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1
Lista de exercicios 1
1 √
1-. Dado o plano definido pelo vetor normal → −n com coordenadas n = 1 3
3
−1
3 3
− 39 13 1
− 31
9 9 3
a) operador projeção P̄ = (I − → −n→
−n ) P = I − A com A = 3 3
− 39 = 13 1
− 31
93 9 3
− 9 − 39 3 1
9 −3 − 13 1
3
3 1 1 1 2 1 1
3 − 3 3 − 3
3 3 − 3
2 1 −1
então P̄ = 13 3 1 1
= = 1 1
1
2 1
− − − 2 −1
3 3 3 31
3 3 3
1 1 3 1 1 2
−3 −3 − − − −1 −1 2
3 3 3 3 3
6 6
− 69 2 2
− 23
9 9 3 3
−
→→
b) operador reflexão R̄ = (I − 2n−n ) R̄ = I − A com A = 69 6
− 69 =
2 2
− 23
9 3 3
− 32 − 23 2
6
−9 − 69 6
9 3
3 2 2 2
3 − 3 3 − 3 1 2 −2
então R̄ = 3 − 23 = 13 2
2 3 2
3 − 3
1 −2
− 23 − 23 3
3 − 3
2
−2 −2 1
3 va + 3 vb − 3 vc v +1v −1v −1v −1v +1v
1 1 1 1
c) v{ = u1 v
u1 u1 u 1 + u1 u1 u2 + u1 u1 u3 =
u2 v u3 v
1 U1 + 3 a 3 1 b 3 c U2 + 3 a 31 b 3 c U3
3
1 1 3 3 1
h i 3 v h i 3 v h i − 3
v{ = va
1
1
3 + 1 1
3 − 3
13 + 1b 13 + 31 − 13 13 + 1c − 31 − 13 + 13 − 13
3 1 3 1 3 1
−3 −3 3
1
13 − 13
h i 3 h i h i
= va
1
1
3
1
3
+ v1b 31 13 + v1c − 13 − 13
3 1 3 1 3 1
−3 −3
3
3 + 3 + 3
1 1 1 va vb vc
3 3 − 3
v{ = va 13 + vb 13 − vc − 13 = 3 + 3 + 3
va vb vc
− 3 − 3 − v3c
va vb
1 1 1
−3 −
va vb 3 vc 3
va 3 + 3 + 3
v = vb − v3a + v3b + v3c
va vb vc
vc −3 − 3 − 3
2. Dado o operador projeção mostre as propriedades
a) P̄P̄ = (I − →
−n→−n )(I − →
−n→
−n ) = I 2 − I→
−n→−n − I→
−n→−n + →
−n→
−n→
−n→
−n =I 2 − 2I→
−n→
−n + →
−n→
−n→
−n→
−n = (I 2 − →
−n→
−n (2I − I))
2 → − →
− →
− →−
= (I − n n (I))= (I − n n )
b) P̄→
−n = (I − →−n→−n )→
−n = I→
−n − →−n→
−n→−n = →
−n (I − I) = 0
3. Dado o operador reflexão mostre as propriedades
R̄R̄ = (I − 2→
−n→
−n )(I − 2→
−n→
−n ) = I 2 − 2I→−n→
−n − 2I→
−n→
−n + 4→
−n→
−n→
−n→
−n = I 2 − 4I→
−n→
−n + 4→
−n→
−n→
−n→
−n = I 2
→
− →
− →
− →−
R̄ = (I − 2 n n ) = (2 n n ) − I = I − 2 n n
−1 −1 −1 −1 →
− →
−
2
î ĵ k̂
4. V xX = va vb vc = î(vb xc − vc xb ) + ĵ(vc xa − va xc ) + k̂(va xb − vb xa )
xa xb xc
0 −vc vb
∂(V xX)
= [0 (−vc ) (vb )] [vc (0) (−va )] [−vb (va ) (0)] = vc 0 −va
∂X
−vb va 0
0 −vc vb
∂(V xX)
v̂ = vc 0 −va =
∂X
−vb va 0
5. Demostre
v̂ŵ = wv T T
− (v w)I
0 −v3 v2 0 −w3 w2 −w3 v3 − w2 v2 w1 v2 w1 v3
v̂ŵ = v3 0 −v1 w3 0 −w = w v −w3v3 − v1w1 w v
1
2 1 2 3
−v2 v1 0 −w2 w1 0 v1 w3 v2 w3 −v2 w2 − w1 v1
