Robotics Fundamentals & Programing (INDE8900-MECH8290-01-W19)

Instructor: Dr. A. Al-Zaher P. Eng

Last and First Name: Student ID: Assign# 01:

Open Date: 2019/01/11
Due Date: 2019/01/18
Your file Name: Assig01-LastName_User-ID.pdf

Scope:
The objective of the first assignment is
– To practice
– frames transformation
– frames representation
– Homogenous transformation
Rules:
 This is an individual assignment.
 It is worth 5% of the course final grade.
 Show detailed calculations.
 Submission is through the course website blackboard (pdf only).
 Submit your solution with original question use pdf format: no handwriting

Assignment #1:

Q1 [5 pt.]: Consider the robot tool shown in Fig.1: Suppose we yaw the tool by −𝜋
about f1 , then pitch the tool by −𝜋/2 about f2 , and finally roll the tool by 𝜋/2
about f3 .

a) Sketch the sequence of the sequence

of tool position after each movement:
yaw pitch and roll).
b) Find the transformation matrix T which
maps tool coordinates M into wrist
coordinates F following the sequence
of rotations.
c) Find [p]F, the location of tool tip p in
wrist coordinate frames F flowing the
sequence of rotation assuming that the
tool-tip coordinates in term of tool
frame are [p]M, = [0, 0, 0.6]T .
Fig. 01: Yaw, pitch and roll of the tool

1
Q2 [5 pt]: let F= { f1 , f2 , f3 } and M= { m1 , m2 , m3 } be fixed and mobile orthogonal
coordinates frames here is the homogeneous coordinate transformation matrix which
maps mobile M coordinates into fixed F coordinates is given by:

 1 0 0 0
 0 1 0 4
T1  
0   0
0 0 1 3 1
[P ]   
2 f
   0
0 0 0 1  
1

Find the homogeneous coordinates transformation which maps F coordinates into

mobile M coordinates and use it to find [f2] m.

Solution:

Q3 [5 pt.]: a) find point P in frame 2 and frame 0, b) find the homogeneous coordinate
transformation matrix of T10 , T21 ,  T20 .

F1

F2

F0

Fig. 03: 3D schematic of robot arm

Solution:

2
Q4. [5 pts]: Industrial robot 6 DOF (6R/P5R) face plate frame position from the base
frame is shown

 W RITE THE HOMOGENOUS TRANSFORMATION MATRIX (T60 ) FOR THE TCP IN THE BASE
FRAME

Fig. 04: 6 D0F industrial Robot Arm R2000, floor and shelf mount

Solution:

           
           
T60   T60   
           
   
           