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Introduction to Robotics
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Analysis, Control, Applications
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Solution Manual
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Saeed B. Niku
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Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

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 2

CHAPTER ONE
Problem 1.1
Draw the approximate workspace for the following robot. Assume the dimensions of the
base and other parts of the structure of the robot are as shown.

Estimated student time to complete: 15-25 minutes

Prerequisite knowledge required: Text Section(s) 1.14

Solution:

The workspace shown is approximate.

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.

This solution manual may not be copied, posted, made available to students, placed on any outlet, any other
electronic media system, and the Internet without prior expressed consent of the copyright owner.
 3

Problem 1.2
Draw the approximate workspace for the following robot. Assume the dimensions of the
base and other parts of the structure of the robot are as shown.

Estimated student time to complete: 20-30 minutes

Prerequisite knowledge required: Text Section(s) 1.14

Solution:

The workspace shown is approximate.

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.

This solution manual may not be copied, posted, made available to students, placed on any outlet, any other
electronic media system, and the Internet without prior expressed consent of the copyright owner.
 4

Problem 1.3
Draw the approximate workspace for the following robot. Assume the dimensions of the
base and other parts of the structure of the robot are as shown.

Estimated student time to complete: 10-15 minutes

Prerequisite knowledge required: Text Section(s) 1.14

Solution:

The workspace shown is approximate.

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.

This solution manual may not be copied, posted, made available to students, placed on any outlet, any other
electronic media system, and the Internet without prior expressed consent of the copyright owner.
 Introduction to Robotics
Analysis, Control, Applications

Solution Manual

Saeed B. Niku

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.

This solution manual may not be copied, posted, made available to students, placed on any outlet, any other
electronic media system, and the Internet without prior expressed consent of the copyright owner
 2

CHAPTER TWO
Problem 2.1
Write a unit vector in matrix form that describes the direction of the cross product of
p  3i  5j  4k and q  3i  7k .

Estimated student time to complete: 5-10 minutes

Prerequisite knowledge required: Text Section 2.4

Solution:

 i j k
r  p  q  3 5 4   i  35  j  21  12   k  0  15  35i  9 j  15k
 
3 0 7 
  rx2  ry2  rz2  1225  81  225  39.13
 35 
 39.13 
   0.8945
r
9    0.23 
 39.13   
 15   0.383 
 
 39.13 

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.

This solution manual may not be copied, posted, made available to students, placed on any outlet, any other
electronic media system, and the Internet without prior expressed consent of the copyright owner.
 3

Problem 2.2
A vector p is 10 units long and is perpendicular to vectors q and r described here.
Express the vector in matrix form.
 0.3  rx 
q  0.4 
q unit   y  runit   
0.5  0.5
   
0  0 

Estimated student time to complete: 15-20 minutes

Prerequisite knowledge required: Text Section 2.4

Solution:

The two vectors given are unit vectors. Therefore, each missing component can be found
as:

q y  1  0.09  0.25  0.812

rx  1  0.16  0.25  0.768

Since p is perpendicular to the other two vectors, it is in the direction of the cross product
of the two. Therefore:

 i j k

 p  0.3 0.812 0.5  i  0.406  0.2   j  0.15  0.384   k  0.12  0.624 
 
0.768 0.4 0.5
 i  0.206  j  0.234   k  0.504 

Since q and r are not perpendicular to each other, the resulting p is not a unit vector.
Vector p can be found as:

 p  i  0.206  j  0.234   k  0.504 

p   0.206   0.234    0.504   0.593

2 2 2

10
w  16.87
0.593
p  w  i  0.206   j  0.234   k  0.504  
p  i  3.48  j  3.95  k  8.5

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.

This solution manual may not be copied, posted, made available to students, placed on any outlet, any other
electronic media system, and the Internet without prior expressed consent of the copyright owner.
 4

Problem 2.3
Vectors p  2i  3j  5k and q  3i  6k are given. Find a vector r that is perpendicular to
both.

Estimated student time to complete: 10 minutes

Prerequisite knowledge required: Text Section 2.4

Solution:

We take the cross product of the two vectors to find r perpendicular to both:

 i j k
r  p  q   2 3 5   18i  18 j  9k
 
 3 0 6 
 18 
 27 
  0.667 
rˆ     0.667 
18
 27   
 9   0.333
 
 27 
0.667 
r  r 0.667 
 
 0.333

Any vector in this direction is perpendicular to both.

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.

This solution manual may not be copied, posted, made available to students, placed on any outlet, any other
electronic media system, and the Internet without prior expressed consent of the copyright owner.
 5

Problem 2.4
Will the three vectors p, q, and r in Problem 2.2 form a traditional frame? If not, find the
necessary unit vector s to form a frame between p, q, and s.

Estimated student time to complete: 15-20 minutes

Prerequisite knowledge required: Text Section 2.4

Solution:

As we saw in Problem 2.2, since q  r is not a unit vector, it means that q and r and not
perpendicular to each other, and therefore, they cannot form a frame. However, p and q
are perpendicular to each other, and we can select s to be perpendicular to those two. Of
course, p is not a unit length, therefore we use the unit vector representing it.

p  i  0.348  j  0.395  k  0.85

q  i  0.3  j .812   k  0.5
 i j k 

s  0.348 0.395 0.85  i  0.888  j  0.429   k  0.164 
 
 0.3 0.812 0.5 

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.

