Solutions for 3D Modelling

Note. These solutions are deliberately left a sketchy in places. They are not intended to be the authoritative answer, because there is none. Instead, they should be used as a starting point for discussion. Please ask if you do not arrive at a solution you feel confident about.

Stage Turntable

The Crane

Step 2

The co-ordinate system of the joint has not been completely specified in the problem text, and some choices are free.
It is probably simplest if we align the bases when the angles are zero, i.e. that the boom moves in the \(xz\)-plane of the basis of the joint. This also calls for the boom being parallel to the \(z\)-axis of the hand system.

With these assumptions the position of \(A\) in the joint basis is \[ R_y(\beta)\cdot(A^T+(0,0,b))\] where \(R_y(\beta)\) is a rotation by \(\beta\) around the \(y\)-axis, i.e. \[ R_y(\beta) = \begin{bmatrix} \cos\beta & 0 & \sin\beta \\ 0 & 1 & 0 \\ -\sin\beta & 0 & \cos\beta \end{bmatrix} \]

Step 3

Similarly to above, a point \(C\) in the joint basis becomes \(C'\) in the base basis by the transformation \[ R_z(\alpha)\cdot(C^T+(0,0,a))\] where \(R_z(\alpha)\) is a rotation by \(\alpha\) around the \(z\)-axis, i.e. \[ R_z(\alpha) = \begin{bmatrix} \cos\alpha & \sin\alpha & 0\\ -\sin\alpha & \cos\alpha & 0 \\ 0 & 0 & 1 \end{bmatrix} \]

To find the global co-ordinates of \(A\), we combine the two transformations and write \[ A = R_z(\alpha)\cdot( R_y(\beta)\cdot(A^T+(0,0,b)) + (0,0,a)) )\]

Exercise 2.1 (Ma 2004)

Definition of a linear function

\[f(C\cdot X) = C\cdot f(X)\]

\[f(X+Y) = f(X) + f(Y)\]

If we take a function \(f(X) = X\cdot A\cdot X\) we can test if this is true, e.g.

\[f(X+Y) = (X+Y)A(X+Y) = (XA+YA)(X+Y) = XAX + XAY + YAX + YAY = f(X) + XAY + YAX + f(Y)\]

In this case we get two terms which we should not have had if the function were linear, and they are not zero in the general case. Hence this function is not linear. Similar calculations can be made for the function in the exercise.