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)