Họ và tên: Ngô Hữu Nhân

Lớp: Kỹ thuật robot nhóm 06 CLC (HK1_2324_KTROBOT_ST6)

MSSV: 21146491

BÀI TẬP CHƯƠNG 2

2.1/ Xoay quanh trục cố định.

[ ]
cos ( θ ) −sin ( θ ) 0
R ( θ , z A )= sin ( θ ) cos ( θ ) 0
0 0 1

[ ]
1 0 0
R ( ∅ , x A )= 0 cos ⁡( ∅ ) −sin ⁡( ∅ )
0 sin ⁡( ∅ ) cos ⁡( ∅ )

[ ][ ]
1 0 0 cos ( θ ) −sin ( θ ) 0
R=R ( ∅ , x A ) . R ( θ , z A ) .= 0 cos ( ∅ ) −sin ( ∅ ) . sin ( θ ) cos ( θ ) 0
0 sin ( ∅ ) cos ( ∅ ) 0 0 1

[ ]
cos (θ ) −sin ( θ ) 0
¿ cos ( ∅ ) . sin ⁡(θ) cos ( ∅ ) . cos ( θ ) −sin ( ∅ )
sin ( ∅ ) . sin ( θ ) sin ( ∅ ) . cos ( θ ) . cos ⁡( ∅ )

2.2/ Xoay quanh trục cố định

[ ]
√ 3 0 −1

[ ]
(
cos 30 ) (
0 −sin 30 ) 2 2
R ( 30 , y A ) = 0 1 0 = 0 1 0
−sin ( 30 ) 0 cos ( 30 ) −1
0
√3
2 2
 [ ]
1 0 0

[ ]
1 0 0
0 √2 − √2
R ( 45 , x A ) = 0 cos ⁡(45) −sin ⁡(45) = 2 2
0 sin ⁡(45) cos ⁡(45)
0
√2 √2
2 2

[ ][ ] [ ]
√3 1
1 0 0 √3 0
−1
2
0
2
√2 −√ 2 2 2
R=R ( 45 , x A ) . R ( 30 , y A ) .=
0
2 2 . 0 1 0 =
√2 √2 −√ 6
4 2 4
√2 √ 2 −1 √ 3
0 0 − √2 √2 √6
2 2 2 2
4 2 4

2.3/ Xoay quanh trục mới:

[ ]
cos ( θ ) −sin ( θ ) 0
R ( θ , z B ) = sin ( θ ) cos ( θ ) 0
0 0 1

[ ]
1 0 0
R ( ∅ , x B ' )= 0 cos ⁡( ∅ ) −sin ⁡( ∅ )
0 sin ⁡( ∅ ) cos ⁡( ∅ )

[ ][ ]
cos ( θ ) −sin ( θ ) 0 1 0 0
R=R ( θ , z B ) . R ( ∅ , x B ' )= sin ( θ ) cos ( θ ) 0 . 0 cos ( ∅ ) −sin ( ∅ )
0 0 1 0 sin ( ∅ ) cos ( ∅ )

[ ]
cos ( θ ) −sin (θ ) . cos ⁡( ∅ ) sin ( θ ) . sin ⁡( ∅ )
¿ sin (θ ) cos (θ ) .cos ⁡( ∅ ) −cos ( θ ) .sin ⁡( ∅ )
0 sin ⁡( ∅ ) cos ⁡( ∅ )

2.4/ Xoay quanh trục mới:

[ ]
√3 −1

[ ]
0
cos ( 30 ) −sin ( 30 ) 0 2 2
R ( 30 , z B )= sin ( 30 ) cos ( 30 ) 0 = 1 √3 0
0 0 1 2 2
0 0 1
 [ ]
1 0 0

[ ]
1 0 0
0 √2 − √2
R ( 45 , x B ' )= 0 cos ⁡( 45) −sin ⁡(45) = 2 2
0 sin ⁡(45) cos ⁡(45)
0
√2 √2
2 2

[ ][ ] [ ]
√3 − √2 √2
√3 −1 0 1 0 0
2 4 4
2 2 √2 −√ 2
R=R ( θ , z B ) . R ( ∅ , x B ' )= 1 .
0
2 =
1 √6 −√ 6
√3 0
2
2 4 4
2 2 √2 √2
0 0 1
0
2 2 0 √2 √2
2 2

2.5/

[ ]
cos ( θ ) 0 −sin ( θ )
R (θ , y A)= 0 1 0
−sin ( θ ) 0 cos ( θ )

[ ]
1 0 0
R ( ∅ , x A ' )= 0 cos ⁡( ∅ ) −sin ⁡( ∅ )
0 sin ⁡( ∅ ) cos ⁡( ∅ )

[ ]
1 0 0
R ( α , x A ) = 0 cos ⁡(α ) −sin ⁡(α)
0 sin ⁡(α ) cos ⁡(α )

[ ][ ]
cos ( θ ) 0 −sin ( θ ) 1 0 0
'
 R =R ( θ , y A ) . R ( ∅ , x A ' )= 0 1 0 . 0 cos ( ∅ ) −sin ( ∅ )
−sin ( θ ) 0 cos ( θ ) 0 sin ( ∅ ) cos ( ∅ )

[ ]
cos (θ ) −sin ( θ ) . sin ⁡( ∅ ) −sin ( θ ) .cos ( ∅ )
 ¿ 0 cos ⁡( ∅ ) −sin ⁡( ∅ )
−sin ( θ ) cos ( θ ) . sin ⁡( ∅ ) cos ( θ ) . cos ⁡( ∅ )

'
 R=R ( α , x A ) . R =¿
 [ ][ ]
1 0 0 cos ( θ ) −sin ( θ ) .sin ( ∅ ) −sin ( θ ) .cos ( ∅ )
 0 cos ( α ) −sin ( α ) . 0 cos ( ∅ ) −sin ( ∅ ) =¿
0 sin ( α ) cos ( α ) −sin ( θ ) cos ( θ ) .sin ( ∅ ) cos ( θ ) . cos ( ∅ )