ME 5286 Quiz #1 Review

Agenda and Quiz Overview

• Quiz 1 Review • Open book and open notes
• Problem 1, 2015 • Ebooks are not allowed
• Problem 1, 2016 • Calculators are allowed
• Problem 2, 2014 • Show all your work
• Problem 2, 2012
• Write out equations before solving the
problem
 DH Overview

Two DH Conditions
• The 𝑥𝑥𝑛𝑛 axis is perpendicular
to both the 𝑧𝑧𝑛𝑛−1 and 𝑧𝑧𝑛𝑛
axes
• The 𝑥𝑥𝑛𝑛 -axis intersects both
𝑧𝑧𝑛𝑛−1 and 𝑧𝑧𝑛𝑛 axes
Problem 1 2015

https://www.youtube.com/watch?v=3HFXO_qx5ZY
 𝑜𝑜7 Frame 6 Frame 7
𝑍𝑍6 𝑍𝑍7

𝑌𝑌6 𝑌𝑌7
𝑜𝑜5
𝑜𝑜6 Frame 4 Frame 5
𝑍𝑍4
𝑍𝑍5
𝑌𝑌4
𝑌𝑌5

Frame 2 Frame 3
𝑜𝑜3 𝑍𝑍2
𝑜𝑜4 𝑍𝑍3
𝑌𝑌2
𝑌𝑌3

Frame 1
𝑋𝑋1

𝑜𝑜2 𝑜𝑜1 𝑍𝑍1

 Table 1.1: D-H Table for RoboSimian
Joint θ [deg] d [m] a [m] α [deg] C. (4 points)
1 𝜃𝜃1 0 0 -90 At one instant in time, the joints move through their zero position (the zero
2 𝜃𝜃2 +90 0.20 0 90 pose of Fig 1.2). Compute A matrices, (𝐴𝐴10 , 𝐴𝐴12 , 𝐴𝐴32 , 𝐴𝐴43 ), using the Denavit-
3 𝜃𝜃3 0.35 0 -90 Hartenburg variables from part B.
4 𝜃𝜃4 0.20 0 90
5 𝜃𝜃5 0.35 0 -90
6 𝜃𝜃6 0.20 0 90
𝑐𝑐𝜃𝜃𝑖𝑖 −𝑠𝑠𝜃𝜃𝑖𝑖 𝑐𝑐𝛼𝛼𝑖𝑖 𝑠𝑠𝜃𝜃𝑖𝑖 𝑠𝑠𝛼𝛼𝑖𝑖 𝑎𝑎𝑖𝑖 𝑐𝑐𝜃𝜃𝑖𝑖
7 𝜃𝜃7 0.30 0 0 𝑠𝑠𝜃𝜃𝑖𝑖 𝑐𝑐𝜃𝜃𝑖𝑖 𝑐𝑐𝛼𝛼𝑖𝑖 −𝑐𝑐𝜃𝜃𝑖𝑖 𝑠𝑠𝛼𝛼𝑖𝑖 𝑎𝑎𝑖𝑖 𝑠𝑠𝜃𝜃𝑖𝑖
𝐴𝐴𝑖𝑖𝑖𝑖−1 =
0 𝑠𝑠𝛼𝛼𝑖𝑖 𝑐𝑐𝛼𝛼𝑖𝑖 𝑑𝑑𝑖𝑖
0 0 0 1
D. (3 points)
Find the homogenous transformation matrix ( 𝑇𝑇03 ).

𝑇𝑇03 = 𝐴𝐴10 𝐴𝐴12 𝐴𝐴32 1 0 0 0 0 0 1 0

0 0 1 0 1 0 0 0
1 0 0 0 0 0 1 0 1 0 0 0
𝐴𝐴10 = , 𝐴𝐴12 =
0 −1 0 0 0 1 0 0.2
0 0 1 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1
𝑇𝑇03 =
0 −1 0 0 0 1 0 0.2 0 −1 0 0.35
0 0 0 1 0 0 0 1 0 0 0 1 1 0 0 0 1 0 0 0
0 0 1 0 0 0 −1 0
𝐴𝐴32 = ,𝐴𝐴43 =
0 −1 0 0.35 0 1 0 0.2
0 −1 0 0.35 0 0 0 1 0 0 0 1
0 0 1 0.2
𝑇𝑇03 =
−1 0 0 0
0 0 0 1
Problem 1 2016
Part A
Write the transformation matrix from the ABB YuMi® world frame [𝑋𝑋𝑤𝑤 𝑌𝑌𝑤𝑤 𝑍𝑍𝑤𝑤 ] to the base frame [𝑋𝑋0 𝑌𝑌0 𝑍𝑍0 ] for the
0
left arm, 𝑇𝑇𝑊𝑊 . The base frame resides at [0.085 0.075 0.347]m in the world frame and the rotations between
[𝑋𝑋𝑤𝑤 𝑌𝑌𝑤𝑤 𝑍𝑍𝑤𝑤 ] and [𝑋𝑋0 𝑌𝑌0 𝑍𝑍0] can be expressed as rotations about [𝑋𝑋𝑤𝑤 𝑌𝑌𝑤𝑤 𝑍𝑍𝑤𝑤 ] by [0 -30 35] degrees.

