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17 views2 pages

Sheet 2

Uploaded by

mohamed ramadan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Benha University 4th year Benha Faculty of Engineering

Benha Faculty of Engineering Mechatronics - Robotics (M1596)


Mechanical Engineering Department Sheet (2) Spring 2022 / 2023
Instructor: Dr. Mohamed Shehata TA: Eng. Ayman S. Shama

Spatial Description and Transformation

1- Frame {B} is rotated relative to frame {A} about Z-axis by 60o and translated [2,1,0]
units in X,Y and Z respectively, Frame {c} is rotated relative to frame {B} about X-
axis by 30o and translated [5,0,4] units in X,Y and Z respectively. Find the position op
point ‘p’ relative to frame {A} if CP = [8 7 9]T.

2- Frame {B} was initially coincident with frame {A}. We then rotated {B} about ZA-axis
by 60o then about YA-axis by 45o then about XA-axis by 30o. Calculate the resultant
rotation matrix 𝐵𝐴𝑅, then prove your answer by getting x-y-z (roll-pitch-yaw) angles
from the resultant 𝐵𝐴𝑅.

3- Frame {B} was initially coincident with frame {A}. We then rotated {B} about ZA-axis
by 60o then about new YB-axis by 45o then about new XB-axis by 30o. Calculate the
resultant rotation matrix 𝐵𝐴𝑅, then prove your answer by getting x-y-z (roll-pitch-yaw)
angles from the resultant 𝐵𝐴𝑅. Write Comment on Q3 & Q4.

4- For Fig. (1), find the 4 × 4 homogeneous transformation matrices 𝑖+1𝑖𝑇. and 05𝑇 for
i = 1, 2, 3, 4, 5. Find the answers by observation based on the geometric interpretation
of homogeneous transformation matrix.

5- In Fig. (2) consider two adjacent links along robotic arm, if i = (Oi , Xi , Yi , Zi) is
coordinate frame of reference fixed at the end of link (i - 1),
and i+1 = (Oi+1 , Xi+1 , Yi+1 , Zi+1) is a moving frame attached at the end of link i.
Determine the homogenous transformation matrix 𝑖+1𝑖𝑇 that describes a rotation of an
angle (θ) about the Zi axis, followed by a translation of (d) units of distance along the Zi
axis, followed by a translation of (a) units of distance along the Xi+1 axis, followed by a
rotation of angle (α) about the Xi+1 axis.

1
Fig. (1)

Fig. (2)

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