Assignment week 7

Question 1:A procedure for trajectory planning produced a matrix representing a rotation for a certain
pick-and-place operation, as shown below:

0.433 −0.500 𝑧
[𝑄] = [ 𝑥 0.866 −0.433]
0.866 𝑦 0.500

where x, y, and z are entries that are unrecognizable due to failures in the printing hardware. Knowing
that Q is in fact a rotation matrix, find the missing entries.

Question 2: Suppose that we rotate a frame 30 degrees around X, then rotate 60 degrees around the
new (rotated) Y axis. FInd the rotation matrix for these two rotations.