Madhav Institute of Technology and Science, Gwalior, INDIA

Department of Mechanical Engineering

Kinematics of Robotics
Assignment No.03
Out: 31 Jan 2024 Due: 06 Feb 2024

1. What do you understand from the rotational matrix? Define its properties
and various elements.
2. Why it is call orthogonal or orthonormal matrix?
3. Use the following commands of MATLAB for transformation from one
frame to other frame.
The code below is in MATLAB format
invR = RotInv(R)

.
4. Write the position vector of point P (as shown in figure 1) with respect to the
{G} frame. Define the [R] matrix and its all nine elements.

Figure 1 Position vector of point P when local frames are rotated about the Z-axis.

Demonstrate it by creating an animation/plot file through MATLAB/ Paython.

5. A vector P is rotated about Z by θ degrees give the rotation matrix that

accomplishes it.
6. A vector P is rotated about X by θ degrees give the rotation matrix that
accomplishes it.
7. A vector P is rotated about Y by θ degrees give the rotation matrix that
accomplishes it.