1

EEE 187 Homework Assignment # 1

Date: 09/08/2016
Due : 09/15/2016

Problem 1
Suppose frames o0 x0 y0 z0 and o1 x1 y1 z1 are related by
transformation matrix
 
0 0 1
R10 =  0 1 0  (1)
−1 0 0
1) Find R01 using two different approaches. You can use
Matlab or other numerical tools.
2) Find vector ~k characterizing the rotation axis and the
rotation angle θ.

Problem 2
Rotation matrix R is generated by the following rotations:
• 600 about current z0
0
• 30 about current y0
0
• 90 about current x0
Fig. 1. Diagram for problem 3
Find R, the equivalent axis (~k ) and its corresponding angle.
You can use Matlab or other numerical tools.
relative to the frame o1 x1 y1 z1 , compute the homoge-
Problem 3 neous transformation relating the block frame to the
camera frame, and the block frame to the base frame.
Rotation matrix R is generated by the following rotation:
0
• 90 about current z0
Answer the following questions:
1) Can you guess the equivalent axis (~k ) and its corre-
sponding angle without any calculations? explain.
2) Use the equations to obtain the equivalent axis (~k ) and
its corresponding angle. Does it confirm your guess?

Problem 4 (From Spong et al., page 70)

Consider the diagram of figure 1. A robot is set up one
meter from a table. The table top is one meter high and one
meter square. A frame o1 x1 y1 z1 is fixed to the edge of the
table as shown. A cube measuring 20 cm on a side is placed
in the center of the table with frame o2 x2 y2 z2 established
at the center of the cube as shown. A camera is situated
directly above the center of the block two meters above the
table top with frame o3 x3 y3 z3 attached as shown.
• Find the homogeneous transformations relating each
of these frames to the base frame o0 x0 y0 z0
• Find the homogeneous transformation relating frame
o2 x2 y2 z2 to the camera frame o3 x3 y3 z3
• Suppose that, after the camera is calibrated, it is
rotated 90o about z3 . Recomputed the above coordinate
transformations.
o
• If the block on the table is rotated 90 about z2 and
moved so that its center has coordinates [0, 0.8, 0.1]T