This solution manual may not be copied, posted, made available to students, placed on any outlet, any other
electronic media system, and the Internet without prior expressed consent of the copyright owner.
 6

Problem 2.5
Suppose that instead of a frame, a point P 3,9,5 in space was translated a distance of
T

d   4,7,8 . Find the new location of the point relative to the reference frame.
T

Estimated student time to complete: 5 minutes

Prerequisite knowledge required: Text Section 2.6

Solution:

As for a frame,

1 0 0 4   3  7 
0 1 0 7  9  16
Pnew      
0 0 1 8   5 13
    
0 0 0 1  1   1 

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.

This solution manual may not be copied, posted, made available to students, placed on any outlet, any other
electronic media system, and the Internet without prior expressed consent of the copyright owner.
 7

Problem 2.6
The following frame B was moved a distance of d   4,2,6 . Find the new location of
T

the frame relative to the reference frame.

0 1 0 2
1 0 0 5
B 
0 0 1 8
 
0 0 0 1

Estimated student time to complete: 5-10 minutes

Prerequisite knowledge required: Text Section 2.6

Solution:

The transformation matrix representing the translation is used to find the new location as:

1 0 0 4  0 1 0 2  0 1 0 6
0 1 0 2  1 0 0 5  1 0 0 7
Bnew    
0 0 1 6  0 0 1 8  0 0 1 14 
    
0 0 0 1  0 0 0 1  0 0 0 1

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.

This solution manual may not be copied, posted, made available to students, placed on any outlet, any other
electronic media system, and the Internet without prior expressed consent of the copyright owner.
 8

Problem 2.7
For frame F, find the values of the missing elements and complete the matrix
representation of the frame.
 ? 0 1 4 
 ? 0 0 5
F 
 ? 1 0 7 
 
0 0 0 1 

Estimated student time to complete: 10 minutes

Prerequisite knowledge required: Text Section 2.4

Solution:

 nx 0 1 4
n 0 0 5
F y 
 nz 1 0 7
 
0 0 0 1

i j k
From n  o  a  
 nx n y nz    i
 0 0 1
Or: i  ny   j  nx   k  0   i , and therefore: ny  1, nx  0, nz  0

0 0 1 4
1 0 0 5
F 
0 1 0 7
 
0 0 0 1

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.

This solution manual may not be copied, posted, made available to students, placed on any outlet, any other
electronic media system, and the Internet without prior expressed consent of the copyright owner.
 9

Problem 2.8
Find the values of the missing elements of frame B and complete the matrix
representation of the frame.

0.707 ? 0 2
 ? 0 1 4 
B
 ? 0.707 0 5
 
 0 0 0 1

Estimated student time to complete: 15-20 minutes

Prerequisite knowledge required: Text Section 2.4

Solution:

0.707 ox 0 2
 n 0 1 4 
B y
 nz 0.707 0 5
 
 0 0 0 1

 i j k 
From n  o  a 0.707 n nz   j
 y

 ox 0 0.707 

 i j k 

Therefore: 0.707 n y nz   j
 
 ox 0 0.707 
And i  0.707n y   j  0.5  nzox   k  n yox   j  n y  0

0.707 2  ny2  nz2  1  nz  0.707

From length equations: n  1 or
ox2  0.5  1  ox  0.707

Therefore, there are two possible acceptable solutions:

0.707 0.707 0 2  0.707 0.707 0 2
 0 0 1 4  0 0 1 4 
B  and B
0.707 0.707 0 5   0.707 0.707 0 5
   
 0 0 0 1  0 0 0 1
Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.
© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.

This solution manual may not be copied, posted, made available to students, placed on any outlet, any other
electronic media system, and the Internet without prior expressed consent of the copyright owner.
 10

Problem 2.9
Find the values of the missing elements of frame B and complete the matrix
representation of the frame.

0.766 0.643 0 3
 ? ? 0 8
B  
 ? 0 1 6
 
 0 0 0 1

Estimated student time to complete: 10-15 minutes

Prerequisite knowledge required: Text Section 2.4

Solution:

0.766 0.643 0 3
 n oy 0 8
B y 
 nz 0 1 6
 
 0 0 0 1
 i j k
 
From n  o  a 0.766 n y nz   ( nzo y )i  (0.643nz ) j  (0.766o y  0.643n y )k  k
 0.643 o y 0 

Then 0.643nz  0  nz  0

From length equations:

0.7662  n 2y  nz2  1  n 2y  0.413  n y  0.643
ox2  o2y  oz2  0.6432 +o2y =1  oy  0.766

Therefore, there are two possible acceptable solutions:

0.766 0.643 0 3  0.766 0.643 0 3
 0.643 0.766 0 8  0.643 0.766 0 8
B  and B   
 0 0 1 6  0 0 1 6
   
 0 0 0 1  0 0 0 1

Substituting the values into the cross product will show that only the second matrix
values satisfy the right hand rule.
Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.
© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.

This solution manual may not be copied, posted, made available to students, placed on any outlet, any other
electronic media system, and the Internet without prior expressed consent of the copyright owner.
 11

Problem 2.10
Derive the matrix that represents a pure rotation about the y-axis of the reference frame.

Estimated student time to complete: 10 minutes

Prerequisite knowledge required: Text Section(s) 2.6.2.

Solution:

From the figure:

px  pn cos   pa sin   px   C 0 S   pn 
p y  po and p    0 1 0   po 
 y 
pz   pn sin   pa cos   pz    S 0 C   pa 

Introduction to Robotics: Analysis, Control, Applications, Third Edition. Saeed B. Niku.

© 2020 John Wiley & Sons Ltd. Published 2020 by John Wiley & Sons Ltd.

This solution manual may not be copied, posted, made available to students, placed on any outlet, any other
electronic media system, and the Internet without prior expressed consent of the copyright owner.