MECH4004 – Robotics
Tutorial 1 (week 2)
Note:
In following questions, coordinate system OXYZ represents the fixed frame while OUVW
represents the moving frame. You are encouraged to use MATLAB to obtain the numerical
solutions for the tutorial questions.
1. Questions 2.1 – 2.3, and 2.10 – 2.13, on p104 of Niku’s text book.
2. What is the rotation matrix for a rotation of 30o about the OZ axis, followed by a
rotation of 60o about the OX axis, followed by a rotation of 90o about the OY axis?
3. What is the rotation matrix for a rotation of  angle about the OX axis, followed by
a rotation of  angle about the OW axis, followed by a rotation of  angle about the
OY axis?
4. Find another sequence of rotations that is different from Problem 3 but results in
the same rotation matrix as that in Problem 3.