v1 w1 v2 w1 v3 w1 v1 w1 −w3 v3 − w2 v2 w1 v2 w1 v3
wvT − (vT w)I = v1 w2 v2 w2 v3 w2 − v2 w2 I= w2 v1 −w3v3 − v1w1 w2 v3
v1 w3 v2 w3 v3 w3 v3 w3 v1 w3 v2 w3 −v2 w2 − w1 v1
entao v̂ŵ = wvT − (vT w)I
6
v̂ŵ = wvT − (vT w)I
ŵv̂ = vwT − (wT v)I
v̂ŵ − ŵv̂ = wvT − (vT w)I − vwT − (wT v)I com (vT w)I = (wT v)I
v̂ŵ − ŵv̂ = wvT − vwT
vxwx − wxvx = (vxw)x = v̂w
c
w1 0 −w3 w2
7. w = w2 ŵ = w3 0 −w1
w3 −w2 w1 0
s w3 −w2
a) I s − ŵ= −w3 s w1
w2 −w1 s
h i h i
det(I s − ŵ) = s2 + (w21 + w22 + w23 ) s = s2 + (1) s = 0 raizes = 0, ±i
w1
b) v1 = w2
w3
−w3 + w1w2i
−w3 w1w2
v2 = −i(1 − w22) = vr + ivi = 0 + ı́ −(1 − w22)
w1 + w2w3i w1 w2w3
v3 = vr − ivi
3
(ŵθ)2 (ŵθ)3 (λi θ)2 (λi θ)3
+ ... vi = eλi θ vi
h i h i h i h i
eŵθ vi = I + ŵθ + 2! + 3! + ... vi = I + λi θ + 2! + 3!
eigenvalores e0 , eiθ , e−ı́θ autovetor =w
8 √ √
3
− √33
√0 −
0 −w3 w2 3
ŵ = w3 = √3
3
0 −w1 − 33
√
0
−w2 w1 0
3 3
3 3 0
(ŵθ)2 (ŵθ)3
h i
eŵθ = I + ŵθ + 2! + 3! + ...
√ √ 2 √ √ 3
3
0
√
− 3 − √33
0
√
− 3
3
− √33
π π
3
√
3
√
√3
0 − 33 (- )
6
√3
3
0 − 33 (- )
6
− √33
√ √
√0 −
1 0 0
3
3 3 3 3
π 0
0
= 0 + √3 (− 6 ) + 3 3
+ 3 3
+ ...
3
1 0 − 33
√
0 2! 3!
0 0 1 3 3
3 3 0
9
.433
−.5 z
R = x .866 −.433
.866 y .5
RRT = I
.433 .866
x
RT = −.5 .866 y
z −.433 .5
0.4332 + 0.52 + z2 = 1 0.437489 + z2 = 1 z = 0.750007333297
x2 + 0.8662 + 0.4332 = 1 x2 + 0.937445 = 1 x = 0.250109975811
0.8662 + y2 + 0.52 = 1 0.999956 + y2 = 1 y = 6.6332495807e − 3
10
x1 = x0
x1 1 0 0 x0
Rotation around x axis roll angle y1 = y0 cos(pi/4) − z0 sen(pi/4) −→ y1 = 0 cos(pi/4) −sen(pi/4) y0
z1 = y0 sen(pi/4) + z0 cos(pi/4) z1 0 sen(pi/4) cos(pi/4) z0
x2 = x1 cos(pi/2) + z1 sen(pi/2)
x2 cos(pi/2) 0 sen(pi/2) x1
Rotation around y axis pitch angle y2 = y1 −→ y2 = 0 1 0 y1
z2 = −x1sen(pi/2) + z1 cos(pi/2)
z2 −sen(pi/2) 0 cos(pi/2) z1
x3 = x2 cos(pi/2) − y2 sen(pi/2)
x3 cos(pi/2) −sen(pi/2) 0 x2
Rotation around z axis yaw angle y3 = x2 sen(pi/2) + y2 cos(pi/2) −→ y3 = sen(pi/2) cos(pi/2) 0 y2
z3 = z3
z3 0 0 1 z2
4
11
Se o sistema de coordenadas Ē1 = [ →
−x1 →
−y →− →
− → − → − →−
1 z 1 ] e obtido de rotacionar o sistema Ē 0 = [ x 0 y 0 z 0 ]: π/2 ao redor x 0 e logo
→
−
π/2 ao redor y atual. Calcular a matriz de rotacao. Desenhe ambos sistemas de coordenadas.
