CS 5310/6310 & ME 5220/6220

Homework 2

Due September 10, 2012

1. (30 pts) Consider the homogeneous transformations

0

T1 = Trans([2 1]T ) Rot(/2)

T2 = Trans([0 3]T ) Rot()

(1)

(a) (10 pts) Show a gure giving an interpretation of the product 0 T1 1 T2 as a coordinate transformation. (b) (10 pts) Show a gure giving an interpretation of the product 0 T1 1 T2 as an operator. (c) (10 pts) Consider the transformation 0 T1 from Equation (1), but now consider that D1 = Trans([0 3]T ) Rot() is an operator in frame 1. Find the equivalent operator D0 in frame 0 by evaulating the matrix multiplications; the answer should be a 3-by-3 matrix of numbers. 2. (20 pts) Write Matlab functions to perform the following 2D transformations. (a) (5 pts) Function R = rot2D(theta) which returns a 2-by-2 rotation matrix R corresponding to rotation angle theta. Apply your function to theta = pi/2 and theta = pi. (b) (5 pts) Function T = trans2D(d,theta) which returns a homogeneous 2D transformation T corresponding to displacement vector d between origins and rotation angle theta between axes. Use your previously dened function rot2D in forming T. Apply your function to 0 T1 and 1 T2 above. (c) (5 pts) Function Tinv = itrans2D(T) which returns a homogeneous 2D transformation Tinv which is the inverse of the homogeneous transformation T. Use the explicit formula for the inverse from the course notes. Apply your function to 0 T1 above. (d) (5pts) Function D0 = transop(T01,D1) which transforms an operator D1 expressed in frame 1 to an equivalent operator D0 in frame 0, where T01 is the coordinate transformation from frame 1 to frame 0. Call itrans2D to perform the inversion of T01. Apply transop to problem 1(c) above. (e) Create a diary le prog2.txt that shows all 4 programs working. Hand in your programs and diary le by typing on a CADE machine: handin cs5310 prog2 rot2D.m trans2D.m itrans2D.m transop.m prog2.txt or use the web-based handin. 3. (20 pts) This question concerns the difference between an operator and a coordinate transformation viewpoint. Suppose frames 0 and 1 are initially aligned. (a) (10 pts) If frame 1 is obtained from frame 0 by a rotation of /2 about the x0 -axis, followed by a rotation of about the xed z0 axis, nd the rotation matrix 0 R1 representing the composite transformation. Sketch the initial and nal frames. (b) (10 pts) If frame 1 is obtained from frame 0 by rotation of /2 about the x0 -axis, followed by a rotation of about the current z1 axis, nd the rotation matrix 0 R1 representing the composite transformation. Sketch the initial and nal frames.

4. (20pts) Consider the combination of robot, table, block, and camera in Figure 1, with associated coordinate systems as shown. The table is 2-by-2 m, and the block is in the center of the table. Find 0 T , 1 T , 2 T , and 0 T by inspection. 1 2 3 3

camera

x3 y3

z3 robot z1 z0 x0 y0 1.5m
Figure 1: Relative locations of a robot, table, block, and camera.

3m y1 z2 y2

x1 block table 2m

x2 1m