Scribd
Upload
15 views7 pages

Robotic Homework_2_sol

Uploaded by

Minh Giang
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
15 views7 pages

Robotic Homework_2_sol

Uploaded by

Minh Giang
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
You are on page 1/ 7

Name: Student code

Homework #2
Name: Student code

4.

5. An orientation is constructed from the following sub-rotations. Firstly, rotate about the z-axis
by 900. Then follow by the rotation about the y-axis of the current frame by -1800. Finally, rotate
about the current x-axis by -900.
a) Describe this orientation with the ZYX Euler angles
b) Describe this orientation with the XYZ Euler angles
c) Find the equivalent axis and angle
Name: Student code

Solutions

1. Given the rotation matrix:

a. A yaw is a counterclockwise rotation of α about the z-axis. The rotation matrix is


given by

A pitch is a counterclockwise rotation of β about the y-axis. The rotation matrix is


given by

A roll is a counterclockwise rotation of γ about the x-axis. The rotation matrix is


given by

With this, the yaw, pitch, and roll rotations can be used to place a 3D body in any
orientation. A single rotation matrix can be formed by multiplying the yaw, pitch, and
roll rotation matrices to obtain:
Name: Student code

Therefore, we denote:
o
α =atan2 ( r 21 , r 11 ) =120

β=atan 2¿

o
γ =atan2 ( r 32 , r 33 )=−120

b. Determine a unique rotation

c. The quaternion described the orientation:

2. Given the roll pitch yaw angles:

( α ; β ; γ )=(−120 o ; 45o ; 120o ) =( Roll , Pitch, Yaw)

Also,
Name: Student code

Therefore,

3. Given the angle-axis:

1
(θ ; k⃗ )=(90 ; [ 1; 1 ; 1 ] T )
o

√3
Denote:

vθ=1−cos ( θ )

We got:

Therefore,

4. Given the following figure:


Name: Student code

Denote:
γ
r⃗ γβ is the vector represent γ -coordinate center to β – coordinate center which respect to γ
– coordinate.

Therefore, we have:

[]
−1
γ
r⃗ γα = 0
4

[]
−1
γ
r⃗ γβ = 3
0

[]
1
α
r⃗ γα = 0
4

[ ]
−1.4
β
r⃗ γβ = −2.4
−1.8

[ ]
−1 0 0
γ
C = 0 −1 0
α
0 0 1
Name: Student code

[ ]
−1 0 0
C β =R z ( 180 ) Rx ( 36.87 )= 0 −0.8 0.6
γ o o

0 0.6 0.8

[ ]
1 0 0
α
C = 0 0.8 −0.6
β
0 0.6 0.8

You might also like