1 0 0 cos(pi/2) 0 sen(pi/2)
Ra = 0 cos(pi/2) −sen(pi/2) Rb = 0 1 0
0 sen(pi/2) cos(pi/2) −sen(pi/2) 0 cos(pi/2)
R = Ra ∗ Rb
5
12
cosφz −senφz 0 0 cosθy 0 senθy 0 cosΨ z −senΨ z 0 0
senφ cosφz 0 0 0 1 0 0 senΨ z cosΨ z 0 0
R(z, φz )R(y, θy )R(z, Ψz )= z
0 0 1 0 −senθy 0 cosθy 0 0 0 1 0
0 0 0 0 0 0 0 1 0 0 0 1
a1(tetha) a2(betay) a3(gamaz)
c(θy )c(Ψ z )c(φz ) − s(Ψ z )s(φz ) −c(Ψ z )s(φz ) − c(θy )c(φz )s(Ψ z ) s(θy )c(φz ) 0
c(φ )s(Ψ ) + c(θ )c(Ψ )s(φ ) c(Ψ )c(φ ) − c(θ )s(Ψ )s(φ ) s(θy )s(φz ) 0
= z z y z z z z y z z
−c(Ψ z ) ∗ s(θy ) s(θy ) ∗ s(Ψ z ) c(θy ) 0
0 0 0 0
13
6
1 0 0 3 1 0 0 0 1 0 0 0
0 1 0 0
T2= 0
cos(pi/2) −sen(pi/2) 0 T3= 0
1 0 1
T1=
0 0 1 0 0
sen(pi/2) cos(pi/2) 0 0
0 1 0
0 0 0 1 0 0 0 1 0 0 0 1
Eb=(xi+2,yi+1,z)
14
1 0 0 −0.5
0 cosθ −senθ 1.5
T 2 =
0 senθ cosθ 1
0 0 0 1
1 0 0 0 cos(pi/2) −sen(pi/2) 0 0 1 0 0 0
0 1 0 0 sen(pi/2) cos(pi/2) 0 0 0 cos(−pi) −sen(−pi) 0
T3=
0 0 1 3 0 0 1 0 0 sen(−pi) cos(−pi) 0
0 0 0 1 0 0 0 1 0 0 0 1
1 0 0 0 0 −1 0 0 1 0 0 0
0 1 0 0 1 0 0 0 0 −1 0 0
T3=
0 0 1 3 0 0 1 0 0 0 −1 0
0 0 0 1 0 0 0 1 0 0 0 1
1 0 0 0 cos(pi/2) −sen(pi/2) 0 0 1 0 0 0
0 1 0 0 sen(pi/2) cos(pi/2) 0 0 0 cos(−pi) −sen(−pi) 0
T23=
0 0 1 2 0 0 1 0 0 sen(−pi) cos(−pi) 0
0 0 0 1 0 0 0 1 0 0 0 1
1 0 0 0 0 −1 0 0 1 0 0 0
0 1 0 0 1 0 0 0 0 −1 0 0
=
0 0 1 3 0 0 1 0 0 0 −1 0
0 0 0 1 0 0 0 1 0 0 0 1
15
1 0 0 0 cos(pi/2) −sen(pi/2) 0 0 1 0 0 0 cos(pi/2) −sen(pi/2) 0 0
0 1 0 0 sen(pi/2) cos(pi/2) 0 0 0 cos(−pi) −sen(−pi) 0 sen(pi/2) cos(pi/2) 0 0
T23=
0 0 1 2 0 0 1 0 0 sen(−pi) cos(−pi) 0 0 0 1 0
0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1
1 0 0 0 0 −1 0 0 1 0 0 0 0 −1 0 0
0 1 0 0 1 0 0 0 0 −1 0 0 1 0 0 0
=
0 0 1 2 0 0 1 0 0 0 −1 0 0 0 1 0
0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1
1 0 0 0 cos(pi/2) −sen(pi/2) 0 0
0 cos(pi/2) −sen(pi/2) 0 sen(pi/2) cos(pi/2) 0 0
T 1 =
0 sen(pi/2) cos(pi/2) 0 0 0 1 0
0 0 0 1 0 0 0 1
1 0 0 0 cos(pi/2) 0 sen(pi/2) 0
0 cos(pi/2) −sen(pi/2) 0 0 1 0 0
T 2 =