The rotation can be described as a set of three rotations about

the principle coordinate system, [𝑋𝑋𝑤𝑤 𝑌𝑌𝑤𝑤 𝑍𝑍𝑤𝑤 ] . The Roll (𝜙𝜙),
Pitch (𝜃𝜃), Yaw (𝜓𝜓) Angle method from the textbook can be
0
applied to obtain 𝑅𝑅𝑊𝑊 .
0
𝑅𝑅𝑊𝑊 𝜙𝜙, 𝛽𝛽, 𝜓𝜓 = 𝑅𝑅𝑧𝑧 𝜙𝜙 𝑅𝑅𝑦𝑦 𝛽𝛽 𝑅𝑅𝑥𝑥 𝜓𝜓
𝑐𝑐𝜙𝜙 𝑐𝑐𝜃𝜃 𝑐𝑐𝜙𝜙 𝑠𝑠𝜃𝜃 𝑠𝑠𝜓𝜓 − 𝑠𝑠𝜙𝜙 𝑐𝑐𝜓𝜓 𝑐𝑐𝜙𝜙 𝑠𝑠𝜃𝜃 𝑐𝑐𝜓𝜓 + 𝑠𝑠𝜙𝜙 𝑠𝑠𝜓𝜓
= 𝑠𝑠𝜙𝜙 𝑐𝑐𝜃𝜃 𝑠𝑠𝜙𝜙 𝑠𝑠𝜃𝜃 𝑠𝑠𝜓𝜓 + 𝑐𝑐𝜙𝜙 𝑐𝑐𝜓𝜓 𝑠𝑠𝜙𝜙 𝑠𝑠𝜃𝜃 𝑐𝑐𝜓𝜓 − 𝑐𝑐𝜙𝜙 𝑠𝑠𝜓𝜓
−𝑠𝑠𝜃𝜃 𝑐𝑐𝜃𝜃 𝑠𝑠𝜓𝜓 𝑐𝑐𝜃𝜃 𝑐𝑐𝜓𝜓
We can now construct the homogenous transformation matrix
as follows:

0.71 −0.57 −0.41 0.085 0 𝑅𝑅 0 0

𝑃𝑃𝑊𝑊
𝑇𝑇𝑊𝑊 = 𝑊𝑊
0 0.50 0.82 −0.29 0.075 0 1
𝑇𝑇𝑊𝑊 =
0.50 0 0.87 0.347
0 0 0 1
 𝐽𝐽7 0.010 m
Part B 𝑜𝑜7
0.025 m 𝐽𝐽6
Indicate and draw 𝑜𝑜6 Frame 6 Frame 7
𝑜𝑜5
the seven joint 0.100 m 𝑍𝑍6 𝑍𝑍7
frames. 𝑋𝑋6 𝑋𝑋7

𝐽𝐽5
Frame 4 Frame 5
0.160 m
𝑍𝑍4 𝑌𝑌5
𝑜𝑜4 𝐽𝐽4 𝑋𝑋4 𝑋𝑋5
𝑜𝑜3
0.080 m
Frame 2 Frame 3
𝐽𝐽3 𝑍𝑍2 𝑌𝑌3
0.172 m 𝑋𝑋2 𝑋𝑋3
𝐽𝐽2

𝑜𝑜1 𝑜𝑜2 Frame 1

0.132 m 𝑍𝑍0 𝑌𝑌1

𝑋𝑋1
𝐽𝐽1
0.020 m 0.040 m
Part C
The elements of the A matrices from the (i-1)th to the ith joint can be calculated by using the Denavit- Hartenburg
variables; fill in the table of θ, d, a, and α for each of the A matrices. Use the appropriate geometric dimensions,
from Figure 1.3, with the assumption that there are no offsets in or out of the page.

