Robotics 1
Rotation Matrices
Quiz
Question 2:  Which of these matrices represents a rotation of theta around the Z axis?
Question 3:  Which of these matrices represents a rotation of theta around the X axis?
Question 4:  Which of these matrices represents a rotation of theta around the Y axis?
Question 5:  Suppose that we rotate a frame 30 degrees around X, then rotate 60 degrees around the new (rotated) Y axis.  Which of these matrices is the rotation matrix for these two rotations?
Question 6:  Suppose I know the rotation of the 1 frame relative to the 0 frame, and I know the rotation of the 2 frame relative to the 1 frame.  How can I find the rotation of the 2 frame relative to the 0 frame?
Question 7:  Which of these rotation matrices means 'no rotation'?
Question 8:  Shown here is a kinematic diagram.  Which of these rotation matrices represents the rotation of frame 1 relative to frame 0?
Question 9:  Shown here is a kinematic diagram.  Which of these rotation matrices represents the rotation of frame 2 relative to frame 1?
Question 10:  Shown here is a kinematic diagram.  When both joints turn to the 90 degree position, which of these rotation matrices represents the rotation from frame 0 to frame 2?