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    Assignment No.4

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    Assignment No.4

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    Assignment No.4

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    of 3

    1

    Madhav Institute of Technology and Science, Gwalior, INDIA


    Department of Mechanical Engineering
    Kinematics of Robotics
    Assignment No.04
    Out: 19 Feb 2024 Due: 26 Feb 2024
    1. Drive the equation of Homogeneous Transformations. For point P as shown in fig. 1

    P zB
    yB
    zA B
    r
    B P

    A
    A B r

    xB
    yA

    xA

    Figure 1. Relative position of point P in frame {A} and frame {B}

    2. A frame B was rotated about the x-axis 90∘ followed by z


    a translation about the current o-axis of 2 cm, followed
    by a rotation about the a-axis of 90∘ and a translation
    along the current y– axis of 3 cm. a
    a) Write an equation that describes the motions.
    o
    b) Find the final location of a point Bp = [1,3,2] T relative n
    y
    to the reference/inertial frame.
    x

    3. A point p [7, 3, 1]T is attached to a frame Bnoa and is subjected to the following
    transformations: 1) Rotation of 90∘ about the z-axis; 2) Followed by a rotation of 90∘
    about the y-axis; 3) Followed by a translation of [4, −3, 7] Find the coordinates of the
    point p relative to the reference frame at the conclusion of transformations.

    Dr Neeraj Mishra, Assistant Professor, Department of Mechanical Engineering


    2

    4. Assume that the same point as in problem 3 is now subjected to the same
    transformations, but all relative to the current moving frame as: 1) A rotation of 90∘
    about the a-axis 2) Then a translation of 4, −3,7 along n-, o-, a-axes 3) Followed by a
    rotation of 90∘ about the o-axis Find the coordinates of the point relative to the reference
    frame after the transformations are completed.
    5. A frame {1} was rotated about the o-axis −90∘, followed by a rotation about the y-axis
    of 30∘, followed by a translation of 3 units along the a-axis, and finally, a rotation of
    90∘ along the x-axis. Find the transformed frame.
    6. A frame {A} is rotated 90° about x, and then it is translated a vector (6, -2, 10) with
    respect to the fixed (initial) frame. Consider a point p = (-5, 2, -12) with respect to the
    new frame {B}. Determine the coordinates of that point with respect to the initial frame
    7. Find the new location of point P[1, 2, 3]T relative to the reference frame after a rotation of 30∘
    about the z-axis followed by a rotation of 60∘ about the y-axis.
    8. The following frame B is rotated 30∘ about the o-axis, −90∘ about the y-axis, then translated 3
    and 8 units relative to the x- and y-axes, respectively, and then rotated another 90∘ about the x-
    axis. Find the new location and orientation of the frame.
    0 1 0 1
    1 0 0 1
    B= 
    0 0 1 1
     
    0 0 0 1
    9.

    Figure 4.5

    Dr Neeraj Mishra, Assistant Professor, Department of Mechanical Engineering


    3

    10. End effector of an RPR robot in a global frame. Point P


    indicates the tip point of the last arm of the robot shown in
    Figure 4.9. Position vector of P in frame B2 (x2y2z2) is 2rp.
    Frame B2 (x2y2z2) can rotate about z2 and slide along y1 .
    Frame B1 (x1y1z1) can rotate about the Z -axis of the global
    1
    frame G(OXYZ) while its origin is at Gd1. The position of P
    in G(OXYZ) would then be at?2

    1
    Make neat and clean figures.

    Dr Neeraj Mishra, Assistant Professor, Department of Mechanical Engineering

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