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MISR University for Science &

Technology
Faculty of Engineering

Mechatronics Department
Robotics MTE408

Sheet
1. Consider the following sequence of rotations:
a. Rotate by about the world X-axis.
b. Rotate by about the current Z-axis.
c. Rotate by about the current X-axis.
d. Rotate by about the world Z-axis.
Write the rotation matrix that will give the resulting rotation matrix.
2. Find the rotation matrix that representing a Roll of /4 followed by a yaw of /2 followed
by a pitch of /3.
3. Suppose that three coordinate frames {OXYZ}1, {OXYZ}2 and {OXYZ}3 are given. The
rotation matrix from frame 2 to frame and the rotation matrix from frame 3 to frame 1 are
given as follow:
1

0
0
3
1
21 = 0
2
2
3
1
[0
2
2 ]

31

0 0 1
= [0 1 0 ]
1 0 0

Find the matrix 21


4. Suppose R represents a rotation of 90o about Yo followed by a rotation of 45o about Z1.
Find the rotation matrix and sketch the initial and final frames.
5. Find the rotation matrix corresponding to the set Euler angles {/3, 0, /6}. What is the
direction of the new x frame relative to the initial frame?
6. Find the rotation matrix corresponding to the set Cardan angles {/3, 0, /6}. What is the
direction of the new x frame relative to the initial frame?

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7. Compute the homogeneous transformation representing a translation of 3 units along the


X-axis followed by a rotation of /3 about the current Z-axis followed by a translation of 1
unit along the fixed Y-axis. Sketch the frame. What are the coordinates of the origin O1
with respect to the original frame in each case?
8. Compute the homogeneous transformation representing a translation of 10 units along the
Z-axis followed by a rotation of Euler angles {/3, 0, /6}, followed by a translation of 5
unit along the fixed Y-axis and 7 unit along the Fixed X-axis. Sketch the frame. What are
the coordinates of the origin O1 with respect to the original frame in each case?
9. Compute the homogeneous transformation representing a translation of 3 units along the
X-axis followed by a rotation of Cardan angles {/3, 0, /6}, followed by a translation of
10 unit along the fixed Y-axis. Sketch the frame. What are the coordinates of the origin O1
with respect to the original frame in each case?

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