Final exam (sample)

Dmitrii Dobriborsci
January 24th 2023

Abstract
Your grade is made up of a total of four indicators: assignments 1-3 and the final exam. Example.
If a student scores 25 points on each of the three assignments, all you need to earn is 25 points out of
100 on the final exam to receive a grade of 1.0. Good luck on the exam!

Table 1: Scores
Assignment 1 Assignment 2 Assignment 3 Final exam Total
Max. grade per assignment 25 25 25 100 175

1 Rigid body motions

1.1 Problem 1.1
Let the orientation of b relative to a be
 
1 0 0
Rab = 0 0 −1 (1)
0 1 0


and a point p be represented in a as pa = 1, 2, 3 . What is pb ? Give a numeric 3-vector.

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1
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1.2 Problem 1.2

Using the expressions of elementary rotation matrices, find the rotation matrix corresponding to the set
of Euler angles ZXZ
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1.3 Problem 1.3

In terms of the x̂s , ŷs , ẑs coordinates of a fixed space frame s, the frame a has its x̂a -axis pointing in the
direction (0; 0; 1) and its ŷa -axis pointing in the direction (−1; 0; 0), and the frame b has its x̂b -axis pointing
in the direction (1; 0; 0) and its ŷb -axis pointing in the direction (0; 0; −1). Draw by hand the three frames,
at different locations so that they are easy to see.
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Final exam (sample) 3

2 Trajectory generation
2.1 Problem 2.1
Consider an elliptical path in the (x; y)-plane. The path starts at (0; 0) and proceeds clockwise to
(2; 1), (4; 0), (2; −1), and back to (0; 0) see Fig. 1). Write the path as a function of s ∈ [0; 1].

Figure 1: An elliptical path

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2.2 Problem 2.2

2.3 Problem 2.3

3 Wheeled mobile robots

3.1 Problem 3.1
For the three-omniwheel robot of Fig. 2, is it possible to drive the wheels so that they skid? (In other
words, so that the wheels slip in the driving direction). If so, give an example set of wheel velocities.
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Figure 2: Kinematic models for mobile robots with three omniwheels. The radius of all wheels is r and
the driving direction for each of the mecanum wheels is βi = 0.

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3.2 Problem 3.2

Write a program (pseudocode) that accepts a time history of wheel encoder values for the three wheels
of a three-omniwheel robot and estimates the chassis configuration as a function of time using odometry.
Prove that it yields correct results for a chassis motion that involves rotations and translations.
Final exam (sample) 5

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3.3 Problem 3.3

Introduce a kinematic model of a mobile robot with a differential drive. Designate the input and output
variables. Develop a simple feedback control algorithm using a PID controller for trajectory following
problem (including problem statement). Give a functional diagram and all necessary equations (incl.
variable notation).
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