BSEAS, H-11 Campus, Islamabad

Fall 2023
Subject: Robotics (CEN-458) Instructor: Maryam Iqbal

Quiz # 02 (CLO-2) Class: BEE-7-B Date:09-11-23

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Π Π Π
Q1. Solve for rotation matrix representing a roll of followed by a yaw of followed by a pitch of .
4 6 2
1
R0 =R z ,45 R x ,30 R y ,90

[ ][ ][ ]
cosϴ −sinϴ 0 1 0 0 cosϴ 0 sinϴ
= sinϴ cosϴ 0 0 cosϴ −sinϴ 0 1 0
0 0 1 0 sinϴ cosϴ −sinϴ 0 cosϴ

[ ] [ ][
√ 2 − √2 0 1 0 0

]
2 2 0 √3 −1 0 0 1
¿ √2 √2 2 2 0 1 0
0
2 2
0
1 √3 −1 0 1
0 0 1 2 2

[ ]
√ 2 − √6 √2
2 4 4

[ ]
0 0 1
¿ √ √6
2 −√ 2
0 1 0
2 4 4 −1 0 1
0
1 √3
2 2

[ ]
− √2 −√ 6 3 √2
4 4 4
√2
= 4
√6 √2
4 4
− √3 1 √3
2 2 2

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