Rigid body transformation

1. The following frame B was moved a distance of d = [4,2,6 ]T . Find the new location of the
frame relative to the reference frame.

Soln:
2. 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.

Soln:
3. A point P in space is defined as BP = [5,3,4]T relative to frame B, which is attached to the
origin of the reference frame A and is parallel to it. Apply the following transformations to
frame B, and find AP.

I. Rotate 90∘ about the x-axis, then

II. Translate 3 units about the y-axis, 6 units about the z-axis, and 5 units
about the x-axis. Then,
III. Rotate 90∘ about the z-axis.

4. Consider the following figure, a point P has a coordinate of P= [-2 1.5 3]T with respect to
frame {0}.
 a. Determine the rotational matrix which expresses the rotation of frame {1} with respect to
frame {0}
b. Find the coordinates of point P with respect to frame {1}

Forward kinematics

1. Label the coordinate frames of the following manipulators

Soln:
 A.

B.

Soln:
2. Consider the following manipulators. Derive the forward kinematic equations using the DH-
convention.

A.

B.

Soln: 2A
Soln: 2B
End-effector Position
 Inverse Kinematics
Determine the inverse kinematics of the following manipulators

A.
 B.

C.

Soln: 1 A: