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Robotics Problems Set # 01-Solutions (Part 1)

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Bing Wang
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62 views3 pages

Robotics Problems Set # 01-Solutions (Part 1)

Uploaded by

Bing Wang
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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1

Problems Set # 1 Solutions – Robotics (MCG 5353)


𝐵
1. Frame {𝐴} is fixed and coincident with frame {𝐵}. A vector 𝑃 is first rotated about 𝑍̂𝐴 by 45
degrees and is subsequently rotated about 𝑋̂𝐴 by −30 degrees. Give the rotation matrix that
accomplishes these rotations in the given order.

Solution: The final answer must be presented in values.


𝐴
𝑅 (𝛾, 𝛼) = 𝑟𝑜𝑡(𝑋̂, 𝛾)𝑟𝑜𝑡(𝑍̂, 𝛼) = 𝑅𝑋 (𝛾)𝑅𝑍 (𝛼) = 𝑟𝑜𝑡(𝑋̂, −30)𝑟𝑜𝑡(𝑍̂, 45)
𝐵 𝑋𝑍
1 0 0 0.707 −0.707 0 0.707 −0.707 0
= [0 0866 0.500] [0.707 0.707 0] = [ 0.612 0.612 0.500]
0 −0.500 0.866 0 0 1 −0.353 −0.353 0.866

2. Frames {𝐴} and {𝐵} are coincident. Rotate frame {𝐵} about its unit vector 𝑋̂𝐵 by 𝛾 degrees, and
then rotate the resulting frame about its unit vector 𝑍̂𝐵 by 𝛼 degres. Is this rotation performed
based on X-Y-Z Fixed angles or based on Z-Y-X Euler Angles? What is the rotation matrix that
𝐵 𝐴
changes the descriptions of vectors from 𝑃 to 𝑃.

Solution:

Both rotations are performed about axes of frame {𝐵} which means the rotation is performed based on
Euler angles.

1 0 0 cos 𝛼 −sin 𝛼 0 cos 𝛼 −sin 𝛼 0


𝐴
𝑅𝑋 ′ 𝑍′ (𝛾, 𝛼) = [0 cos 𝛾 − sin 𝛾] [ sin 𝛼 cos 𝛼 0] = [cos 𝛾 sin 𝛼 cos 𝛾 cos 𝛼 − sin 𝛾]
𝐵 sin 𝛾 sin 𝛼 sin 𝛾 cos 𝛼 cos 𝛾
0 sin 𝛾 cos 𝛾 0 0 1

𝐴 𝐵 𝐴
3. Compute the velocity vector 𝑉 if velocity vector 𝑉 is transformed by means of 𝑇.
𝐵

0.866 −0.500 0.000 11.000


10.000
𝐴 0.500 0.866 0.000 −3.000 𝐵
𝑇=[ ] 𝑉 = [20.000]
𝐵 0.000 0.000 1.000 9.000
30.000
0 0 0 1
Solution: The final answer must be presented in values.

Velocity is a “free vector.” The only transformation that may be involved will be a pure rotation which is
𝐴 𝐴
the 3 × 3 rotation matrix, 𝑅 within the 4 × 4 homogenous transform matrix 𝑇. Therefore
𝐵 𝐵
2

0.866 −0.500 0.000 10.000 −1.340


𝐴 𝐴 𝐵
𝑉 = 𝑅 ∙ 𝑉 = [0.500 0.866 0.000] [20.000] = [ 22.320 ]
𝐵
0 0 1 30.000 30.000

𝐴
4. The order of series of rotations relative based on Euler angles is defined by 𝑅𝑌 ′ 𝑍′ 𝑋 ′ (𝛽, 𝛼, 𝛾).
𝐵
Find a 3 × 3 matrix as a result of above rotations.

Solution:
cos 𝛽 0 sin 𝛽 cos 𝛼 −sin 𝛼 0 1 0 0
𝐴
𝑅 ′ ′ ′ (𝛽, 𝛼, 𝛾) = [ 0 1 0 ] [ sin 𝛼 cos 𝛼 0] [0 cos 𝛾 − sin 𝛾]
𝐵 𝑌𝑍𝑋
− sin 𝛽 0 cos 𝛽 0 0 1 0 sin 𝛾 cos 𝛾

𝑐𝛼 ∙ 𝑐𝛽 −𝑠𝛼 ∙ 𝑐𝛽 ∙ 𝑐𝛾 + 𝑠𝛽 ∙ 𝑠𝛾 𝑠𝛼 ∙ 𝑐𝛽 ∙ 𝑠𝛾 + 𝑠𝛽 ∙ 𝑐𝛾
= [ 𝑠𝛼 𝑐𝛼 ∙ 𝑐𝛾 −𝑐𝛼 ∙ 𝑠𝛾 ]
−𝑐𝛼 ∙ 𝑠𝛽 𝑠𝛼 ∙ 𝑠𝛽 ∙ 𝑐𝛾 + 𝑐𝛽 ∙ 𝑠𝛾 −𝑠𝛼 ∙ 𝑠𝛽 ∙ 𝑠𝛾 + 𝑐𝛽 ∙ 𝑐𝛾

𝑈 𝐵 𝐶
5. Homogenous transform matrices, 𝑇, 𝑇, and 𝑇 are defined as below.
𝐴 𝐴 𝑈

0.866 − 0.500 0.000 11.000 


 0.866 0.000 − 1.000
𝑈 0.500 
𝑇=
𝐴 0.000 0.000 1.000 8.000 
 
 0 0 0 1 

1.000 0.000 0.000 0.000 


 
𝐵 0.000 0.866 − 0.500 10.000 
𝑇=
𝐴 0.000 0.500 0.866 − 20.000 
 
 0 0 0 1 

0.866 − 0.500 0.000 − 3.000 


 0.750 − 0.500 − 3.000 
𝐶 0.433 
𝑇=
𝑈 0.250 0.433 0.866 − 3.000 
 
 0 0 0 1 
3

a) Draw a frame diagram (like figure 2.15 in your textbook) to show their arrangement
qualitatively.
𝐵
b) Determine matrix 𝑇.
𝐶
Solution: The final answer must be presented in values. All steps must be shown in student’s solution.

By just following arrows, and reversing (by inversion) where needed, we will have

𝐵 𝐵 𝑈 −1 𝑈 −1 𝐵 𝐶 𝑈
𝑇= 𝑇 𝑇 𝑇 = 𝑇 𝑇 𝑇
𝐶 𝐴 𝐴 𝐶 𝐴 𝑈 𝐶

Inverting a transform is done using equation (2.40) in your textbook.

𝐵 𝐶 𝑈
𝑇 𝑇 𝑇=
𝐴 𝑈 𝐶

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