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eu/Introduction-to-Robotics-Mechanics-and-Control-4th-Edition-Craig-Solutions-Manual

Chapter 2 Solutions for Introduction to Robotics

1. a) Use (2.3) to obtain

 
1 0 0
A
B R = 0 0 1
 
0 −1 0

b) Use (2.74) to get

α = 90 degrees
Th d co of y th
is is p urs an e
an eir le tro

w ro es y p int
th sa es

β = 90 degrees
or v
or ill d

k ide an art egr

is
w

pr d s as f th y o

γ = −90 degrees
ot ole se is f t
ec ly s w he
te fo sin or w
d
d o it

by r th g s (in ork
U e u tud clu an

2. a) Use (2.64) to obtain

ni s en d d
te e
d of t le ng is n
St in ar on ot
at st ni t p
es ru ng he er
k

co cto . D W mit

 
py rs is or ted

.330 −.770 .547

rig in se ld .
i

ht te min Wi

A
B R =  .908 .418 .0396
 
la ach at de
w
s ing ion We

−.259 .483 .837

b) Answer is the same as in (a) according to (2.71)

b)

3. Use (2.19) to obtain the transformation matrices. The rotation is X-Y-Z fixed angles, so use
(2.64) for that 3×3 submatrix, with angles

γ = 0 degrees
   
−1 tripod_height −1 1.5
β = −sin = −sin = −107 degrees
distance_along_optical_axis 5
αC = 0 degrees
αD = 120 degrees
αE = 240 degrees

The position vectors to the camera-frame origins are

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Full file at https://testbankuniv.eu/Introduction-to-Robotics-Mechanics-and-Control-4th-Edition-Craig-Solutions-Manual
   
horizontal_distance 4.77
B
PCORG = 0 = 0 
   
tripod_height 1.50
   
horizontal_distance × cos αD −2.39
B
PDORG =  horizontal_distance × sin αD  =  4.13 
   
tripod_height 1.5
   
horizontal_distance × cos αE −2.38
B
PEORG =  horizontal_distance × sin αE  = −4.13 ,
   
tripod_height 1.50

p
where horizontal_distance = (distance_along_optical_axis)2 − (tripod_height)2 .
Combining the rotation and translation yields the transformation matrices via (2.19) as

 
−.300 0 −.954 4.77
Th d co of y th

 0 1.00 0 0 
 
is is p urs an e
an eir le tro

B
CT = 
w ro es y p int
th sa es

 .954 0 −.300 1.50

or v


or ill d

k ide an art egr

is
w

0 0 0 1
pr d s as f th y o
ot ole se is f t
ec ly s w he
te fo sin or w

 
d
d o it

.150 −.866 .477 −2.39

by r th g s (in ork
U e u tud clu an
ni s en d d

−.260 −.500 −.826 4.13 

 
te e

B
d of t le ng is n

DT = 
St in ar on ot

 .954 0 −.300 1.50 


at st ni t p
es ru ng he er
k

0 0 0 1
co cto . D W mit
py rs is or ted
rig in se ld .
i

ht te min Wi

 
.477 −2.39
la ach at de

.150 .866
w
s ing ion We

.260 −.500 .826 −4.13

 
B
T =

E
.954 0 −.300 1.50 
 
0 0 0 1
b)

4. The camera-frame origin is located at B PCORG = [7 − 2 5]T . Use (2.19) to get the
transformation, B
C T . The rotation is Z-Y-X Euler angles, so use (2.71) with

α = 0 degrees
β = −110 degrees
γ = −20 degrees

to get

 
−.342 .321 −.883 7.00
 0 .940 .342 −2.00
 
B
C T =
 .940 .117 −.321 5.00 
 
0 0 0 1

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exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
Full file at https://testbankuniv.eu/Introduction-to-Robotics-Mechanics-and-Control-4th-Edition-Craig-Solutions-Manual
 5. Let
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B
P1 = B
P0 + 5 B V0 = [9.5 1.00 − 1.50]T

The object’s position in {A} is

A
P1 = A B
B T P1 = [−4.89 2.11 3.60]T

6. (2.1)

R = rot(Ŷ , φ) rot(Ẑ, θ)
  
cφ 0 sφ cθ −sθ 0
=  0 1 0  sθ cθ 0
  
−sφ 0 cφ 0 0 1
 
cφ cθ −cφ sθ sφ
=  sθ cθ 0
 
−sφ cθ sφ sθ cφ

7. (2.2)
Th d co of y th
is is p urs an e
an eir le tro

R = rot(X̂, 60) rot(Ŷ , −45)

w ro es y p int
th sa es

or v
or ill d

k ide an art egr

is
w

  
pr d s as f th y o

1 0 0 .707 0 −.707
ot ole se is f t
ec ly s w he
te fo sin or w

= 0 .500 −.866  0 1 0 
  
d
d o it

by r th g s (in ork

0 .866 .500 .707 0 .707

U e u tud clu an
ni s en d d
te e
d of t le ng is n
St in ar on ot

 
at st ni t p

.707 0 −.707
es ru ng he er
k

co cto . D W mit

= −.612 .500 −.612

 
py rs is or ted
rig in se ld .
i

.353 .866 .353

ht te min Wi
la ach at de
w
s ing ion We

8. (2.12) Velocity is a “free vector” and only will be affected by rotation, and not by translation:
b)

  
.707 0 −.707 30.0
A
V =A B
B R V = −.612 .500 −.612 40.0
  
.353 .866 .353 50.0
= [−14.1 − 29.0 62.9]T

9. (2.31)
 
0 0 −1 2
 .500 −.866 0 0
 
C
BT = 
−.866 −.500 0 0

0 0 0 1

10. (2.37) Using (2.45) we get that

    
.25 .87 .43 5.0 .94
B
PAORG = −A
BR
TA
PAORG = − .43 −.50 .75  −4.0 = −6.4
    
.86 .00 −.50 3.0 −2.8
© 2018 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
Full file at https://testbankuniv.eu/Introduction-to-Robotics-Mechanics-and-Control-4th-Edition-Craig-Solutions-Manual