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Parcial I
Robótica
FIMEB
Ingenierías electrónica y biomédica
Universidad António Nariño

Los puntos deben ser sustentados y los programas comentados de forma clara.

1. Exercise left in blackboard 4.

2. Exercise left in blackboard 5.

3. Exercise left in blackboard 6.

4. Create a 2D rotation matrix. Visualize the rotation using trplot2. Use it to transform a vector. Invert
it and multiply it by the original matrix; what is the result? Reverse the order of multiplication; what
is the result? What is the determinant of the matrix and its inverse?

5. Generate in matlab the sequence of plots shown in Fig. 2.12 del libro de Cork.

6. For the 3-dimensional rotation about the vector [2, 3, 4] by 0.5 rad compute an SO(3) rotation
matrix using: the matrix exponential functions expm and trexp, Rodrigues’ rotation formula (code
this yourself), and the Toolbox function angvec2tr.
A
7. A vector p is rotated about ŷ by θ degrees and is subsequently rotated about x̂ by φ degrees. Give
the rotation matrix that accomplishes these rotations in the given order. Calculate numerically for
θ = 30 degrees and φ = 40 degrees.