Solutions
1. Inverse configuration problem to the planar mechanism depicted.
2pts.
θ2
θ3
θ1
Figure 1: Mechanism of problem 1 but not in the configuration of the problem 1 statement.
2. We have seen a number of ways to describe the orientation of a rigid body with respect to a given coordinate
frame. Consider the following rotation matrix:
2/3 −1/3 2/3
3 pts. 2/3 2/3 −1/3 .
−1/3 2/3 2/3
Find the corresponding axis / angle parameters, the Euler-angles and the Tait-Bryan (pitch/roll/yaw) angles.
3. Which of the following subsets of SE(3, R) are also subgroups?
cos θ 0 sin θ x
0 1 0 0
2 pts. (a) { − sin θ 0 cos θ z : x, z ∈ R; −π < θ ≤ π},
0 0 0 1
cos φ − sin φ 0 0
sin φ cos φ 0 y
(b) { 0
: y, z ∈ R; −π < φ ≤ π}
0 1 z
0 0 0 1
Justify your answer.
Please turn page.
1 pt.
4. Prove that for any square matrices A and B that e(A+B)t = eAt eBt ⇐⇒ [A, B] = 0.
5. For the following 2 × 2 matrices, compute eAt :
α −β −a a
2 pts. (a) A =
β α
(b) A =
b −b
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Exercise Set 2
Baillieul
Feb 22,2011
The axis-angle representation is obtained using Rodrigues' formula:
0 -kz ky ) ]
exp ~z 0 -kx 0
[(
ky kx 0
ki (1 - cos 0) + cos 0 - sin 0 kz + kxky (1 - cos 0) si~ 0 ky + kxkz_ (1 - cos 0) )
= sin 0 kz + kxky (1 - cos 0) k~ (1 - cos 0) + cos 0 - smO kx - kykz (1- cosO) ,
( - sin 0 ky + kxkz (1 - cos 0) sin 0 kx + kykz (1 - cos 0) k; (1 - cos 0) + cos 0
Setting this equal to
2/3 -1/3 2/3)
2/3 2/3 -1/3 ,
(
-1/3 2/3 2/3
we sum the diagonal entries in both matrices, Recalling that ki + k~ + k; = 1, this yields the simple
relationship that
cosO = 1/2,
Since we require 0 ~ 0 ~ 7r, this means that 0 = 7r /3 = 60 0 , Then, subtracting on both sides the
(2,3) matrix entry from the (3,2) matrix entry, we obtain
2kx sl'nO = ~ - (_~) = 1 --"---"- k _ _1_ - ~
3 3 ....--,.- x - 2 sin 0 - J3'
Similarly, ky = kz = ~,
To solve for the Euler angles we write
(:~:;o ~~~n: ~). ( 0 1
co;O ~ Si~O). (:~:~ ~~~1 ~)
- sin 0 0 cos 0 0 0 1
COS 0 cos cp cos 'lj; - sin cp sin 'lj; - cos 'lj; sin cp - cos 0 cos cp sin 'lj; cos cp sin 0 )
cos 0 cos 'lj; sin cp + cos cp sin 'lj; cos cp cos 'lj; - cos 0 sin cp sin 'lj; sin 0 sin cp
(
- cos 'lj; sin 0 sin 0 sin 'lj; cos 0
2/3 -1/3 2/3)
= (
2/3 2/3 -1/3 .
-1/3 2/3 2/3
By comparing (3,3) entries on both sides of this equation, cosO = ~. This has solution 0 = 48.19°
in the interval [O,7r]. From this, we use the last column to obtain
from which we obtain cp = -26.57°. Comparing entries in the last row
from which we obtain 'lj; = 63.43°. Thus the Euler angles are given by
(
: ) = ( ~~~i~~o ), and also ( ~~~.~~: ),
'lj; 63.43 0 -116.57°
the latter not satisfying 0 E [O,7r].
To solve for the Tait-Bryan (RPY) angles we write
COS 0 cos cp cos cp sin 0 sin 'lj; - cos 'lj; sin cp cos cp cos 'lj; sin 0 + sin cp sin 'lj; )
cos 0 sin cp cos cp cos 'lj; + sin 0 sin cp sin 'lj; cos 'lj; sin 0 sin cp - cos cp sin 'lj;
(
- sin 0 cos 0 sin 'lj; cos 0 cos 'lj;
2/3 -1/3 2/3 )
2/3 2/3 -1/3 .
(
-1/3 2/3 2/3
As above, we have
45° ) ( -135° )
19.47° , and also 160.53° ,
(
45° -135°
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