ECE 470: Introduction to Robotics Homework 1
Question 1.
Referring to Figure 1, determine the homogeneous transformation matrix describing
frame B in frame A. Also determine the homogeneous transformation matrix that
describes frame A in frame B. (4 Points)
Figure 1
Question 2.
Frame C coincide with frame A initially in Figure 2. Frame C is then rotated 30
o
about
the vector described by the directed line segment from P to Q. Determine the position
and orientation of the new frame C with respect to frame A in the form of a
homogeneous transformation matrix. (10 Points)
Figure 2
Question 3
The following two figures depict a two-link arm, with the right figure being the front
view with axis assigned. Find 0P in terms of q1 and q2. (6 Points)
