robotica solution homework number one
DESCRIPTION
robotica solution number oneTRANSCRIPT
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ECE 470 Luke A. Wendt
HW1 Solutions 09-11-14
Page 1 of 9
2-1
2-2
2-3
2-10
2-11
2-12
2-13
2-23
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ECE 470 Luke A. Wendt
HW1 Solutions 09-11-14
Page 2 of 9
2-24
[
]
( ) (
), which is counter clockwise from
2-38
A la Care Set I http://en.wikipedia.org/wiki/Quaternion
2-26
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ECE 470 Luke A. Wendt
HW1 Solutions 09-11-14
Page 3 of 9
2-27
2-28
2-29
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ECE 470 Luke A. Wendt
HW1 Solutions 09-11-14
Page 4 of 9
2-30
2-31
2-32
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ECE 470 Luke A. Wendt
HW1 Solutions 09-11-14
Page 5 of 9
2-33
2-34
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ECE 470 Luke A. Wendt
HW1 Solutions 09-11-14
Page 6 of 9
2-35
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ECE 470 Luke A. Wendt
HW1 Solutions 09-11-14
Page 7 of 9
A la Cart Set II
2-4
2-5
2-7
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ECE 470 Luke A. Wendt
HW1 Solutions 09-11-14
Page 8 of 9
2-19
2-25
2-43
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ECE 470 Luke A. Wendt
HW1 Solutions 09-11-14
Page 9 of 9
A la Cart Set III http://en.wikipedia.org/wiki/Rodrigues'_rotation_formula
1.
( ) ( ) (
)
2.
( ) ( ) ( ) ( )
3.
( ) ( ( ) ) ( ) ( ) 4.
( ) ( ) ( ( ) )
5.
( ) (
) (
)
( ) (
(
) (
)
(
) (
)
(
) (
)
)
(
) ( )
6.
( ) ( ( )
) ( ) ( ) {
( ) ( )
( ) ( )
7.
( ) ( ( ) ( ( )
)
( ) ( ( )
)
) ( )
( ( )( ( )
( ) )
( )( ( )
( ) )
) ( )
8.
( ( )
( ) )
( )
( ( )
( ) )
( )
( ) ( ( ) ( ) ( ( )) ( )) ( )