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Robotics Unit 2 Questions

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4 views1 page

Robotics Unit 2 Questions

Uploaded by

sivasankar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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1. A vector is described as p̄ =3 î +5 ĵ +2k̂.

Express the vector in matrix form

a. With a Scale factor of 2.

b. If it were to describe the direction as unit vector.

2. A point p (2, 3, 4) T is attached to a rotating frame. The frame rotates 90⁰ about the x axis of the
reference frame. Find the Coordinates of the point relative to reference frame after the rotation.

3. A point p (7, 3, 2) T is attached to a frame (n̄, ō, ā) and is subjected to transformations described
next. Find the coordinates of the point relative to the reference frame at the conclusion of
transformations.

a. Rotation of 90⁰ about Z axis.

b. Followed by a rotation of 90⁰ about y axis.

c. Followed by a translation of [4,-3, 7].

4. Calculate the inverse of the following transformation matrix

[ ]
0.5 0 0.866 3
0.866 0 −0.5 2
T=
0 1 0 5
0 0 0 1

5. A point (7, 3, 2) T is subjected to transformations described below, but all relative to the current
moving frame. Find the coordinates of the point relative to the reference frame after the
transformations are completed.

a. A rotation of 90° about the ā axis.

b. Then a translation of [4,-3, 7] along n̄, ō, a.̄

c. Followed by a notation of 90° about ō-axis.

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