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Worksheet 2

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113 views

Worksheet 2

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Worksheet-2

1. If the coordinate frame O1X1Y1Z1 is obtained from the coordinate frame O0X0Y0Z0 by a
rotation of 𝜋⁄2 about the x-axis followed by a rotation of 𝜋⁄2 about the fixed y-axis, find
the rotation matrix R representing the composite transformation. Sketch the initial and final
frames.
2. Suppose that three coordinate frames O1X1Y1Z1, O2X2Y2Z2 and O3X3Y3Z3 are given, and
suppose
1 0 0
√3 0 0 −1
1
𝑅2 = 0 1/2 − ; 1
𝑅3 = [0 1 0 ]
2
√3 1 1 0 0
[0 2 2 ]

Find the matrix 𝑅32


3. Compute the homogeneous transformation representing a translation of 3 units along the
x-axis followed by a rotation of 𝜋⁄2 about the current z-axis followed by a translation of 1
unit along the fixed y-axis. Sketch the frame. What are the coordinates of the origin O1
with respect to the original frame in each case?
4. Consider the Figure given below, Find the homogeneous transformation matrix 𝐻10 ,H20 and
𝐻21 representing the transformations among the three frames shown. Show that 𝐻20 = 𝐻10 𝐻21 .

5. Consider the Figure given 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 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 2m 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 transformation relating the frame O2X2Y2Z2 to the camera frame
O3X3Y3Z3.
6. In Problem 5, suppose that, after the camera is calibrated, it is rotated 90 degree about Z3.
Recompute the above coordinate transformations.
7. If the block on the table is rotated 90 degree about Z2 and moved so that its center has
coordinates (0, 0.8, 0.1)𝑇 relative to the frame O1X1Y1Z1, compute the homogeneous
transformation relating the block frame to the camera frame; the block frame to the base
frame.
8. Given a the rotation and the translation matrix from reference frame 1 to frame 0 as

1 0 0 1
𝑅10
= [0 𝑐𝑜𝑠𝜃 −𝑠𝑖𝑛𝜃] and 𝑑10 = [2]
0 𝑠𝑖𝑛𝜃 𝑐𝑜𝑠𝜃 3
a. Find the homogeneous transformation matrix 𝐻10 and 𝐻01
b. Given 𝜃 = 45 𝑑𝑒𝑔𝑟𝑒𝑒 and 𝑝1 = [4 5 6]𝑇 , compute 𝑝0 .
9. Consider the two-link Cartesian manipulator shown in the Figure below. Derive the
forward kinematic equations using the DH-convention.
𝑇
10. For a RP planar manipulator shown below, let 𝑝 = (𝑝𝑥 𝑝𝑦 ) be the position of the end-
effector,
a. Draw the reference frame using D-H convention.
b. Find the D-H parameters for each reference frame and compute 𝐻10 , 𝐻21 , and 𝐻20 .
c. Find the forwarded kinematics of the robot.
d. Drive the Inverse kinematic problem for this robot.
e. Find the Jacobian matrix

11. For a 3R robot manipulator shown below, Find the D-H parameters for each reference
frame of the robot.

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