CS 5310/6310 & ME 5220/6220

Exam 1 Solution

October 1, 2012

1. (26 pts) Consider the 3 coordinate systems in the Figure.

P
1

p2
1

O2

y2

x2

x1

O1
1

y0

y1

O0

x0

(a) (18 pts) Derive 0 T1 and 1 T2 by inspection. 1 0 1 0 T1 = 0 1 2 0 0 1 0 1 2 1 T2 = 1 0 2 0 0 1 (b) (8 pts) Let pi = P Oi . Suppose 2 p2 = [1 inspection. i. ii. iii. iv. (2 pts) 0 p2 (2 pts) 1 p1 (2 pts) 0 p0 (2 pts) 2 p0 = [1 1]T . = [1 3]T . = [2 5]T . = [5 2]T . 1]T . Derive the following vectors by

2. (37 pts) Suppose R represents a rotation of 90o about x0 , followed by a rotation of 90o about z1 . (a) (9 pts) Derive R. The equivalent rotation matrix is: 0 1 0 0 1 0 1 0 0 Rx (/2)Rz (/2) = 0 0 1 1 0 0 = 0 0 1 1 0 0 0 0 1 0 1 0 (b) (24 pts) Find the equivalent axis k and angle to represent R. The angle is found from: Tr(R) 1 1 = 2 2 1 2 (r32 r23 )2 + (r13 r31 )2 + (r21 r12 )2 = 1 3 2

c =

s =

where the positive square root has been taken for s. Hence = 2/3. Find the axis from: 1 r r23 1 1 32 r13 r31 = 1 2s 3 1 r21 r12

k =

(c) (4 pts) Find the corresponding Euler parameters.

cos

, k1 sin , k2 sin , k3 sin 2 2 2 2

1 1 1 1 , , , 2 2 2 2

3. (36 or 56 pts) This question concerns the XY X Euler angles. (a) (5 pts) Find the rotation matrix corresponding to the set of Euler angles (/2, /2, /2).

1 0 0 c 0 s 1 0 0 0 c s 0 1 0 0 c s Rx ()Ry ()Rz () = 0 s c s 0 c 0 s c c ss sc = ss cc scs cs scc cs sc + ccs ss + ccc (b) (20 pts) Given an arbitrary rotation matrix with elements R = {rij }, derive the non-degenerate solution for , , . One way to proceed is to nd rst: = tan1 (r21 / r31 ) Next, nd . = atan2(r21 s r31 c, r11 ) Finally,

= atan2((r33 s + r23 c), r32 s + r22 c) (c) (20 pts) This part is for grads only. Find the degenerate solutions. The special case s = 0 is handled as follows. The value of is determined from the r11 element: = atan2(0, r11 ), and is 0 or . The angles and can only be determined in linear combination:

r32 = sin( + (c)) r22 = cos( + (c)) + (c) = atan2(r32 , r22 ) where c = 1.