Individual homework #2

Student name: Phạm Hoàng Khanh Student ID: 2011381

Class/Group: TN01 Date: 01/03/2024

My student ID is 2011381. Thus

𝑋𝑋 = 20 (𝑚)
{ 𝑌𝑌 = 11 (𝑚)
𝑍𝑍𝑍 = 381°

a. Postures of the cube after each step of movement:

- Intially:

- After step 1: Translate the cube 20 (𝑚) in 𝑋𝑅

- After step 2: Rotate it about its vector 𝑂𝐶 by 381°

- After step 3: Rotate it about its 𝑍𝑅 by 381°

- After step 4: Translate it 11 (𝑚) along its vector 𝑂𝐴

 All transformations made are shown in the figure below:

The coordinates of 𝑃 after all transformation is: (29.1; 12.24; −3.37)

b. Determine the homogeneous matrix 𝑹𝑪𝑻 after 4 steps:

- Intially:

1 0 0 0
𝑅 0 1 0 0
𝐶𝑇 = [ ]
0 0 1 0
0 0 0 1

- After step 1: Translate the cube 20 (𝑚) in 𝑋𝑅

 1 0 0 0 1 0 0 20 1 0 0 0 1 0 0 20
𝑅 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 0
𝐶 𝑇 = 𝐷𝑄 (20,0,0) × [ ]=[ ]×[ ]=[ ]
0 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0
0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1

- After step 2: Rotate it about its vector 𝑂𝐶 by 381°

1 0 0 20 cos (381°) 0 sin (381°) 0 0.9336 0 0.3584 20

𝑅 0 1 0 0 0 1 0 0 0 1 0 0
𝐶𝑇 = [ ]×[ ]=[ ]
0 0 1 0 −sin (381°) 0 cos (381°) 0 −0.3584 0 0.9336 0
0 0 0 1 0 0 0 1 0 0 0 1

- After step 3: Rotate it about its 𝑍𝑅 by 381°

cos (381°) −sin (381°) 0 0 0.9336 0 0.3584 20

𝑅 sin (381°) cos (381°) 0 0 0 1 0 0
𝐶𝑇 = [ ]×[ ]
0 0 1 0 −0.3584 0 0.9336 0
0 0 0 1 0 0 0 1
0.8716 −0.3584 0.3346 18.6716
0.3346 0.9336 0.1284 7.1674
=[ ]
−0.3584 0 0.9336 0
0 0 0 1

- After step 4: Translate it 11 (𝑚) along its vector 𝑂𝐴

𝑂(18.6716; 7.1674; 0)
𝐴(19.5432; 7.5019; −0.3584)

⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗ = (9.5876; 3.6795; −3.9424)

𝑂𝐴 = (0.871; 0.335; −0.358) ⇒ 11𝑂𝐴

1 0 0 9.5876 0.8716 −0.3584 0.3346 17.4314

𝑅 0 1 0 3.6795 0.3346 0.9336 0.1284 6.6913
𝐶𝑇 = [ ]×[ ]
0 0 1 −3.9424 −0.3584 0 0.9336 −7.1671
0 0 0 1 0 0 0 1
0.8716 −0.3584 0.3346 28.2592
0.3346 0.9336 0.1284 10.8469
=[ ]
−0.3584 0 0.9336 −3.9424
0 0 0 1

c. The coordinates of 𝑷
 0.8716 −0.3584 0.3346 28.2592 1 29.1070
0.3346 0.9336 0.1284 10.8469 1 12.2434
𝑷′ = 𝑅𝐶𝑇 × 𝑃𝑇 = [ ]×[ ]=[ ]
−0.3584 0 0.9336 −3.9424 1 −3.3672
0 0 0 1 1 1

So our result from theoretical calculation and from simulation is equal.