1.

Define the rotation matrix 10 R or 01R

If 10 R is chosen, the rotation matrix gives:

 cos60o r12 r13 

0  o 
o
1 R=  r21 cos30 cos120 
 r31 r32 r33 


Using the hint 10 R 10 R T  I , the following four cases can be found:

 0.5 0.43 0.75  0.5 0.43 0.75 
0
R =  0
1 1 0.87 0.5  , 1 R2 =  0
 0
0.87 0.5 
0.87 0.25 0.43  0.87 0.25 0.43
 0.5 0.43 0.75   0.5 0.43 0.75
0  0 0.87 0.5 , 1 R4 =  0
 0
0.87 0.5 
1 R3 =

 0.87 0.25 0.43   0.87 0.25 0.43

where 10 R1 corresponds to Fig. 1 and is the solution.

Eigenvalue: 0.3989  0.918i, 1

Eigenvector according to eigenvalue (1) is the rotation axis of the rotation matrix.

Or (using a possible Euler solution)

Here, a possible Euler solution is { rotate about Zˆ A by 0, rotate YˆB -60o, rotate Xˆ B 30o}

 0.5 0.43 0.75

0
1 R =Ry (60 ) Rx (30 )=  0
o o
0.87 0.5 
0.87 0.25 0.43 

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 2. Graphical representation

0
P3ORG
3
P2ORG

0
P1ORG
0
P2ORG

1 0 0 0  1 0 0 - 0.5  1 0 0 - 0.5 
0 1 0 1  0 1 0 0.5  0 1 0 1.5 
0
T    1
T    0
T  0 1
T T   
1
0 0 1 1  2
0 0 1 0.1  2 1 2
0 0 1 1.1 
     
0 0 0 1 0 0 0 1.0  0 0 0 1.0 

0 1 0 - 0.5 0 1 0 0.0 
1 0 0 1.5   0 0.0 
0
T    (by projection) 3T  1 0 (by projection)
3
0 0 -1 3.0  2
0 0 -1 1.9 
   
0 0 0 1.0  0 0 0 1.0 

Or
0 1 0 0.0 
3 1  23 RT  23 RT 3 P2ORG  1 0 0 0.0  3
2
T  T     2T
 0 0 -1 1.9 
3 2
 0 1
 
0 0 0 1.0 
1 0 0 0  1 0 0 - 0.5  0 1 0 0.0  0 1 0 - 0.5
0 1 0 1  0 1 0 0.5  1 0 0 0.0  1 0 0 1.5 
    
3T  1T 2T 3T 
0 0 1 2

0 0 1 1  0 0 1 0.1  0 0 -1 1.9  0 0 -1 3.0 

     
0 0 0 1 0 0 0 1.0  0 0 0 1.0  0 0 0 1.0 

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 3. Graphical representation

C
PAORG
A
PCORG
A
PBORG

Give your expression (do not only give your answer)

T
A
PCORG = é A
PCORG _ x A
PCORG _ y A
PCORG _ z ù
ëê ûú
T
A
PBORG   A PBORG _ x A
PBORG _ y A
PBORG _ z 

é cosÐXC X A cosÐYC X A cosÐZC X A ù

A
R=é A
X̂C YˆC
A A
ẐC ù = ê cosÐX Y cosÐYCYA cos ÐZCYA ú
ú
ê
C
ëê ûú ê C A

cos ÐXC Z A cos ÐYC Z A cos ÐZC Z A ú

ë û

cos X B X A cos YB X A cos Z B X A 

A
B R   A Xˆ B A
YˆB A
Z B    cos X BYA
ˆ  cos YBYA cos Z BYA 
 cos X B Z A cos YB Z A cos Z B Z A 

é 0 0 -1 2 ù
é C
R C
PAORG ù é A
RT - CA RT × A PCORG ù ê -0.5 0.87 0 1.5 ú
C
T (= A -1
T ) = ê A
ú=ê C
ú=ê ú
A C
ê 0 0 0 1 ú ê 0 0 0 1 ú ê 0.87 0.5 0 -2.6 ú
ë û ë û ê
ë 0 0 0 1 úû

Calculate the values

é 0 0 C -1 2 C ù
é C
R C
PAORG ù é A
R T
- R × PCORGC
A T ù
A
ê é ú ù é A
RT -
A -1 ê A
ú=ê C C
ú A -0.5
ê -1 ê 0.87 A R0 1.5 PAORG
ú ú=ê C
C
T (= T ) = T =
(= T ) =
A C
ê 0 0 0 1 ú ê 0 0 0 1
A
ú êC 0.87 ê 0.50 00 0 -2.6 ú1 ú ê 0 0 0
ë û ë û ê ë û ë
ë 0 0 0 1 úû

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 4. From (2.80), we have

r11  r22  r33  vθ (k 2x  k 2y  k 2z )  3cθ  (1  cθ )  3cθ  1  2 cos θ

 2 cos θ  r11  r22  r33  1
 r  r  r 1 
 θ  arccos  11 22 33 
 2 

 r32  r23  (k y k z vθ  k x sθ )  (k y k z vθ  k x sθ )   2k x sθ 

 r  r   (k k vθ  k sθ )  (k k vθ  k sθ )    2k sθ 
 13 31   x z y x z y   y 
 r21  r12  (k x k y vθ  k z sθ )  (k x k y vθ  k z sθ )   2k z sθ 
 kx   r32  r23 

 K  k y  
A  1 
r13  r31  for 00 <θ <1800
2sin θ 
 k z   r21  r12 

If θ =00 , let θ =00 , vθ  0, cos θ  1,

1 0 0 
RK (0 )  0 1 0 
0

0 0 1 
 r  r  r 1 
θ  arccos  11 22 33   00
 2 
A
K can be any arbitrary vector

If θ =1800 , let θ =180 0 , vθ  2, cθ =  1 and sθ  0

 r11 r12 r13   2k x k x  1 2k x k y 2k x k z 
 
RK (180 )  RK (θ )   r21
0
r22 
r23    2k x k y 2k y k y  1 2k y k z 
 r31 r32 r33   2k x k z 2k y k z 2k z k z  1

 r11   2k x k x  1  r11   2k x k x  1
 r    2k k  1 , or  r    2k k  (if you want)
 22   y y   21   x y 

 r33   2k z k z  1  r31   2k x k y 



 r  r  r 1 
θ  arccos  11 22 33   1800
 2 

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  r11  1 
 
 2 
 kx 
 r 1 
 K   k y     22
A

 k z   2 
 r 1 
  33 
 2 

Hence, the inverse algorithm for the general case should be

 r  r  r 1 
θ  arccos  11 22 33  and
 2 




 A
K is free If θ =00




  r11  1 
  
 2
  kx   
 r 1 

A
K   k y     22 
  2  If θ =1800
  k z 
 r 1 
   33 
  2 




  kx   r32  r23 
 A K   k   1  
 y  2sin θ  r13  r31  else, for 0 <θ <180
0 0

  k z   r21  r12 



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