ROBOTIC ENGINEERING Tutorial Sheet 1

1. Starting from the position and orientation of the fixed frame, a mobile frame is rotated by
30o clockwise about y-axis of the fixed frame followed by translation along the fixed x-
direction by 4 units. The coordinates of a point P with respect to the mobile frame are (1,
3, 2). Find its coordinates with respect to the fixed frame.

2. Solve the Problem# 1 with the sequence of transformations reversed.

3. Starting from the position and orientation of the fixed frame, a mobile frame is rotated by
60o about x-axis of the fixed frame followed by 30 o rotation about the new y-axis of the
mobile frame. The coordinates of a point P with respect to the mobile frame are (2, 1, 7).
Find its coordinates with respect to the fixed frame.

4. The coordinates of a point P w.r.t. the fixed and mobile frames are (10, 7, 6) and (7, 4, 3)
respectively. If the coordinates of the mobile frame origin w.r.t. the fixed frame are (5, 4,
1), find the directions of the mobile x, y and z axes w.r.t. the fixed frame.

5. The x-axis of a mobile frame makes 30o and 60o angles with the fixed y and z axes
respectively. The y-axis of this mobile frame makes 120o angle with the fixed x axis If the
coordinates of a point P w.r.t. the fixed frame are (4, 1, 8), find its coordinates w.r.t the
mobile frame. The origins of both the frames are coincident.