FAKULTI TEKNOLOGI KEJURUTERAAN

ELEKTRIK
UNIVERSITI TEKNIKAL MALAYSIA MELAKA

INDUSTRIAL ROBOTICS

BEEA3433 SEMESTER 2 SESSION 2023/24

TUTORIAL 1: SPATIAL DESCRIPTION AND TRANSFORMATION

NAME OF GROUP MEMBERS &

MATRIX NUMBER(S)

COURSE

DATE

TS. MOHAMED AZMI BIN SAID

NAME OF INSTRUCTOR(S)

EXAMINER’S COMMENT(S) VERIFICATION STAMP

TOTAL MARKS
1. Shows and explain how rotation about each axis is derived as below.

1 0 0 
R X ( )  0 c  s 
0 s c 

 c 0 s 
RY ( )   0 1 0 
  s 0 c 

 c  s 0
R Z ( )   s c 0 
 0 0 1 

^
2. Figure Q2 shows a frame {B} that is rotated relative to frame {A} about Z by 30 degrees.
^
Here, Z is pointing out of the page. Find BA R .
0.0
Given P  2.0 , calculate A P
B
 
0.0

^
Figure Q2: {B} rotated 30 degrees about Z
^ ^
3. A vector A P is rotated about Z A by  degrees and subsequently rotated X A by  degrees.
Give the rotation matrix that accomplishes these rotations in the given order.
^ ^
4. A vector A P is rotated about Y A by 30 degrees and is subsequently rotated about X A by
45 degrees. Give the rotation matrix that accomplishes these rotations in the given order.
 ^
5. A frame {B} is located initially coincident with frame {A}. We rotate {B} about Z B by 
^
degrees, and then we rotate the resulting frame about X B by  degrees. Give the rotation
matrix that will change the description of vectors from B P to A P .
^
6. A frame {B} is located initially coincident with frame {A}. We rotate {B} about Z B by 30
^
degrees, and then we rotate the resulting frame about X B by 45 degrees. Give the rotation
matrix that will change the description of vectors from B P to A P .

7. A velocity vector is given by

10.0 
B
V  20.0
30.0
Given
0.866  0.500 0.000 11 
0.500 0.866 0.000  3.0
A
T   
B
0.000 0.000 1.000 9.0 
 
 0 0 0 1 
compute AV .
 ^
8. Figure Q8 shows a frame {B} , which is rotated relative to frame {A} about Z by 30
^ ^
degrees, translated 10 units in X A , and translated 5 units in YA . Find A P , where
B
P  [3.0 7.0 0]T
The definition of frame {B} is
0.866  0.500 0.000 10 
0.500 0.866 0.000 5 
BT 
A  
0.000 0.000 1.000 0.0
 
 0 0 0 1

Figure Q8: Frame {B} rotated and translated.

9. The following frame definition are given as known:

0.866  0.500 0.000 11 
0.500 0.866 0.000  1.0
U
T   
A
0.000 0.000 1.000 8.0 
 
 0 0 0 1 

1.000 0.000 0.000 0.000 

0.000 0.866  0.500 10.0 
AT 
B  
0.000 0.500 0.866  20.0
 
 0 0 0 1 

0.866  0.500 0.000  3.0

0.433 0.750  0.500  3.0
BT 
C  
0.250 0.433 0.866 3.0 
 
 0 0 0 1 

Draw a frame diagram to show their arrangement qualitatively and solve for UCT .
10. Another familiar set of three coordinates that can be used to describe a point in space is
cylindrical coordinates. The three coordinates are defined as illustrated in Figure Q10. The
coordinate theta gives a direction in the xy plane along which to translate radially by an
amount r . Finally, z is given to specify the height above the xy plane. Computes the
Cartesian coordinates of the point A P in terms of the cylindrical coordinates  , r , and z .

Figure Q10: Cylindrical coordinates

11. Referring to Figure Q11, give the value of

Figure Q11: Frames at the corners

A
a. T.
B

B
b. T.
A

C
c. T.
B

C
d. A T.
12. Referring to Figure Q12, give the value of

Figure Q12: Frames at the corner

A
a. T.
B

A
b. T.
C

B
c. T.
C

A
d. T
C
13. Given

Figure Q13: Set of transforms forming loop

Solve transformation equation for UDT , CBT

14. Figure Q14(a) shows two ABB IRB 4600-60/2.05 place opposite to each other in one
station and Figure Q14(b) shows the manipulator dimensions

Robot 1
{R1} Robot 2
{R2}

Figure Q14(a): Two ABB IRB4600 Industrial placed opposite to each other.
 Figure Q14(b): IRB 4600 Dimension

(i) With reference to world {W} coordinate, determine Robot 1 base {R1} position x, y
and z and orientation angle Rx, Ry and Rz.
(ii) With reference to world {W} coordinate, determine Robot 2 base {R2} position x, y
and z and orientation angle Rx, Ry and Rz.
(iii) With reference to local Robot 1 base {R1} coordinate, determine {T1} position x, y
and z and orientation angle Rx, Ry and Rz.
(iv) With reference to world {W} coordinate, determine {T2} position x, y and z and
orientation angle Rx, Ry and Rz.
15. Figure Q15 shows an integrated vision camera relocate to a new position and orientation.
Frame {A} is an original position of the camera which later moved to a new position and
orientation in {B}.
A
(i) Determine the camera new position, PB
A
R
(ii) Determine the camera new orientation, B

(iii) Determine the transformation matrix for {B} with respect to original frame position
{A}, ABT

Figure Q15: Integrated vision camera {A} moved to a new position and
orientation {B}.
16. Figure Q16 shows two tool positions can be connected to robot arm. Frame {A} is an
original position of the tool which later moved to a new position and orientation in {B}.
a. Determine the tool new position, A PB
b. Determine the tool new orientation, A R
B

c. Determine the transformation matrix for {B} with respect to original frame position
{A}, ABT

{B}

120mm
Z

Y
X

{A}

Figure Q16: Tool original position and orientation {A} moved to a new position and
orientation {B}.
QUESTION 16
(a) The following frame definitions are given as known:
0.866 −0.5 0 11
0.5 0.866 0 −1
𝑇=
0 0 1 8
0 0 0 1
1 0 0 0
0 0.866 −0.5 10
𝑇=
0 0.5 0.866 −20
0 0 0 1
0.866 −0.5 0 −3
0.433 0.750 −0.5 −3
𝑇=
00.25 0.433 0.866 3
0 0 0 1
Draw a frame diagram to show their arrangement qualitatively, and solve for 𝑇
(b) There are five frames being placed in a robot station as shown in Figure Q16(b). {W} is
referred to world frame, {B} robot-based frame, {T} tool frame, {M} table frame and {O}
for object frame. Robot controller need to calculate its joint angle in order to move the tool
to the target object. Explain how the robot controller calculate its joints angle to place the
tool accurately onto the object.

Figure Q16(b): Robot station with {W}, {B}, {T}, {M} and {O} frames.
(c) Figure Q16(c)(i) shows two blocks namely Block A and Block B are being position 200mm
apart. Block B need to be reposition as shown in Figure Q16(c)(ii). In order to meet the
arrangement, Block B requires modification on orientation. With reference to frame {A},
determine the transformation matrix for those boxes stack as shown in Figure Q16(c)(ii).

Figure Q16(c)(i): Two block one with a rectangular cut on its corner and another block with
extra rectangular box on one of it corner.

Figure Q16(c)(ii): Block B are stack on Block A