Joint θ d a α
1 θ1 0.132 0.020 +90
2 θ2 0 -0.020 -90
3 θ3 0.252 -0.040 +90
4 θ4 0 0.040 -90
5 θ5 0.260 -0.010 +90
6 θ6 0 0.010 -90
7 θ7 0.025 0 0

Part D
At one instant in time, the joints move through their zero position (the zero pose of Figure 1.3). Compute the A
matrices, (𝐴𝐴54 , 𝐴𝐴65 ), using the Denavit-Hartenburg variables from part D.
Use Joint 5 row Use Joint 6 row
𝑐𝑐𝜃𝜃𝑖𝑖 −𝑠𝑠𝜃𝜃𝑖𝑖 𝑐𝑐𝛼𝛼𝑖𝑖 𝑠𝑠𝜃𝜃𝑖𝑖 𝑠𝑠𝛼𝛼𝑖𝑖 𝑎𝑎𝑖𝑖 𝑐𝑐𝜃𝜃𝑖𝑖 1 0 0 −0.01 1 0 0 0.01
𝑠𝑠𝜃𝜃𝑖𝑖 𝑐𝑐𝜃𝜃𝑖𝑖 𝑐𝑐𝛼𝛼𝑖𝑖 −𝑐𝑐𝜃𝜃𝑖𝑖 𝑠𝑠𝛼𝛼𝑖𝑖 𝑎𝑎𝑖𝑖 𝑠𝑠𝜃𝜃𝑖𝑖 0 0 −1 0 0 0 1 0
𝐴𝐴𝑖𝑖𝑖𝑖−1 = A54 = 𝐴𝐴65 =
0 𝑠𝑠𝛼𝛼𝑖𝑖 𝑐𝑐𝛼𝛼𝑖𝑖 𝑑𝑑𝑖𝑖 0 1 0 0.26 0 −1 0 0
0 0 0 1 0 0 0 1 0 0 0 1
Problem 2 2014
Part A.
Determine the homogenous transformation matrix to go from the camera coordinate frame to the GPS
coordinate frame. In other words, find 𝑇𝑇𝐶𝐶𝐺𝐺 .

In this setup, the GPS unit is assumed to be located at [0.0m, -1.5m, -1.0m] relative to the camera unit

1 0 0 0
0 1 0 −1.5
𝑇𝑇𝐶𝐶𝐺𝐺 =
0 0 1 −1
0 0 0 1
Part B.
At a given instant in time a general offset from the object to the camera unit is given by (J,K,L). Determine the
homogenous transformation matrix to go from the camera coordinate frame to the object coordinate frame.
In other words, find 𝑇𝑇𝐶𝐶0 .

1 0 0 𝐽𝐽
0 1 0 𝐾𝐾
𝑇𝑇𝐶𝐶0 =
0 0 1 𝐿𝐿
0 0 0 1
 Part C.
At a given moment in time the GPS receiver is found to be at [778190 m, 480350 m] relative to a state plane
coordinate system with a heading angle 𝜃𝜃𝐺𝐺 = 45∘ . At the same moment in time, the object on the road is
found by the camera to be at [5.0 m, 0.0 m, -2.5 m]. Determine the position and orientation of the object on
the road relative to the state plane coordinate system.

We want to solve for the following

𝑇𝑇𝑆𝑆0 = 𝑇𝑇𝑆𝑆𝐺𝐺 𝑇𝑇𝐺𝐺𝐶𝐶 𝑇𝑇𝐶𝐶0
We can use our answer from part B to solve for 𝑇𝑇𝐶𝐶0 .
1 0 0 5
0 1 0 0
𝑇𝑇𝐶𝐶0 =
0 0 1 −2.5
0 0 0 1
We can use our answer from part A to get 𝑇𝑇𝐺𝐺𝐶𝐶 .
𝑇𝑇
𝐺𝐺 𝑇𝑇
𝑇𝑇𝐺𝐺𝐶𝐶 𝑇𝑇𝐶𝐶𝐺𝐺
=
−1
= 𝑅𝑅𝐶𝐶 − 𝑅𝑅𝐶𝐶𝐺𝐺 𝑃𝑃𝐶𝐶𝐺𝐺
0 1
𝐺𝐺
We can form 𝑇𝑇𝑆𝑆 from the figure and problem statement.
(i.e. 𝑅𝑅𝑧𝑧 𝜃𝜃𝐺𝐺 = −45∘ & 𝑃𝑃𝑆𝑆𝐺𝐺 = 778190, 480350, 0 𝑇𝑇 𝑚𝑚).
Multiplying matrices for 𝑇𝑇𝑆𝑆0 yields: 0.707 0.707 0 778190
0.707 0.707 0 778194.6 −0.707 0.707 0 480350
𝑇𝑇𝑆𝑆𝐺𝐺 =
−0.707 0.707 0 480347.5 0 0 1 −1.5
𝑇𝑇𝑆𝑆0 = 𝑇𝑇𝑆𝑆𝐺𝐺 𝑇𝑇𝐺𝐺𝐶𝐶 𝑇𝑇𝐶𝐶0 = 0 0 0 1
0 0 1 −1.5
0 0 0 1
Problem 2 2012
Part A.
Write the homogenous transformation to go from the bus frame to the obstacle frame. That is to say, find 𝑇𝑇𝐵𝐵0 .

