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Assignment No.4

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23 views3 pages

Assignment No.4

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22mc10sh584
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Madhav Institute of Technology and Science, Gwalior, INDIA


Department of Mechanical Engineering
Kinematics of Robotics
Assignment No.04
Out: 19 Feb 2024 Due: 26 Feb 2024
1. Drive the equation of Homogeneous Transformations. For point P as shown in fig. 1

P zB
yB
zA B
r
B P

A
A B r

xB
yA

xA

Figure 1. Relative position of point P in frame {A} and frame {B}

2. A frame B was rotated about the x-axis 90∘ followed by z


a translation about the current o-axis of 2 cm, followed
by a rotation about the a-axis of 90∘ and a translation
along the current y– axis of 3 cm. a
a) Write an equation that describes the motions.
o
b) Find the final location of a point Bp = [1,3,2] T relative n
y
to the reference/inertial frame.
x

3. A point p [7, 3, 1]T is attached to a frame Bnoa and is subjected to the following
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] Find the coordinates of the
point p relative to the reference frame at the conclusion of transformations.

Dr Neeraj Mishra, Assistant Professor, Department of Mechanical Engineering


2

4. Assume that the same point as in problem 3 is now subjected to the same
transformations, but all relative to the current moving frame as: 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 Find the coordinates of the point relative to the reference
frame after the transformations are completed.
5. A frame {1} was rotated about the o-axis −90∘, followed by a rotation about the y-axis
of 30∘, followed by a translation of 3 units along the a-axis, and finally, a rotation of
90∘ along the x-axis. Find the transformed frame.
6. A frame {A} is rotated 90° about x, and then it is translated a vector (6, -2, 10) with
respect to the fixed (initial) frame. Consider a point p = (-5, 2, -12) with respect to the
new frame {B}. Determine the coordinates of that point with respect to the initial frame
7. Find the new location of point P[1, 2, 3]T relative to the reference frame after a rotation of 30∘
about the z-axis followed by a rotation of 60∘ about the y-axis.
8. The following frame B is rotated 30∘ about the o-axis, −90∘ about the y-axis, then translated 3
and 8 units relative to the x- and y-axes, respectively, and then rotated another 90∘ about the x-
axis. Find the new location and orientation of the frame.
0 1 0 1
1 0 0 1
B= 
0 0 1 1
 
0 0 0 1
9.

Figure 4.5

Dr Neeraj Mishra, Assistant Professor, Department of Mechanical Engineering


3

10. End effector of an RPR robot in a global frame. Point P


indicates the tip point of the last arm of the robot shown in
Figure 4.9. Position vector of P in frame B2 (x2y2z2) is 2rp.
Frame B2 (x2y2z2) can rotate about z2 and slide along y1 .
Frame B1 (x1y1z1) can rotate about the Z -axis of the global
1
frame G(OXYZ) while its origin is at Gd1. The position of P
in G(OXYZ) would then be at?2

1
Make neat and clean figures.

Dr Neeraj Mishra, Assistant Professor, Department of Mechanical Engineering

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