Fall 2023

Department of Electrical Engineering

Karachi Campus

ASSIGNMENT No. 4
Course Title: Robotics Course Code: CEN-458
Class: BEE-8B CLO: CLO2
Course Instructor: Dr. Abdul Attayyab Khan
Due Date: 1st January 2024 Max. Marks: 5

INSTRUCTIONS
1. Attempt all questions
2. This is an individual effort task
3. This assignment is a complex engineering problem.
4. Assignment should be done only on A4 size paper
5. The deadline is strict and cannot be extended in any case, so start it as early as possible
6. Write a complete report containing all necessary solutions.

CLO Mapping BT Level PLO Knowledge CEP Attributes

Mapping Profile (WK) (WP)
CLO-2: Apply knowledge to solve C3 PLO 3 WK3 WP1 (Depth of
problems related to sensor, (Engineering knowledge)
actuators, and kinematic design Design)
and kinematic chain in
mechatronic systems for design
and stability analysis.
PROBLEM 1:

Consider the figure. A robot is set up 1 meter from a table. The table top is 1 meter high and 1
meter square. A frame is fixed to the edge of the table as shown. A cube measuring 20
cm on a side is placed in the center of the table with a frame established at the center
of the cube as shown. A camera is situated directly above the center of the block 2 m above the
tabletop with frame attached as shown. Find the homogeneous transformation relating
the frame to the camera frame .
 Fall 2023
Department of Electrical Engineering
Karachi Campus

PROBLEM 2:
°
In question 1 suppose that, after the camera is calibrated, it is rotated about . Recompute
the above coordinate transformations.

PROBLEM 3:

If the block on the table is rotated ° about and moved so that its center has coordinates
( , . , . ) relative to the frame , compute the homogeneous transformation
relating the block frame to the camera frame; the block frame to the base frame.