Introduction to Robotics Analysis, Control, Applications

Solution Manual

Saeed B. Niku

Copyrighted 2010. This solution manual may not be copied, posted, made available to students, placed on BlackBoard or any other electronic media system and the Internet without prior expressed consent of the copyright owner.

APPENDICES
Problem A.1 Show that the determinant of a matrix can be calculated by picking any row or column. Estimated student time to complete: 10-15 minutes Prerequisite knowledge required: Text Section(s) A.1 Solution: For an arbitrary matrix:
a A= d g b e h c f i

det A = a ( ei fh ) b ( di fg ) + c ( dh eg ) = aei afh bdi + bfg + cdh ceg det A = d ( bi ch ) + e ( ai cg ) f ( ah bg ) = dbi + dch + eai ecg fah + fbg det A = b ( di fg ) + e ( ai cg ) h ( af cd ) = bdi + bfg + eai ecg haf + hcd They are all the same.

Copyrighted 2010. This solution manual may not be copied, posted, made available to students, placed on BlackBoard or any other electronic media system or the Internet without prior expressed consent of the copyright owner.

Problem A.2 Calculate the determinant of the following (4 4) matrix.

1 0 A= 3 1

1 1 0 0

0 2 1 0

0 0 1 1

Estimated student time to complete: 5 minutes Prerequisite knowledge required: Text Section(s) A.1. Solution:
det A = 1(1(1 0 ) 0 + 0 ) 1( 0 2 ( 3 1) 0 ) + 0 0 = 1 + 4 = 5

Copyrighted 2010. This solution manual may not be copied, posted, made available to students, placed on BlackBoard or any other electronic media system or the Internet without prior expressed consent of the copyright owner.

4 Problem A.3 Calculate the inverse of the following matrix using method 1:
1 1 2 B = 0 1 0 2 0 3

Estimated student time to complete: 5-10 minutes Prerequisite knowledge required: Text Section(s) A.1. Solution:

det B = 1(3 0) 0 + 2(2) = 3 4 = 1 1 0 B = 1 1 2 0 3 adjB = 0 2

T

2 0 3

3 2 1 0 2 1 3 3 2 1 B = 0 1 0 2 2 1

Copyrighted 2010. This solution manual may not be copied, posted, made available to students, placed on BlackBoard or any other electronic media system or the Internet without prior expressed consent of the copyright owner.

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Problem A.4 Calculate the inverse of the following matrix using method 2:
1 0 1 C = 0 2 1 3 1 0

Estimated student time to complete: 10-15 minutes Prerequisite knowledge required: Text Section(s) A.1. Solution:
1 0 1 x11 0 2 1 x 21 3 1 0 x31 x11 + x31 = 1 2 x21 + x31 = 0 3 x + x = 0 11 21 x12 + x32 = 0 2 x22 + x32 = 1 3 x + x = 0 12 22 x31 + x33 = 0 2 x23 + x33 = 0 3 x + x = 1 13 23 1 1 7 7 3 3 C 1 = 7 7 1 6 7 7 x13 1 0 0 x22 x23 = 0 1 0 0 0 1 x32 x33 x11 = 1/ 7 x31 = 6 / 7 x = 3 / 7 21 x12 x12 = 1/ 7 x22 = 3 / 7 x = 1/ 7 32 x13 = 2 / 7 x23 = 1/ 7 x = 2 / 7 33 2 7 1 7 2 7

Copyrighted 2010. This solution manual may not be copied, posted, made available to students, placed on BlackBoard or any other electronic media system or the Internet without prior expressed consent of the copyright owner.