muhammad jawhar

1. EXCERSICES
26/04/2021

11. Exercises
1. In a sentence or two, define kinematics, workspace, and trajectory

12. Exercises
2- In a sentence or two, define frame, degree of freedom, and position
control.

13. Exercises
3- In a sentence or two, define force control, and robot programming
language.

14. EX4
4-

15. Ex5
5- A vector Ap is rotated about YA by 30 degrees and is subsequently
rotated about XA by 45 degrees. Give the rotation matrix that
accomplishes these rotations in the given order.

16. Ex6
6- A frame {B} is located initially coincident with a frame {A}. We rotate
{B} about ZB by  degrees, and then we rotate the resulting frame
about XB by  degrees. Give the rotation matrix that will change the
descriptions of vectors from
Bp to Ap .

17. Solution

18. Ex7
7- A frame {B} is located initially coincident with a frame
{A}. We rotate {B} about ZB by 30 degrees, and then we
rotate the resulting frame about XB by 45 degrees. Give
the rotation matrix that will change the descriptions of
vectors from
Bp to Ap .

19. Ex8
8- The following frame definitions are given as known
Draw a frame diagram to show their arrangement
qualitatively, and solve for

20. Solution

21. HOME WORK
• 9-

22. Ex10
10 – Consider the Coordinate system {B} attached to the body in a
known way. A description of {B} relative to{A}
Find AXB .

23. HOME WORK
11- Consider the rotated frames below: