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MKT 471 Robot Mechanics - 2023 Assignment 2

This document contains instructions for an assignment on homogeneous transformations for a robot mechanics course. It includes 4 problems adapted from a textbook involving calculating rotation matrices and homogeneous transformations between different reference frames for robotic systems based on specified rotations. Students are instructed to use MATLAB where appropriate to solve problems involving matrix operations and verify hand calculations.

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37 views2 pages

MKT 471 Robot Mechanics - 2023 Assignment 2

This document contains instructions for an assignment on homogeneous transformations for a robot mechanics course. It includes 4 problems adapted from a textbook involving calculating rotation matrices and homogeneous transformations between different reference frames for robotic systems based on specified rotations. Students are instructed to use MATLAB where appropriate to solve problems involving matrix operations and verify hand calculations.

Uploaded by

Mr. A.E
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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MKT 471 Robot Mechanics Mechanical

Fall 2023 Assignment 2 Engineering


Homogeneous Transformations Department

Use the MATLAB program whenever appropriate for design, simulation and verification
of results for simple hand computation

1. (Spong Problem 2-10) Consider the following sequence of rotations:

(a) Rotate by Φ about the world x-axis.


(b) Rotate by θ about the current z-axis.
(c) Rotate ψ about the world y-axis.

Write the matrix product that will give the resulting rotation matrix (do not
perform the matrix multiplication).

2. (Spong Problem 2-22) Consider Compute the rotation matrix given by the
product
Rx,θ Ry,Φ Rz,π Ry,-Φ Rx,-θ

Dr. Mohamed Abdel bar


MKT 471 Robot Mechanics Mechanical
Fall 2023 Assignment 2 Engineering
Homogeneous Transformations Department

3. (Spong Problem 2-38) Consider the diagram of the figure below. A robot
is set up 1 meter from a table. The table top is 1 meter high and 1 meter
square. A frame o1x1y1z1 is fixed to the edge of the table as shown. A cube
is measuring 20 cm on a side is placed in the center of the table with
frame o2x2y2z2 established at the center of the cube as shown. A camera is
situated directly above the center of the block 2 cm above the table top
with frame o3x3y3z3 attached as shown. Find the homogeneous
transformations relating each of these frames to the base frame o0x0y0z0 .
Find the homogeneous transformations relating the frame o2x2y2z2 to the
camera frame o3x3y3z3 .

4. (Spong Problem 2-39) In the previous problem, suppose that, after the
camera is calibrated, it’s rotated 90° about z3. Recompute the above
coordinate transformations.

Dr. Mohamed Abdel bar

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