MCT 351: Introduction to Robotics

Spring 2019
Quiz # 1 Solution

Time: 10 min

Name:

Roll #:

Two frames {A} and {B} are related by the following matrix.

 
0 1 0 15
 1 0 0 20 
A

BT = 

0 0 −1 −9 
0 0 0 1

Question # 1 (3 marks)

Where is the origin of frame {B} located when seen in Frame {A}?
solution:

The structure of the transformation matrix A

B T is given as follows
 A A

A BR PBORG
BT =
0 1

thus the origin of {B} is simply the first three elements of the last column of A
BT .
 
15
A
PBORG =  20 
−9
Question # 2 (3 marks)

How is the unit vector X̂B of Frame {B} described in Frame {A}?
solution:

The structure of the rotation matrix A

B R is given as follows

A
 A A A

B R = X̂ B Ŷ B ẐB

thus the unit vector X̂B described in frame {A} is simply the first three elements of the
first column of A
BT .
 
0
A
X̂B = 1 

0

which indicates it is parallel to the Ŷ vector of frame {A}.

Question # 3 (4 marks)

 
10
If there exists a point P whose coordinates in Frame {B} are given by B P =  10 , find
10
its coordinates in Frame {A}.
solution:

Since we know the transformation relating {B} to {A}, we can simply apply it to get the
transformed coordinates as follows
 A   B 
P A P
=B T
1 1
    
0 1 0 15 10 25
 1 0 0 20   10   30 
=  0 0 −1 −9   10  =  −19 
   

0 0 0 1 1 1

 
25
Thus A P =  30  are the required coordinates in frame {A}.
−19