The bus is equipped with sensors that can determine both the position and the orientation of the obstacle.
The obstacle has been located by these sensors which have determined its position to be [a,b] in the bus
frame, and its orientation to be θ, also with respect to the bus frame. Note that the variables a and b
represent distances and θ represents an angle

Solution:
By looking at the figure we can
see that we are looking at a
𝑅𝑅𝑧𝑧 𝜃𝜃 and movement by [a,b].

𝑇𝑇
𝑇𝑇𝐵𝐵0 = 𝑅𝑅𝑧𝑧 (𝜃𝜃) 𝑎𝑎, 𝑏𝑏, 0
0 1
𝑐𝑐𝜃𝜃 −𝑠𝑠𝜃𝜃 0 𝑎𝑎
𝑠𝑠 𝑐𝑐𝜃𝜃 0 𝑏𝑏
= 𝜃𝜃
0 0 1 0
0 0 0 1
Part B.
Write the homogeneous transformation to go from the seat frame to the head frame. That is to say, find 𝑇𝑇𝑆𝑆𝐻𝐻 .

There is a sensor that measures the position and orientation of the driver’s head (represented by the head
frame [𝑋𝑋𝐻𝐻 , 𝑌𝑌𝐻𝐻 ]) with respect to the sensor located at the origin of the seat frame [𝑋𝑋𝑆𝑆 , 𝑌𝑌𝑆𝑆 ]. The driver’s head
has been determined by this sensor to be located at [𝑐𝑐, 𝑑𝑑] in the seat frame, and the driver’s head’s
orientation to be α, also with respect to the seat frame. Note that the variables c and d represent distances
and α represents an angle.
Solution:
By looking at the figure we can
see that we are looking at a
𝑅𝑅𝑧𝑧 𝛼𝛼 and movement by [c, d].

𝑇𝑇
= 𝑅𝑅𝑧𝑧 (𝛼𝛼) 𝑐𝑐 𝑑𝑑, 0
𝑇𝑇𝑆𝑆𝐻𝐻
0 1
𝑐𝑐𝛼𝛼 −𝑠𝑠𝛼𝛼 0 𝑐𝑐
𝑠𝑠 𝑐𝑐𝛼𝛼 0 𝑑𝑑
= 𝛼𝛼
0 0 1 0
0 0 0 1
Part B.
C. (2 points) Write the homogeneous transformation to go from the bus frame to the seat frame. That is to say,
find 𝑇𝑇𝐵𝐵𝑆𝑆 .

Additionally, the seat is free to be adjusted up-down and front-back by the driver. Its orientation is always such
that 𝑋𝑋𝑆𝑆 is in the negative 𝑌𝑌𝐵𝐵 direction, and 𝑌𝑌𝑆𝑆 is in the 𝑋𝑋𝐵𝐵 direction. For a particular driver, the seat frame’s
location with respect to the bus frame is [-1, 2]m.

Solution:
We can determine the rotation
out by inspection.

0 1 0 −1
−1 0 0 2
𝑇𝑇𝐵𝐵𝑆𝑆 =
0 0 1 0
0 0 0 1
Part B.
C. (2 points) Write the homogeneous transformation to go from the bus frame to the seat frame. That is to say,
find 𝑇𝑇𝐵𝐵𝐻𝐻 .

Solution:
𝑇𝑇𝐵𝐵𝐻𝐻 = 𝑇𝑇𝐵𝐵𝑆𝑆 𝑇𝑇𝑆𝑆𝐻𝐻
𝑐𝑐𝛼𝛼 −𝑠𝑠𝛼𝛼 0 𝑐𝑐 0 1 0 −1
𝑠𝑠 𝑐𝑐𝛼𝛼 0 𝑑𝑑 −1 0 0 2
= 𝛼𝛼
0 0 1 0 0 0 1 0
0 0 0 1 0 0 0 1
𝑠𝑠𝛼𝛼 𝑐𝑐𝛼𝛼 0 𝑑𝑑 − 1
−𝑐𝑐𝛼𝛼 𝑠𝑠𝛼𝛼 0 2 − 𝑐𝑐
𝑇𝑇𝐵𝐵𝐻𝐻 =
0 0 1 0
0 0 0 1
Questions