In the previous problem, we prove that the transformation between the body and spatial twists preserve...
Fantastic news! We've Found the answer you've been seeking!
Question:
Transcribed Image Text:
In the previous problem, we prove that the transformation between the body and spatial twists preserve the screw motion. When we say the twist represents the velocity of the rigid motion in SE(3), it is very natural to ask if the speed of motion is preserved in between the different representations. This is an excellent question from our ECE569 student during the class. However, we may need to define what we mean by the speed carefully. In the rotational motion, given the angular velocities ws and wb, the speed was the magnitude of the angular velocities, so = ||ws|| = ww = w RT Rsbw = w w = ||wv|| sb Wb the angular speed was preserved. Now, the question for the twist is such that what is the speed of the screw motion. It contains two things, rotational speed and translational speed. The rotational speed can be understood as ||wb|| and ||ws|| but what would be the translational speed? Would it be ||v6|| and ||vs||? The problem is that vs does not have a direct meaning of the velocity of the origin, whereas v is the velocity of the origin expressed in {b}-frame. However, we have the quantity screw pitch which represents the ratio of the translational speed and the rotational speed. (a) (10 points) We want to check that the screw pitch for the body and spatial twists are the same. Show that s hs = = ||wb|| 2 ||wb||2 where vs = psb - (ws xpsb), v = Rpsb, ws = Rwb = (b) (10 points) As we proved in (a), the ||wb|| ||ws|| and hs hb, which indicates that the speed of rigid body velocity is preserved between two representations.. It is interesting to check if the adjoint operation associated with Tsb, AdTsb, will preserve the magnitude of ||V|| and ||V||. Or equivalently would Ad AdTsb 16x6? 1) Compute Ad AdTsb and sb 2) find Psb R which makes Ad 3) find Psb R which makes Ad Isb AdT 166 AdT = 166. sb Remark: Therefore, the magnitude of the twist does not necessarily be preserved, and there are no meaning of computing ||V||, but the ||w|| and h are preserved through this adjoint operation. (c) (10 points) Let T = (R1, p) = SE(3) and T2 = (R2, p2) E SE(3). Show that Ad Ad = Ad (6) In the previous problem, we prove that the transformation between the body and spatial twists preserve the screw motion. When we say the twist represents the velocity of the rigid motion in SE(3), it is very natural to ask if the speed of motion is preserved in between the different representations. This is an excellent question from our ECE569 student during the class. However, we may need to define what we mean by the speed carefully. In the rotational motion, given the angular velocities ws and wb, the speed was the magnitude of the angular velocities, so = ||ws|| = ww = w RT Rsbw = w w = ||wv|| sb Wb the angular speed was preserved. Now, the question for the twist is such that what is the speed of the screw motion. It contains two things, rotational speed and translational speed. The rotational speed can be understood as ||wb|| and ||ws|| but what would be the translational speed? Would it be ||v6|| and ||vs||? The problem is that vs does not have a direct meaning of the velocity of the origin, whereas v is the velocity of the origin expressed in {b}-frame. However, we have the quantity screw pitch which represents the ratio of the translational speed and the rotational speed. (a) (10 points) We want to check that the screw pitch for the body and spatial twists are the same. Show that s hs = = ||wb|| 2 ||wb||2 where vs = psb - (ws xpsb), v = Rpsb, ws = Rwb = (b) (10 points) As we proved in (a), the ||wb|| ||ws|| and hs hb, which indicates that the speed of rigid body velocity is preserved between two representations.. It is interesting to check if the adjoint operation associated with Tsb, AdTsb, will preserve the magnitude of ||V|| and ||V||. Or equivalently would Ad AdTsb 16x6? 1) Compute Ad AdTsb and sb 2) find Psb R which makes Ad 3) find Psb R which makes Ad Isb AdT 166 AdT = 166. sb Remark: Therefore, the magnitude of the twist does not necessarily be preserved, and there are no meaning of computing ||V||, but the ||w|| and h are preserved through this adjoint operation. (c) (10 points) Let T = (R1, p) = SE(3) and T2 = (R2, p2) E SE(3). Show that Ad Ad = Ad (6)
Expert Answer:
Related Book For
Posted Date:
Students also viewed these mechanical engineering questions
-
Having read the material in Sentence-Level Stylistics, share the following: What was unsurprising? In other words, what did you know or suspect already that you already practice and find easy to...
-
Planning is one of the most important management functions in any business. A front office managers first step in planning should involve determine the departments goals. Planning also includes...
-
Davis Company opened a Web page design business on January 1 of the current year. The following information relates to Davis Companys operations during the current year: 1. On February 1, Davis...
-
Consider a swapping system in which memory consists of the following hole sizes in memory order: 10 MB, 4 MB, 20 MB, 18 MB, 7 MB, 9 MB, 12 MB, and 15 MB. Which hole is taken for successive segment...
-
Draw the free-body diagram for the following problems. a) The rod in Prob. 525. b) The bar in Prob. 527. c) The disk in Prob. 528. 3 -3 ft- 4 100 lb + -3 ft- B 200 lb-ft 2 ft 13 12
-
If each point of the sample space of Figure 3.12 represents an outcome having the probability find, 32
-
Downtown Health Clinic needs to order influenza vaccines for the next flu season. The Clinic charges its patients $15.00 per vaccination and each dose of vaccine costs the clinic $4.00 to purchase....
-
Suppose that a bushel of wool could be traded for a barrel of wine, one-for-one, on the international market. Draw a diagram illustrating the original situation, and this new situation, with wool on...
-
In this image, the BLUE line (at the bottom) represents the bottom of the plastic well. Based on your knowledge of binding interactions in our ELISA, what is represented by --the BLACK circle --the...
-
Explain how an effective performance management system along with compensation and benefits can attract, develop and retain talented employees. Discuss labor and employment laws and regulations that...
-
After reviewing the differences between managers and leaders, what do you think is your own leadership and management potential?
-
Provide the following answer using the following compound below. a. Assign the hybridization for each atom, except hydrogen. b. Determine the number of atomic orbitals and Molecular orbitals (AO,...
-
Two meters below the ground surface, a 2x2 m square footing is constructed on NC clayey sand. The layer is subjected to a CPT test, with the results revealing an average cone resistance of 20 Mpa. A...
-
Usain Bolt's record time for running the 100 meter dash is 9.58 seconds. If Bolt had a mass of 94 kg at the time of his record-breaking run, what was his average momentum along the straight-line...
-
Pick a side, pro or con, and defend your answer on the topic "Affirmative action has outlived its usefulness and should now be abolished"?
-
For what reason might an exporter use standard international trade documentation (letter of credit, draft, order bill of lading) on an intrafirm export to its parent or sister subsidiary?
-
2019. Peabody Energy Company and Arch Resources, Inc., are two titans in a now-dwindling industry. Peabody operates three mines in the Southern Powder River Basin (SPRB) in Wyoming, one of which is...
-
Beginning around 1915, Natural Products Refining Corporation (NPRC) operated a chemical plant in Jersey City, New Jersey, at which it turned chromite ore into chromium chemicals (primarily sodium...
-
When GTE Sylvania discovered it was losing market share to other television manufacturers, it developed a franchise plan that limited the number of retailers selling its product in each area....
Study smarter with the SolutionInn App