ISES

2.1 [15]Avector APisrotated about ZA by degrees and is subsequently rotated

about XA by ¢ degrees. Give the rotation matrix that accomplishes these
rotations in thegiven order.
A
2.2) [20] Avector P is rotated by 60 degrees about X followed by 90 degrees
about Ya followed by 150 degrees about }. Find the rotation matrix that
gives these transformations in the given order.
2.3 [16] A frame {B} is located initially coincident with a frame {A}. We rotate (B}
about ZB by 0 degrees, and then we rotate the resulting frame about XB by ¢
degrees. Give the rotation matrix that will change the descriptions of vectors
from Pto^P.
A frame (B} is located initially coincident with a frame {A}. If {B} is
rotated 60degrees about ZB and then 90 degrees about the current XB, find
the rotation matrix that will describe a vector frame {B} in
2.5 [13]Ris a3x3 matrix with eigenvalues 1, etai, ande-ai, frame {A}.
where i= -1.
What is the physical meaning of the eigenvector ofR
eigenvalue 1? associated with the
9 2.6 [12] If a point in the rotated frame (B} in
give its coordinates in the fixed frame {A}. Exercise 2.4 is defined as [1 2 4]'.
2.7 [24] Describe (or program) an algorithm that
and axis of a rotation matrix, Equation (2.82)) isextracts
a
the equivalent angle
that your algorithm handles the special cases = good start, but make sure
0° and 0 = 180°.
 Spatial Descriptions and Transformations 55
2.8 (29]Write a subroutine that changes representation of orientation from rotation
matrix form to equivalent angle-axis form. A Pascal-style procedure declara
tion would begin
Procedure RMTOAA (VAR R:mat33: VAR. K:ve c3; VAR theta: real);
Write another subroutine that changes from equivalent angle-axis represen
tation to rotation-matrix representation:
Procedure AATORM (VAR. K:vec3; VAR theta: real: VAR R:mat33) ;
Write the routines in Cif youprefer.
Run these procedures on several cases of test data back-to-back and verify
that you get back what you put in. Include some of the difficult cases!
2.9 [271 DoExercise 2.8 for roll, pitch,yaw angles about fixed axes.
2.10 [27] Do Exercise 2.8 for Z-Y-Z Euler angles.
11 [10] Under what condition do two rotation matrices representing finite rota
tions commute? A proof is not required.
2.12 [18] Two frames {A) and {B) are related by the following matrix:
r01 15 1
10 0 20
AT= 00 -1 -9
L0 0 1

(a) Where is the origin of frame (B} located when seen in frame {A}?
(b) If the orientation vector of a parameter is given in frame (B) as
10
By = 10 , what is its orientation in frame {A}?
10
2.13 [16] Refer to Exercise 2.12. If there exists a point P whose coordinates in
frame {A}are given as P= [10 10 10],find its coordinates in frame (B).
2.14 (31] Develop a general formula to obtain AT, where, starting from initial
coincidence, {B) is rotated by about K where K passes through the point
AP(not through the origin of {A) in general).
2.15 [34] {A} and {(B} are frames differing only in orientation. (B} is attained as
follows: starting coincident with {A), {B} is rotated by radians about unit
vector K-that is,
BR=RK(0).
Show that
AR=ko
where
-kx ky
- 0 -kx
-ky kx 0

2.16 (22]A vector must be mapped through three rotation matrices:

AP=RBR GRDP.
One choice is to first multiply the three rotation matrices together, to form
Rin the expression
AP =R DP.
58 Introduction to Robotics
2.24 [45] Prove Cayley's formula for proper orthonormal matrices.
2.25 [30] Show that the eigenvalues of a rotation matrix are 1,e ,and e-ai
i=/-1.
2.26 [12] Show how to find Z-Y-X Euler angles a, B, y from a given rotat
where
matrix.
o 2.27 [15] Write the matrix T from Fig. 2.25.
2.28 [15]Write the matrix BT fronm Fig. 2.25.
2.29 [18] Write the matrix AT from the answer obtained for T in Exercise ))
Confirm and verify your answer from Fig. 2.25.
2.30 [15] Write the matrix Tfrom Fig. 2.25.
2.31 (15]Referring to Fig. 2.26, give the value of 4T.
B
o 2.32 (15]Referring to Fig. 2.26, give the value of AT.
2.33 [15]Referring to Fig.2.26, give the value of T.

FIGURE 2.25: Frames {A}, {B), and {C} are at the corners of the prism. Note that
ÎA,}A, YB, XB, Yc,and Xçe are all in the same vertical plane.

36.9°

2
 Spatial Descriptions and Transformations 59
2.34 [15] Referring to Fig. 2.26, give the value of T.
2.35 [20] Prove that the determinant of any rotation matrix is always
2.36 [36] A rigid body moving in a plane (i.e., in 2-space) has threeequalto 1.
degrees of
ireedom. A rigid body moving in 3-space has six degrees of freedom. Show
that a body in N-space has(N² + N) degrees of freedom.
2.37 [16] Twoframes {A} and B) are related by the following matrix:
1 4
0.5 0.866 -5
AT= 0 -0.866 0.5 6
LO 0 0

Find the transfer matrix T.

2.38 (251 Imagine two unit vectors, v and v2, embedded in a rigid body. Note
that, no matter how the body isrotated, the geometric angle between these
two vectors is preserved (i.e., rigid-body rotation is an angle-preserving"
operation). Use this fact to give a concise (four- or five-line) proof that the
inverse of a rotation matrix must equal its transpose and that a rotation matrix
is orthonormal.
2.39 (37] Give an algorithm (perhaps in the form of aCprogram) that computes
the unit quaternion corresponding to a given rotation matrix. Use (2.91) as
starting point.
2.40 [33] Give an algorithm (perhaps in the form of a Cprogranm) that com
putes the Z-X-Z Euler angles corresponding to a given rotation matrix. See
Appendix B.
2.41 [33] Give an algorithm (perhaps in the form of a C program) that com
putes the X-Y-X fixed angles corresponding to a given rotation matrix. See
Appendix B.

PROGRAMMING EXERCISE (PART 2)

1. Ifyour function library does not include an Atan2 function subroutine, write
one.

2. Tomake a friendly user interface, we wish to describe orientations in the planar

world by a single angle, 0, instead of by a 2 x 2 rotation matrix. The user
will always communicate in terms of angle , but internally we will need the
rotation-matrix form. For the position-vector part of a frame, the user will
specify an x and a y value. So, we want to allow the user to specify a frame
as a 3-tuple: (x, y, 0). Internally, we wish to use a 2 x l position vector and
subroutine
a 2 x 2 rotation matrix, SO we need conversion routines. Write a
whose Pascal definition would begin
Procedure UTOI (VAR uform: vec3; VAR iform: frame):
where UTOI" stands for "User form TOInternal form." The first argument
"frame," consists of
is the 3-tuple (x, y,0), and the second argument is of type
If you wish, you may
a (2 x 1) position vector and a (2 x 2) rotation matrix. the third
represent the frame with a (3 x 3) homogeneous transtorm in which
necessary:
row is O01]. The inverse routine willalso be
Procedure ITOU (VAR iform: frame; VAR uform: vec3):
Use the following
3. Write a subroutine to multiply two transforms together.
procedure heading:
dure TMULT (VAR brela, crelb, crela: frame) :