23. The desired final position and orientation of the hand of a Cartesian-RPY robot is given
below. Find the necessary RPY angles and displacements.
 nx ox ax px   0.354 −0.674 0.649 4.33
n o a p y   0.505 0.722 0.475 2.50 
R
Tp =  y y y
=
 nz oz az pz   −0.788 0.160 0.595 8 
   
0 0 0 1   0 0 0 1 
24. The desired final position and orientation of the hand of a Cartesian-RPY robot is given
below. Find all necessary joint variables if the robot is cylindrical-RPY.
  nx ox ax px   0.354 −0.674 0.649 4.33
n o a p y   0.505 0.722 0.475 2.50 
R
Tp =  y y y
=
 nz oz az pz   −0.788 0.160 0.595 8 
   
0 0 0 1   0 0 0 1 
25. The desired final orientation of the hand of a Cartesian-Euler robot is given below. Find
the necessary Euler angles.
 nx ox ax px  0.579 −0.548 −0.604 5 
n o a p y  0.540 0.813 −0.220 7 
R
Tp =  y y y
=
 nz oz az pz   0.611 −0.199 0.766 3 
   
0 0 0 1   0 0 0 1
26. For the simple 2-axis, planar robot of Figure 6, assign the necessary coordinate systems
based on the D-H representation, fill out the parameters table, and derive the forward
kinematic equations for the robot.

Figure 6. A simple 2-axis, articulated robot arm

27. Assign the necessary frames to the robot of Figure 7 and derive the forward kinematic
equation of the robot.

Figure 7. The 3-DOF robot

28. For the simple 6-DOF robot of Figure 8, assign the necessary coordinate frames based on
the D-H representation, fill out the accompanying parameters table, and derive the forward
kinematic equation of the robot.

Figure 8. A simple 6-DOF articulate robot

29. The Stanford Arm: Assign coordinate frames to the Stanford Arm (Figure 9) and fill out
the parameters table. The Stanford Arm is a spherical coordinate arm: the first two joints
are revolute, the third is prismatic, and the last three wrist joints are revolute joints.

Figure 9. Schematic drawing of the Stanford Arm

30. Assign required frames to the 4-axis robot of Figure 10 and write an equation describing
U
TH .
Figure 10. A 4-axis robot