Faculty of Engineering Mechanical Engineering department

Robotics Midterm Exam 10/4/2018

Time: 1 hour 20 Marks
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Q1: [10 Marks]
The point P is at in a body coordinate B. Find the final global position of
P after each of the following rotations:
(a) A rotation of 30 degrees about the X-axis, followed by a 45 degree about the Z-
axis (fixed frame).
(b) A rotation of 60 degree about the Z axis followed by 30 degree rotation about the
X-axis (current frame).
(c) A rotation of 30 degrees about an axis in the direction of the unit vector [0.707
0.707 0].

Q2: A 3-DOF manipulator is shown in Figure 1. Derive the homogenous transformation

matrix of the end-effect frame with respect to the earth frame. Assume any missing
parameters. [20 Marks]

Figure 1