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The document outlines a series of tasks related to transformations between coordinate frames {A} and {B}, including translations and rotations in three-dimensional space. It specifies submission details for an assignment due by March 25, 2025, and includes mathematical problems requiring the calculation of transformed vectors and homogeneous transformation matrices. The tasks involve using Euler angles and rotation matrices to describe the orientation of frame {B} relative to frame {A}.

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sunshiqi31
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2 views

Homework

The document outlines a series of tasks related to transformations between coordinate frames {A} and {B}, including translations and rotations in three-dimensional space. It specifies submission details for an assignment due by March 25, 2025, and includes mathematical problems requiring the calculation of transformed vectors and homogeneous transformation matrices. The tasks involve using Euler angles and rotation matrices to describe the orientation of frame {B} relative to frame {A}.

Uploaded by

sunshiqi31
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Form: Electronic version (pdf file) or Photograph of handwrite version

Submission: [email protected]
Deadline: March 25, 2025
File name format: No.+Name+HW1

1. Frame {𝐵} initially coincides with frame {𝐴}. Frame {𝐵} is firstly translated 5 units
along x-axis of {𝐴}, and then rotated counterclockwise about z-axis of {𝐴} by 60 degrees.
𝑩 𝑨
Given 𝑷 = [3 3 6]𝑇 , find 𝑷.

𝑨
2. A vector is represented in frame {𝐴} as 𝑷1 = [3 4 0]𝑇 . The vector is firstly rotated
𝑨 𝑨
counterclockwise about y-axis of {𝐴} by 90 degrees to obtain 𝑷𝟐 , then 𝑷𝟐 is rotated
𝑨
counterclockwise about x-axis of {𝐴} by 45 degrees to obtain 𝑷𝟑 . Find the representation
𝑨
of the vector in frame {𝐴}: 𝑷𝟑 .

3. Frame {𝐵} is obtained from frame {𝐴} by the following sequences:


1. Rotate counterclockwise about z-axis of {𝐴} by 90 degrees.
2. Translate 5 units along x-axis of {𝐴}.
3. Rotate counterclockwise about y-axis of {𝐴} by 90 degrees.
𝑩
Find the homogeneous transformation matrix 𝑨𝑻.

4. Frame {𝐵} is obtained from frame {𝐴} by the following sequences:


1. Rotate counterclockwise about z-axis of {𝐴} by 90 degrees to obtain frame {𝐵1 }.
2. Translate 5 units along x-axis of {𝐵1 } to obtain frame {𝐵2 }.
3. Rotate counterclockwise about y-axis of {𝐵2 } by 90 degrees to obtain frame {𝐵}.
𝑩
Find the homogeneous transformation matrix 𝑨𝑻.

5. The orientation of frame {𝐵} relative to frame {𝐴} is described by ZYX Euler angles:
1. Rotate by α = 30° about the z-axis.
2. Rotate by β = 45° about the y-axis.
3. Rotate by γ = 60° about the x-axis.
𝑩
Find the rotation matrix 𝑨𝑹.

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