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Robotics and Mechatronics Tutorial 1

This document contains code for solving a robotics kinematics problem. It first defines rotation and translation matrices between frames A and B. It then uses these transformations to find the position of point P in frame A given its position in frame B. Finally, it applies the overall transformation from B to A to find the position of a new point Q in the global frame given its position relative to frame B.

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rasika.ou
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4 views2 pages

Robotics and Mechatronics Tutorial 1

This document contains code for solving a robotics kinematics problem. It first defines rotation and translation matrices between frames A and B. It then uses these transformations to find the position of point P in frame A given its position in frame B. Finally, it applies the overall transformation from B to A to find the position of a new point Q in the global frame given its position relative to frame B.

Uploaded by

rasika.ou
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Question 3

disp('ME 5144 Robotics and Mechatronics Tutorial 1');


disp('[Link] Nandana');
% Please include robot9.9 rvctools toolbox properly before run this.
disp('Question 3 (a)');
aRb=rotx(45,'deg')*rotz(30,'deg')
aPborg=transpose([3,2,1])
aTb= transl(3,2,1) * trotx(45,'deg')* trotz(30,'deg')
disp('Question 3 (b)');
bP= transpose([1,1.5,-3])
aP=aRb*bP + aPborg
disp('Question 3 (c)');
aRb_Transpose =transpose(aRb)
bPaorg= -(aRb_Transpose * aPborg)
bTa=[aRb_Transpose,bPaorg;0,0,0,1]
disp('Question 3 (d)');
Aq=transpose([1.5,0,-2])
Bq=bTa * [Aq;1]
% ME 5144 - [Link] Nandana

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