NAME:

MATRIC NO:

MINI QUIZ 1
Figure 1 shows a cylinder with frame {b} is attached to a reference
frame {w}. Based on this figure, answer the following questions:
(1) Determine the transformation matrix of the cylinder with
reference to the reference frame if the cylinder performs
a translation of [5 3 7]T along the axes of the reference
frame and followed by a rotation of 90 degrees about the
Xb-axis.
(2) Determine the inverse transformation matrix of the
cylinder based on your answer in (1).

Figure 1

ANSWER