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Assignment #1: 1 Hgjyygbykvrf

This document contains an assignment for a mobile robotics course. It includes 4 problems related to coordinate frame transformations and rotation matrices. Problem 1 asks students to determine the rotation matrix to transform between two frames related by two successive rotations. Problem 2 asks for the rotation matrix operator for a position vector transformed by two successive rotations. Problem 3 provides examples of applying a transformation matrix and computing a transformed position vector. Problem 4 asks students to analyze a given 3x3 rotation matrix by showing it is valid, determining the axis and angle of rotation, and finding its Euler parameters.

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Juan Sebastian Arango
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106 views1 page

Assignment #1: 1 Hgjyygbykvrf

This document contains an assignment for a mobile robotics course. It includes 4 problems related to coordinate frame transformations and rotation matrices. Problem 1 asks students to determine the rotation matrix to transform between two frames related by two successive rotations. Problem 2 asks for the rotation matrix operator for a position vector transformed by two successive rotations. Problem 3 provides examples of applying a transformation matrix and computing a transformed position vector. Problem 4 asks students to analyze a given 3x3 rotation matrix by showing it is valid, determining the axis and angle of rotation, and finding its Euler parameters.

Uploaded by

Juan Sebastian Arango
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Mobile Robotics - Universidad de San Buenaventura, Bogotá

Assignment #1

Professor: Jaime Arcos-Legarda Ph.D. (Deadline: 10/09/2020, 8:00 pm)

Submit your PDF report before the deadline. See reference book [1]. Write your report in LATEX us-
ing the following template: https://www.overleaf.com/latex/templates/cs6780-assignment-template/
hgjyygbykvrf

Problem 1: Mapping (5 points)

A frame {B} and a frame {A} are initially coincident. Frame {B} is rotated about ŶB by an angle θ, and
then rotated about the new ẐB by an angle φ. Determine the 3×3 rotation matrix, A B R, which will transform
the coordinates of a position vector from B P, its value in frame {B}, into A P, its value in frame {A}.

Problem 2: Operator (5 points)

We are given a single frame {A} and a position vector A P described in this frame. We then transform A P by
rotating it about ẐA by an angle φ, then rotating about ŶA by an angle θ. Determine the 3×3 rotation matrix
operator, R(φ, θ), which describes this transformation

Problem 3: Transformation (10 points)

a) Given the transformation matrix:


 
1 0 0 1
B
 0 cos(θ) − sin(θ) 2 
AT =  0
 ,
sin(θ) cos(θ) 3 
0 0 0 1
A
find BT
T
b) Given θ = 45◦ and B
P = [4 5 6] , compute A P .

Problem 4: Transformation (30 points)

Given the following 3×3 matrix:


√1 √1
 
2
0 2
R=
 − 21 √1
2
1
2 .

− 21 − √12 1
2

a) Show that it is a rotation matrix.


b) Determine a unit vector that defines the axis of rotation and the angle (in degrees) of rotation.
c) What are the Euler parameters ε1 , ε2 , ε3 , ε4 of R?

References
[1] John J Craig. Introduction to robotics: mechanics and control, 3/E. Pearson Education India, 2009.

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