1.

List the points on the object B, the size is on the figure (b)
ZB
p3 12
p4 p2 p5
YB 3
{B}
p1 OB
XB p6 9

(a) (b)
2. As shown in the figure, give the matrix of frame {B} which represent the position and posture
of rigid body B
ZA

{A}
YB OA
YA
{B}
0 0 1 10 
OB XB
1 0 0 0 
T 
10

ZB 0 1 0 0
XA  
0 0 0 1
3 . As shown in the figure, please list the position and posture frame of hand {T} to the base frame
{0}

Z0
75
300

OT {T}

YT XT

Y0
ZT

{B} O0

X0

4. Calculation
0 1 0 2   0 1 0 0
1 0 0 6  1 0 0 0 
T 
0 0 1 2 0 0 1 0
  
0 0 0 1  0 0 0 1

5. A vector AP [1 0 0]T is rotated about ZA by θ=90° degrees and is subsequently rotated about XA
by φ=-90° degrees. Give the rotation matrix that accomplishes these rotations in the given order.
6. As shown in figure below, the origin of work piece frame {W} is fixed on the body centered of
work piece (figure (c)). Other dimensions are shown in the figure (b). list the work piece frame
{W} to the base frame {0}. (NEEDN’T)
 Z0

65
OT {T}

YT XT 125 2
OW {W} 30
ZT
XW
YW
Y0

{B} O0
ZW
X0

(a) (b)
70

(c)