ECE 470: Introduction to Robotics Homework 1
Question 1.
In Figure 1, Frame {A} and {B} are not connected.
a) Determine the transformation matrix 𝐵𝑇
𝐴
1 after {B} rotates 45o
about its axis XB.
b) Determine the inverse matrix 𝐵𝑇
𝐴
1
-1
in (a)
c) Determine the transformation matrix 𝐵𝑇
𝐴
2 if new {B} revolve about YA.
d) Determine the transformation matrix 𝐵𝑇
𝐴
3 if {A} rotates -90o
about its XA
(10 Points)
Figure 1
Question 2.
A cuboid with Frame {M} and Frame {C} attached rigidly is shown in Figure 2. The
universe frame of reference {U} serves as an absolute frame that is always fixed. The
cuboid motion is described by the series of transformation operations.
Figure 2
(10 Points)
