2. Show that the length of a free vector is not changed by rotation, i.e.

, that
||R v||=¿|v|∨¿

Let's assume v is the original free vector and R is the rotation matrix.

Using the properties, we have:

||R v||= √ R v∗R v =√ ¿ ¿

This shows that the length of a free vector remains the same after rotation.

7. A group is a set X together with an operation ∗ defined on that set such

that
• x1 ∗ x2 ∈ X for all x1, x2 ∈ X
• (x1 ∗ x2) ∗ x3 = x1 ∗ (x2 ∗ x3)
• There exists an element I ∈ X such that I ∗ x = x ∗ I = x for all x ∈ X.
• For every x ∈ X, there exists some element y ∈ X such that x ∗ y = y ∗ x = I.
Show that SO(n) with the operation of matrix multiplication is a group.

Let A, B ∈ SO(n)

( AB )( AB )T =AB . B T A T =A A T =I

And det (AB) = det(A). det(B) = 1

 AB ∈ SO(n)

(AB).C = A. (BC) due to matrix multiplication

I => identity matrix ∈ SO(n)

Since det = 1, every matrix is invertible and

det ( A −1 ) =det ( A ) =1
−1

T −1 T−1
( A¿¿−1)( A¿ ¿−1) =A A =¿ ¿ ¿ ¿

Hence A-1 ∈ SO(n)

Then SO(n) is a group with matrix multiplication.

12. Consider the following sequence of rotations:

(a) Rotate by φ about the world x-axis.

(b) Rotate by θ about the current z-axis.

(c) Rotate by ψ about the current x-axis.

(d) Rotate by α about the world z-axis.

Write the matrix product that will give the resulting rotation matrix (do not perform
the matrix multiplication).

a) Rotation about x axis by ∅

[ ]
1 0 0
Rotation Matrix Rx (∅) = 0 cos ⁡( ∅ ) sin ⁡( ∅ )
0 −sin ⁡( ∅ ) cos ⁡( ∅ )

b) Rotate by θ about the current z-axis.

[ ]
cos ⁡(θ) sin ⁡(θ) 0
Rotation Matrix Rz (θ) = −sin ⁡( θ) cos ⁡(θ) 0
0 0 1

c) Rotate by ψ about the current x-axis.

[ ]
1 0 0
Rotation Matrix Rx (ψ) = 0 cos ⁡(ψ ) sin ⁡(ψ )
0 −sin ⁡(ψ ) cos ⁡(ψ )

d) Rotate by α about the world z-axis

[ ]
cos ⁡(α ) sin ⁡(α ) 0
Rotation Matrix Rz (α) = −sin ⁡( α ) cos ⁡(α ) 0
0 0 1

[ ] []
x new x
y new = Rz (α) Rx (ψ) Rz (θ) Rx (∅) y
z new z
17. Verify Equation (2.46).

Ans: Chứng minh không ra @@

22. Suppose R represents a rotation of 90◦ about y0 followed by a rotation of 45◦ about
z1. Find the equivalent axis/angle to represent R. Sketch the initial and final frames and
the equivalent axis vector k.

[ ]
0 −1 0
R = Rx,0 Ry,0 Rz,90 = 1 0 0
0 0 0

We see that T r(R) = 0 and hence the equivalent angle is given by Equation (2.48) as

The equivalent axis is given from Equation (2.49) as

[ ]
0
k= 0
2/√ 3
27. Complex numbers can be generalized by defining three independent square

roots for −1 that obey the multiplication rules

−1 = i2 = j2 = k2,

i = jk = −kj,

j = ki = −ik,

k = ij = −ji

Using these, we define a quaternion by Q = q0 + iq1 + jq2 + kq3, which is typically

represented by the 4-tuple (q0, q1, q2, q3). A rotation by θ about the unit vector n = (nx,
ny, nz) T can be represented by the unit quaternion

( 2 2 2 2)
Q= cos( θ
) , n sin ( ), n sin ( ) ,n sin ( ) . Show that such a quaternion has unit norm, i.e.,
x
θ θ
y
θ
z

that q02 + q12 + q22 + q32= 1.

Here unit vector n = [nx, ny, nz] T and the rotation by around the unit vector n can be

represented by the unit quarternion Q= cos ( () θ

2 ()
, n x sin
θ
2 ()
, n y sin
θ
2
,n z sin
θ
2( ))
.

Now, as n is a unit vector, so nx2 + ny2 + nz2 =1.

We know the norm of a quarternion (q0, q1, q2, q3) is q02 + q12 + q22 + q32.

So the norm of the above mentioned quarternion

Q=cos
2
( θ2 )+ n sin ( θ2 )+n sin ( θ2 )+ n sin ( θ2 )=cos ( θ2 )+sin ( θ2 )( n + n +n )=cos ( θ2 )+ sin ( θ2 )=1( as n
2
x
2 2
y
2 2
z
2 2 2 2
x
2
y
2
z
2 2 2
x

Hence such a quarternion has a unit norm.

32. The conjugate Q∗ of the quaternion Q is defined as Q∗ = (q0, −q1, −q2, −q3)

Show that Q∗ is the inverse of Q, i.e., that Q∗Q = QQ∗ = (1, 0, 0, 0).

If q = q0 + q1i + q2 j + q3k then q* = q0 – (q1i + q2 j + q3k)

Hence:

 q + q* = 2q0
2
 qq* = q*q = q 0−( q1 i+q 2 j+ q3 k ) =q 0−|q 1 i+q 2 j+ q3 k|
2 2 2

2
¿ q 20 +q21 +q 22 +q32=|q|

¿
1 q
−1
A quaternion has an inverse: q = q = 2
|q|

A unit quaternion is such that |q| = 1

−1 ¿
¿> q =q

37. Consider the diagram of Figure 2.16. A robot is set up 1 meter from a table. The
table top is 1 meter high and 1 meter square. A frame o1x1y1z1 is fixed to the edge of
the table as shown. A cube measuring 20 cm on a side is placed in the center of the table
with frame o2x2y2z2 established at the center of the cube as shown. A camera is
situated directly above the center of the block 2m above the table top with frame
o3x3y3z3 attached as shown. Find the homogeneous transformations relating each of
these frames to the base frame o0x0y0z0. Find the homogeneous transformation
relating the frame o2x2y2z2 to the camera frame o3x3y3z3.

In the drawing it would appear that the origin of F3 is on the table top; however, in the
description, the origin of F3 is described as being at the center of the cube, thus 10 cm
above the table top. I accepted either interpretation.

We can describe the sequence of frames in words as follows. Frame 1 is obtained from
the fixed frame by translating 1 meter in each of the positive y0 and positive z0
directions.
Frame 2 is obtained from F1 by translating 50 cm in each of the positive y1 and negative
x1 directions and 10 cm in the positive z1 direction.

Frame 3 is obtained from F2 by translating 1.9 m in the positive z2 direction, then

rotating by about the z2 axis and then by π about the y2 axis. Alternatively, it can be
obtained by first rotating by π about the x2 axis and then by π/2 about the z2 axis, or by π
about the y2 axis and then −π/2 about the z2 axis, or ...
Thus

so

.
 .

Alternatively, we could have directly calculated by summing the displacements and

then applying the rotations. We could then premultiply by ( to obtain . We have

As noted above, there are many ways to define the rotation from the block frame to the
camera frame. They all have one thing in common. They result in the same
transformation matrix. Here are three examples.

• Rotate first by π about x, then by −π/2 about z:

• Rotate first by π about y, then by π/2 about z:

• Rotate first by π/2 about z, then by π about x: