Robótica de Manipuladores

Aldo Paredes

Problems
1. A vector A P is rotated about ẐA by θ degrees and is subsequently
rotated about X̂A by φ degrees. Give the rotation matrix that accom-
plishes these rotations in the given order.
AP = RX̂φ RẐθ

  
1 0 0 Cθ −Sθ 0
A P = 0 Cφ −Sφ  Sθ Cθ 0

 
0 Sφ Cφ 0 0 1
 
Cθ −Sθ 0
A P = CφSθ CφCθ −Sφ
 
SφSθ SφCθ Cφ

2. A frame B is located initially coincident with a frame A. We rotate B

about ẐB by θ degrees, and then we rotate the resulting frame about
X̂B by φ degreess. Give the rotation matrix that will change the de-
scriptions of vectors from B P to A P .

• A rotation of Ẑ by θ
• A rotation of Ẑ by θ and X̂ by φ
Then

AP = RẐθ RX̂φ
B

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3. The following frame denitions are given as known:
• a) Draw a frame diagram to show their arrangement qualitatively,
and solve B
CT.
 
0.866 −0.500 0.000 11.0
0.500 0.866 0.000 −1.0
 
U
A T =
0.000 0.000 1.000 8.0 
 
0 0 0 1

 
1.000 0.000 0.000 0.0
0.000 0.866 −0.500 10.0 
 
B
A T =
0.000 0.500 0.866 −20.0
 
0 0 0 1

 
0.866 −0.500 0.000 −3.0
0.433 0.750 −0.500 −3.0
 
C
UT = 
0.250 0.433 0.866 3.0 

0 0 0 1

BT =B U −1 ,C T −1
C A TA T U

4. Show that the length of a free vector is not changed by rotation, that
is, that kvk = kRvk.

5. Show that the distance between points is not changed by rotation, that
is, kp1 − p2 k = kRp1 − Rp2 k.

6. Consider the following sequence of rotations:

(a) Rotate by φ about the world x-axis.
(b) Rotate by θ about the current z -axis.
(c) Rotate by ψ about the world x-axis.

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 Write the matrix product that will give the resulting rotation matrix
(do not perform the matrix multiplication).

R = Rxφ Rzθ Ryψ

7. Consider the following sequence of rotations:

(a) Rotate by φ about the world x-axis.

(b) Rotate by θ about the world z -axis.
(c) Rotate by ψ about the current x-axis.

Write the matrix product that will give the resulting rotation matrix
(do not perform the matrix multiplication).

R = Rzθ Rxφ Ryψ

8. Consider the following sequence of rotations:

(a) Rotate by φ about the world x-axis.

(b) Rotate by θ about the current z -axis.
(c) Rotate by ψ about the current x-axis.
(d) Rotate by α about the world z -axis.

Write the matrix product that will give the resulting rotation matrix
(do not perform the matrix multiplication).

R = Rzα Rzθ Rxφ Rxψ

9. Consider the following sequence of rotations:

(a) Rotate by φ about the world x-axis.

(b) Rotate by θ about the world z -axis.
(c) Rotate by ψ about the current x-axis.
(d) Rotate by α about the world z -axis.

Write the matrix product that will give the resulting rotation matrix
(do not perform the matrix multiplication).

R = Rzα Rzθ Rxψ Rxφ

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10. If the coordinate frame o1 x1 y1 z1 is obtained from the coordinate frame
π
o0 x0 y0 z0 by rotation of about the x-axis followed by a rotation of
2
π
about the xed y -axis, nd the rotation matrix R representing the
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composite transformation.
 Sketch
 the initial
 and nal frames.
1 0 0 0 0 1
R π = 0 0 −1 R π = 0 1 0
   
X, Y,
2 0 1 0 2 1 0 0

 
0 0 1
R π R π = 1 0 0
 
X, Y,
2 2 0 1 0

11. Suppose that three coordinate frames o1 x1 y1 z1 , o2 x2 y2 z2 , and o3 x3 y3 z3

are given, and suppose

 
1 0 0
√  
 1 3
 0 0 −1
0 −

R21 =   1 
2  , R3 = 0 1 0 

 √2
 3 1  1 0 0
0
2 2

Find the matrix R32

 
1 0 0
√ 
 1 3
0 −

R12 = (R21 )T = 
 √2 2 

 3 1 
0
2 2
R32 = R12 R31
   
1 0 0
√    √0 0 −1
 1 3 0 0 −1  3
 1 
0 − 0
 
R32 = 
 √2
 0 1 0 
2   =  2

2
√ 
 3 1  1 0 0  1 3 
0 − 0
2 2 2 2

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12. Consider the diagram of Figure 1.1. Find the homogeneous transfor-
mations H01 , H20 , H21 representing the transformations among the three
frames shown. Show that H20 = H01 , H21 .
 
0 0 −1 0
−1 0 0 1
 
H20 = 
0 1 0 0

0 0 0 1
    
0 1 0 0 0 0 0 0 0 0 −1 0
0 0 −1 0 0 0 −1 0 −1 0 0 1
    
H10 H21 =  =
−1 0 0 1 1 0 0 0  0 1 0 0
 
0 0 0 1 0 1 0 1 0 0 0 1

13. Consider the diagram of Figure 1.2. A robot is set up 1 meter from
a table. The table top is 1 meter high and 1 meter square. A frame
o1 x1 y1 z1 is xed to the edge of the table as shown. A cube Measuring
20 cm on a side is placed in the center of the table with frame o2 x2 y2 z2
established at the center of the cube as shown. A camera is situated
directly above the center of the block 2 meters above the table to with
frame o3 x3 y3 z3 attached as shown. Find the homogeneous transforma-
tion relating
 the frame
 o2 x2 y2 z2 to the camera frame o3 x3 y3 z3 .
0 0 1 0
1 0 0 0
 
H20 = 
0 1 0 0

0 0 0 1
 
1 0 −1 0
0 1 0 1
 
H30 = 
0 0 1 18

0 0 0 1
 
1 0 −1 0
0 0 0 1
 
H32 = 
1 0 0 0

0 0 0 1

14. In the Problem 13, suppose that, after the camera is calibrated, it is

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 rotated 90◦ about zy . Recompute the above coordinate transforma-
tions.  
1 0 0 1
0 1 0 1
 
H21 = 
0 0 1 1

0 0 0 1

    
0 0 1 0 1 0 0 0 0 0 1 0
1 0 0 0 0 1 0 0 1 0 0 0
    
H21 H10 =  =

0 1 0 0 0 0 1 0 0 1 0 0
 
0 0 0 1 0 0 0 1 0 0 0 1

15. If the block on the table is rotated 90◦ about z2 and moved so that its
center has coordinates [0, .8, .1]T relative to the frame o1 x1 y1 z1 , com-
pute the homogeneous transformation relating the block frame to the
camera frame; the block frame to the base frame.

   
1 0 −1 0 0 0 1 .1
0 0 0 −3 0 1 0 0 5
   
H32 =  H =
1 0 0 9  2 0 1 0 0

0 0 0 1 0 0 0 1