0 sen(pi/2) cos(pi/2) 0 −sen(pi/2) 0 cos(pi/2) 0
0 0 0 1 0 0 0 1
Tf = T1 ∗ T2
1 0 0 0 0 −1 0 0 1 0 0 0 0 0 1 0
0 0 −1 0 1 0 0 0 0
0 −1 0 0 1 0 0
T f =
0 1 0 0 0 0 1 0 0 1 0 0 −1 0 0 0
0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1
7
16 exercicio proposto 3.21 de lynch
0 −1 0 −100
1 0 0 300 0
T ab = P = 800
0 0 1 500 a
0
0 0 0 1
Vab = −100î + 300 ĵ + 500k̂
Pa = 0î + 800 ĵ + 0k̂
a. Vab + r = Pa r = Pa − Vab = (0 − (−100))î + (800 − (300)) ĵ + (0 − (500))k̂ = 100î + 500 ĵ + −500k̂
1 0 0 100 1 0 0 0
0 0 0 500 0 cos(q ) −sen(q ) 0
b. T bc = 1 1
0 0 0 −500 0 sen(q1 ) cos(q1 ) 0
0 0 0 1 0 0 0 1
17
0 −v3 v2 v1
Seja v3 0 −v1 ↔ v2
−v2 v1 0 v3
−1
1 v3 −v2 1 −v3 v2
Ra = (I − â)−1 (I + â)= −v3 1 v1 v3 1 −v1
v2 −v1 1 −v2 v1 1
(va2 + 1)/(va2 + vb2 + vc2 + 1) −(vc − va ∗ vb)/(va2 + vb2 + vc2 + 1) (vb + va ∗ vc)/(va2 + vb2 + vc2 + 1)
= (vc + va ∗ vb)/(va2 + vb2 + vc2 + 1) (vb2 + 1)/(va2 + vb2 + vc2 + 1) −(va − vb ∗ vc)/(va2 + vb2 + vc2 + 1)
−(vb − va ∗ vc)/(va + vb + vc + 1) (va + vb ∗ vc)/(va + vb + vc + 1)
2 2 2 2 2 2
(vc + 1)/(va + vb + vc + 1)
2 2 2 2
(va − vb − vc + 1)/(va + vb + vc + 1) −(2 ∗ (vc − va ∗ vb))/(va + vb + vc + 1)
2 2 2 2 2 2 2 2 2
(2 ∗ (vb + va ∗ vc))/(va 2
= (2 ∗ (vc + va ∗ vb))/(va2 + vb2 + vc2 + 1) −(va2 − vb2 + vc2 − 1)/(va2 + vb2 + vc2 + 1) −(2 ∗ (va − vb ∗ vc))/(va2
−(2 ∗ (vb − va ∗ vc))/(va2 + vb2 + vc2 + 1) (2 ∗ (va + vb ∗ vc))/(va2 + vb2 + vc2 + 1) −(va2 + vb2 − vc2 − 1)/(va
(va2 − vb2 − vc2 + 1)/(la ) −(2 ∗ (vc − va ∗ vb))/(la ) (2 ∗ (vb + va ∗ vc))/(la )
Ra = (2 ∗ (vc + va ∗ vb))/(la ) −(va2 − vb2 + vc2 − 1)/(la ) −(2 ∗ (va − vb ∗ vc))/(la )
−(2 ∗ (vb − va ∗ vc))/(la ) (2 ∗ (va + vb ∗ vc))/(la ) −(va2 + vb2 − vc2 − 1)/(la )
la = (va2 + vb2 + vc2 + 1)
considerando o fato que os membros de SO(3) sao matrizes ortogonais de dimensao 3 onde sao RT R = RRT = I e como
det(R) = 1, os mesmos sao testados sob Ra
det(Ra) = 1e RTa Ra = Ra RTa = I entao Ra pertece a SO(3)
18
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