Question

What is the order of basic transformation of frame {i-1} to frame {i}:
(A). Translation along \(z_{i-1}\) axis by distance \(d_i\)
(B). Rotation by an angle \(\alpha_i\) about \(x_i\)-axis 
(C). Translation along \(x_i\)-axis by distance \(a_i\) 
(D). Rotation by an angle \(\theta_i\) about \(z_{i-1}\)-axis
Choose the correct answer from the options given below:

• A. (A), (B), (C), (D)
• B. (A), (C), (D), (B)
• C. (D), (B), (C), (A)
• D. (D), (A), (C), (B)

Hint:

The transformation sequence is crucial for accurate kinematic modeling in robotic systems especially when dealing with multiple frames of reference

Answer 1

The Correct Option is B

The order of transformation for frame \(i-1\) to frame \(i\) starts with translation along the \(z_{i-1}\) axis by distance \(d_i\), followed by translation along the \(x_{i-1}\) axis by distance \(a_i\), then rotation by an angle \(\theta_i\) about the \(z_{i-1}\) axis, and finally rotation by an angle \(\alpha_i\) about the \(x_{i-1}\) axis.