‘Tutorial 1 - EEE355 / EEM31 (Adapted from: Intro. To Robotics ~ Saeed 1. Niku) Answer all questions 1. Apoint Pin space is defined as "P = [5.3.4] relative to frame B and is attached to the origin of the reference frame A and is parallel to it. Apply the following transformation: to frame B and find “P. Using the three-dimensional grid parsmitzxtamthincheptis plot the transformations and the result and verify itAlso verify graphically that you would, not get the same results if you apply the transformations relative to the current frame: ) ++ Rotate 90° about the x-axis . + Then transfate J units about the y-axis, 6 units about the z-axis, and 5 units about the saxis. # Then, rotate 90° about the z-axis. 2. A point Pin space is defined as"? = [2.3.5]? relative to frame B, which is attached to the origin of the reference frame A and is parallel to it. Apply the following transtorer tions to frame B and find “P. Using the three-dimensional grid, plot the transformations and the result and verify it: *# Rotate 90° about the x-axis. © Then, rotate 90° about the local a-axis. « ‘+ Then translate 3 units about the y-axis, 6 units about the z-axis, and 5 units about the aeais, ‘Arrobot arm with three degrees of freedom has been designed for applying paint on at walls as shown in Figure P2.19. (@) Assign coordinate frames as necessary based on D-H representation. () Fill out the parameters table. (6) Find the “7 matrix. Figure F219 Due date: 6 March 2007, by 5.00 pm at the Main Office.@@) -Tq . o, & AP - Rot (39°) Trans (5,3,6) Ret (xX, 70) Pe v(t y TREE EE Transformahind relative to The Tramsformahone relahie to Teference! frame. The corrent frame.O02) -TI 8 Mp 2 Trans (5,316) Rot (%,40) Rot (0,90) PoS eho th bg ele ae . Sqths : at, HS, 5, He hs Hh,