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Assignment 2 Homogenous Transformation

The document contains 11 multi-part problems involving rotation matrices and homogeneous transformations between coordinate frames. Rotations and translations are applied to frames attached to robotic links and other objects. Matrix operations are used to relate the transformed frames to one another and find coordinates in different reference frames.

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Khaled Sakr
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338 views

Assignment 2 Homogenous Transformation

The document contains 11 multi-part problems involving rotation matrices and homogeneous transformations between coordinate frames. Rotations and translations are applied to frames attached to robotic links and other objects. Matrix operations are used to relate the transformed frames to one another and find coordinates in different reference frames.

Uploaded by

Khaled Sakr
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Mansoura University Robotics Eng.

PRE 5316/ PDE 396


Faculty of Engineering Fall 2022
Production Eng. & Mechanical Design Assignment 2
+ Mechatronics Engineering Program

1- Consider the following sequence of rotations:


a. Rotate by ø about the world x-axis.
b. Rotate by θ about the current z-axis.
c. Rotate by ψ about the current x-axis.
d. Rotate by α about the world z-axis.
Write the matrix product that will give the resulting rotation matrix (do not
perform the matrix multiplication).

2- Find the rotation matrix representing a roll of π/3 followed by a yaw of π/2
followed by a pitch of π/4.

3- Suppose that three coordinate frames o1x1y1z1, o2x2y2z2 and o3x3y3z3 are given,
and suppose

Find the matrix R23.

4- Suppose R represents a rotation of 90º about y0 followed by a rotation of 45º


about z1. Find the equivalent axis/angle to represent R. Sketch the initial and final
frames and the equivalent axis vector k.

5- Find the rotation matrix corresponding to the set of Euler angles {π/2, 0, π/4}.
What is the direction of the x1 axis relative to the base frame?

6- 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?

7- The Figure below shows a frame {B}, which is rotated relative to frame {A}
about Zˆ by 30o, translated 10 units in XˆA, and translated 5 units in YˆA. Find PA,
where PB = [3.0 7.0 0.0]T .

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8- Consider the diagram of the figure 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.

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9- In the previous Problem, suppose that, after the camera is calibrated, it is rotated
180o about z3. Find H31?

10- In the previous Problem, If the block on the table is rotated 90o 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.

11- Referring to the figure below, find the following homogeneous transformation
matrices between the frames attached to the rigid body; AHB, AHC. In the light of
the later solution find BHC with two different ways.

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Best Wishes
Dr. Mohamed G. Alkalla

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