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.
 2

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 b c⎤
A = ⎢⎢ d e f ⎥⎥
⎢⎣ g h 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.
 3

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

⎡1 1 0 0⎤
⎢0 1 2 0 ⎥⎥
A=⎢
⎢3 0 1 1⎥
⎢ ⎥
⎣1 0 0 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 2⎤
B = ⎢⎢1 1
T
0 ⎥⎥
⎢⎣ 2 0 3 ⎥⎦
⎡3−3 −2 ⎤
adjB = ⎢⎢ 0−1 0 ⎥⎥
⎢⎣ −2
2 1 ⎥⎦
⎡ −3 3 2 ⎤
B = ⎢⎢ 0 1 0 ⎥⎥
−1

⎢⎣ 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.
 5

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 x12x13 ⎤ ⎡1 0 0 ⎤
⎢0 2 1 ⎥ ⎢ x x22 x23 ⎥⎥ = ⎢⎢0 1 0 ⎥⎥
⎢ ⎥ ⎢ 21
⎣⎢ 3 1 0 ⎦⎥ ⎢⎣ x31 x32 x33 ⎦⎥ ⎣⎢0 0 1 ⎥⎦
⎧ x11 + x31 = 1 ⎧ x11 = 1/ 7
⎪ ⎪
⎨2 x21 + x31 = 0 → ⎨ x31 = 6 / 7
⎪3 x + x = 0 ⎪ x = −3 / 7
⎩ 11 21 ⎩ 21
⎧ x12 + x32 = 0 ⎧ x12 = −1/ 7
⎪ ⎪
⎨2 x22 + x32 = 1 → ⎨ x22 = 3 / 7
⎪3 x + x = 0 ⎪ x = 1/ 7
⎩ 12 22 ⎩ 32
⎧ x31 + x33 = 0 ⎧ x13 = 2 / 7
⎪ ⎪
⎨2 x23 + x33 = 0 → ⎨ x23 = 1/ 7
⎪3 x + x = 1 ⎪ x = −2 / 7
⎩ 13 23 ⎩ 33
⎡1 1 2⎤
⎢7 −
7 7⎥
⎢ ⎥
−3 3
C −1 = ⎢
1⎥
⎢7 7 7⎥
⎢ ⎥
⎢6 1 −2 ⎥
⎣⎢ 7 7 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.