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R = aR
has the solution
R(t) = e
at
R(0),
where
e
at
= I +at +
(at)
2
2!
+
(at)
3
3!
+ . . .
is called the matrix exponential. As we will see when discussing velocity kinematics in a few
weeks, we may interpret rotation by about a as the result after a body that is initially
aligned with the base frame undergoes constant angular velocity a (of unit magnitude) for
time t = , or in other words simply as
R() = e
a
I = e
a
.
It is a remarkable fact that, in this case, the matrix exponential converges to
e
a
= I +a sin +a
2
(1 cos ) . (1)
In particular, you can think of the matrix exponential as a map from skew-symmetric matrices
to rotation matrices:
e
A
: so(3) SO(3),
where
so(3) =
_
A R
33
: A = A
T
_
.
Using Eq. (1), please do the following:
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(a) Write the rotation matrix that is generated by rotating an angle = 120
about an axis
a =
1
3
_
_
1
1
1
_
_
.
(b) An eigenvector v R
3
of a square matrix A R
33
is a column vector that satises
Av = v for some real number R, which we call an eigenvalue. It is a fact that
every rotation matrix has some eigenvector with eigenvalue = 1. Find this eigenvector
for the rotation matrix you constructed in part (a). (What do you conclude about this
eigenvector in general?)
8. Be able to recover exponential coordinates from a rotation matrix. Consider an arbitrary
rotation matrix
A =
_
_
A
11
A
12
A
13
A
21
A
22
A
23
A
31
A
32
A
33
_
_
. (2)
By equating Eq. (2) with Eq. (1), it is easy to show that the equivalent angle and axis are
= cos
1
_
A
11
+ A
22
+ A
33
1
2
_
(3)
and
a =
1
2 sin
_
_
A
32
A
23
A
13
A
31
A
21
A
12
_
_
, (4)
respectively. Note the singularity at = 0, for which a can be chosen arbitrarily. Note also
that (a, ) and (a, ) produce exactly the same rotation matrix.
Consider the frames 1 and 2 that were dened in Problem 1. Assume that frame 1 describes
the current orientation of a robot gripper, and that frame 2 describes the desired orientation
of this gripper. About what single axis should the gripper rotate, and by what angle, in order
to move from its current to desired orientation? (If you think there is more than one possible
answer, say so but choose the answer with the smallest angle.)
9. Be able to write the position and orientation of a frame by inspection. We write the position
and orientation of frame k in the coordinates of frame j as the homogeneous transformation
matrix
H
j
k
=
_
R
j
k
o
j
k
0 1
_
,
where. . .
o
j
k
is the vector from the origin of frame j to the origin of frame k, written in the
coordinates of frame j (it is a 3 1 matrix);
R
j
k
is the orientation of frame k, written in the coordinates of frame j (it is the same
3 3 rotation matrix as before).
Consider the frames shown in Figure 1. Express the position and orientation of frames 1 and
2 in the coordinates of frame 0.
4
x
0
y
0
y
1
z
1
z
2
x
2
3
3
1
p
/6
Figure 1: Frames and a point for Problems 9-11.
10. Be able to perform sequential and inverse homogeneous transformations. For any collection
of frames i, j, and k, we have
H
i
k
= H
i
j
H
j
k
sequential transformation
and
(H
j
k
)
1
=
_
(R
j
k
)
T
(R
j
k
)
T
o
j
k
0 1
_
. inverse transformation
For the frames in Figure 1, nd H
1
2
both by inspection and using the formulas given above,
starting with H
0
1
and H
0
2
from Problem 9. (You should get the same answer.)
11. Be able to perform coordinate transformations (rotation and translation). If a point p has
coordinates p
k
in frame k, then it also has coordinates p
j
in frame j, where
_
p
j
1
_
= H
j
k
_
p
k
1
_
.
Consider the point p that is shown in Figure 1.
(a) Find p
0
, p
1
, and p
2
by inspection.
(b) Find p
1
and p
2
by coordinate transformation, given p
0
and the results of Problem 9.
(Check that your answers are the same as in part (a).)
(c) Find p
2
by homogeneous transformation, given p
1
and the results of Problem 10. (Again,
check that your answer is the same.)
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Figure 2: A robot, a camera, a table, and a cube for Problem 12 (taken from our textbook).
12. Be able to put it all together. (This problem is taken from our textbook.) Consider the
diagram in Figure 2. The cube has side length 0.2 and is located at the center of the table
(and is aligned with the table). Note that frame 2 has its origin at the bottom center of the
cube. The camera is directly above the center of the cube.
(a) Express the position and orientation of frames 1, 2, and 3 in the coordinates of frame 0.
(b) Use your answer from part (a) to express the position and orientation of frame 2 in the
coordinates of frame 3 (i.e., to say how the cube looks to the camera).
(c) Say the cube is rotated 90
about z
2
and moved so its center has coordinates (0, 0.8, 0.1)
in frame 1. Repeat part (b).
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