Practice Questions –(EEE 4027)

Q1. A point P in space defined as PB=relative to frame B, which is attached to

the origin of the frame A and parallel to it. Apply the following transformations to frame
B and find PA (i)Rotate about the ZA-axis. 450, then rotate 600 the about YB-axis, then
translate 3 units about the XA-axis, 6 units about the ZA-axis, and 5 units about the YA-
axis.

Q2.Consider a cylindrical robot which performs the following transformations. (i) a

translation of r along the Z axis (ii) a rotation of α about the Y axis (iii) a translation of l
about the X axis. Obtain the transformation matrix and calculate the joint variables of the
robot to position its end effector at [3,-4,6]T.

Q3. A rotational transformation matrix T can always be represented by a single rotation

about a suitable axis by a suitable angle as T=Rot(k,θ) where k is the unit vector along
the axis and the θ is the angle. Determine k and θ for the following transformation
matrix.

T=[ ]

Q4.A point P [1,3,2]T is attached to a frame (n,o,a) and is subject to following

transformations.
i. A rotation of 600 about the a-axis
ii. Then a translation of [4,-2,-5] along n,o,a
iii. Followed by a rotation of 900 about the o-axis.
Determine the new position of the frame after the transformations.

Q5. In the figure below, the origin of frame B is at (5,10,-3) with respect to Frame A, and
the corner C of the cube is at (6, 7,1) with respect to Frame A. The cube has a side of
dimension 1 unit. The DECF face the cube, yz plane of Frame A and xz plane of Frame B
are all parallel. The cube is rotated by 30 degrees about YB. Find the new coordinates of
E in Frame A after this rotation.
Q6.For the figure shown below, find the 4x4 homogeneous transformation matrices
and for i =1,2,3,4.

Q7. Referring to figure shown below, determine the homogeneous transformation matrix
that describes frame C in frame A. Also determine the homogeneous transformation
matrix that describes frame A in frame C.

Q8. A frame B shown below, is rotated 300 about the y-axis, then translated 2 and 1 units
relative to the a- and n-axes respectively, then rotated another 600 about the n-axis, and
finally, 450 about the y-axis. Find the new location and orientation of the frame.
Q9. The orientations and positions of the frame 1 and the frame 2 are given relative to the
frame 0 as and , respectively. Plot the frames 1 and 2 and determine graphically
and then mathematically.

=[ ] =[ ]

Q10. Given the following 4x4 homogeneous transformation matrices.

= =

[ ] [ ]

a) What is ?
b) For the point (0, 1, 2)T in system C, what are it's coordinates in system B?