Robotics

(MCG 5353)

Instructor: Dr. Amirhossein Monjazeb, P. Eng.

Spring/Summer 2023
Problem Set # 01 (part 2)
Solutions
 Problem 1
The rotation matrix and the translation vector of point 𝐴 relative to fixed
frame 𝑈 are defined as follows:

0 0 𝑎 𝑎
𝑅= 𝑎 0 0 𝐷= 𝑏
0 𝑏 0 𝑏

a) What is the transformation matrix of point 𝐴 relative to 𝑈 ?

b) What is 𝑅𝑇 ?
c) What is the inverse of the transformation matrix in part (a)?

MCG 5353- Robotics Problem Set # 2 Solutions 2

 Problem 1 – Solution
0 0 𝑎 𝑎
𝑎 0 0 𝑏
𝑎) 𝑇= 0 𝑏 0 𝑏
0 0 0 1

0 𝑎 0
𝑏) 𝑅𝑇 = 0 0 𝑏
𝑎 0 0

 0 a 0  a  − ab
     2
c) −𝑅 𝑇 ∙ 𝐷 = − 0 0 b  b  =  − b 
a 0 0 b   − a 2 

0 a 0 − ab
 b − b 2 
𝑇 −1 = 𝑅𝑇 −𝑅𝑇 ∙ 𝐷 = 0 0
000 1 a 0 0 − a2 
 
0 0 0 1 

MCG 5353- Robotics Problem Set # 2 Solutions 3

 Problem 2
Consider the following sequence of rotations:

𝛼
1. Rotate by about the x-axis of the fixed frame
3
𝛽
2. Rotate by about the z-axis of the current frame
2
𝛼
3. Rotate by about the x-axis of the fixed frame
3
𝛽
4. Rotate by about the z-axis of the current frame
2
𝛼
5. Rotate by about the x-axis of the fixed frame
3

a) Determine the resultant rotation matrix, R.

3
b) What is the resultant vector of 𝑃 = 1 , operated by R?
2

MCG 5353- Robotics Problem Set # 2 Solutions 4

 Problem 2 – Solution
fixed Current

𝛼 𝛼 𝛼 𝛽 𝛽
𝑅 = 𝑅𝑋 𝑅𝑋 𝑅𝑋 𝑅𝑍 𝑅𝑍
3 3 3 2 2

= 𝑅𝑋 𝛼 ∙ 𝑅𝑍 𝛽
1 0 0 cos 𝛽 − sin 𝛽 0
= 0 cos 𝛼 − sin 𝛼 ∙ sin 𝛽 cos 𝛽 0
0 sin 𝛼 cos 𝛼 0 0 1

cos 𝛽 − sin 𝛽 0
= cos 𝛼 sin 𝛽
sin 𝛼 sin 𝛽
cos 𝛼 cos 𝛽
sin 𝛼 cos 𝛽
− sin 𝛼
cos 𝛼

cos 𝛽 − sin 𝛽 0 3 3 cos 𝛽 − sin 𝛽

𝑅∙𝑃 = cos 𝛼 sin 𝛽
sin 𝛼 sin 𝛽
cos 𝛼 cos 𝛽
sin 𝛼 cos 𝛽
− sin 𝛼
cos 𝛼
1 = 3 cos 𝛼 sin 𝛽 + cos 𝛼 cos 𝛽 − 2 sin 𝛼
3 sin 𝛼 sin 𝛽 + sin 𝛼 cos 𝛽 + 2 cos 𝛼
2

MCG 5353- Robotics Problem Set # 2 Solutions 5

 Problem 3
Consider the current configuration of the 2-DOF manipulator shown below.

0 1
a) Determine the rotation matrices 𝑅 and 𝑅.
1 2

0 1
b) Determine the homogeneous matrices 𝑇 and 𝑇
1 2

0
c) Calculate the homogeneous matrix 𝑇 .
2

MCG 5353- Robotics Problem Set # 2 Solutions 6

 Problem 3 – Solution
𝑍መ0
𝑋෠0 cos 90 − sin 90 0 1 0 0 𝑍መ0 𝑍መ1
𝑅𝑍0 (90° ) = sin 90 cos 90 0 𝑅𝑋0 (90° ) = 0 cos 90 − sin 90 𝑌෠0 𝑌෠1
𝑍መ0 0 0 1 0 sin 90 cos 90
0 𝑌෠0
≡
𝐷(0, 0, 2) = 0
2
𝑌෠0 𝑋෠0 𝑋෠0 𝑋෠1
0 0 1
0
𝑅 = 𝑅𝑍0 90° ∙ 𝑅𝑋0 90° = 1 0 0 0 0 1 0
Current 1
0 1 0 1 0 0 0
𝑇=
0
0 1 0 1 0 2
0  
𝐷= 0
1
2 0 0 0 1

𝑍መ1 𝑌෠1 𝑌෠1 𝑌෠2

𝑌෠1 cos 90 0 sin 90 cos 90 − sin 90 0 𝑋෠1 𝑋෠2
𝑅𝑌1 (90° ) = 0 1 0 𝑅𝑍1 (90° ) = sin 90 cos 90 0
− sin 90 0 cos 90 0 0 1 ≡
1 𝑋෠1
𝐷(1, 0, 0) = 0
0
𝑋෠1 𝑍መ1 𝑍መ1 𝑍መ2

0 0 1
1
2
𝑅 = 𝑅𝑌1 90° ∙ 𝑅𝑍1 90° = 1 0 0 0 0 1 1
0 1 0 1 0
Current 1
𝑇=
0 0
1 2 0 1 0 0
1
𝐷= 0  
2
0 0 0 0 1

0 0 1 0 0 0 1 1 0 1 0 0
0 0 1 1 0 0 0 1 0 0 0 0 0 1 1
𝑇= 𝑇∙ 𝑇= = 1 0 0 2
2 1 2 0 1 0 2 0 1 0 0
0 0 0 1 0 0 0 1 0 0 0 1

MCG 5353- Robotics Problem Set # 2 Solutions 7