ECE: Intro to Robotics.

Name:
Class Worksheet – Lecture 11 so(3) and the derivative of a rotation matrix, velocity of a
point attached to a moving frame, addition of angular velocities

Which of the following matrices are skew symmetric?

0 −2 −5 0 1 2
1 2 0 3
[ ], [ ] , [2 0 4 ] , [1 0 −1]
−2 1 −3 0
5 −4 0 2 −1 0

𝜉 = 𝐽(𝑞)𝑞̇
𝑣20 𝑞̇
[ 0 ] = 𝐽(𝑞) [ 1 ]
𝜔2 𝑞̇ 2

𝑣20 𝐽 (𝑞) 𝑞̇ 1
[ 0] = [ 𝑣 ][ ]
𝜔2 𝐽𝜔 (𝑞) 𝑞̇ 2
−𝑎1 𝑠1 − 𝑎2 𝑠12 −𝑎2 𝑠12
𝑎1 𝑐1 − 𝑎2 𝑐12 𝑎2 𝑐12
0
𝑣 0 0 𝑞̇
[ 20 ] = [ 1 ] 𝑜𝑘 𝑥𝑘 𝑦𝑘 𝑧𝑘
𝜔2 0 0 𝑞̇ 2
0 0
[ 1 1 ]

𝑅̇(𝑡) = ______________________
𝑆 is skew symmetric, i.e. 𝑆 𝑇 + 𝑆 = 0, 𝑆 ∈ ________
1. For 𝛼, 𝛽 ∈ ℝ and 𝒂, 𝒃 ∈ ℝ3
𝑆(𝛼𝒂 + 𝛽𝒃) = ________________
2. For 𝒂, 𝒃 ∈ ℝ3
𝑆(𝒂)𝒃 = ___________

3. For 𝑅 ∈ 𝑆𝑂(3) and 𝒂 ∈ ℝ3

𝑅𝑆(𝒂)𝑅 𝑇 =
4. For 𝒂 ∈ ℝ3 , 𝑆 ∈ 𝑠𝑜(3)
𝒂𝑇 𝑆(𝒃)𝒂 =

We will assume vector 𝜔(𝑡) is time varying and refer as 𝜔 a free vector
𝑅̇𝑗𝑖 has angular velocity 𝜔𝑖,𝑗
𝜔 free vector coordinate frame?
𝑘
𝜔𝑖,𝑗 is angular velocity of 𝑅̇𝑗𝑖 in frame 𝑘,

Page 1 of 3
 𝑅20 (𝑡) = 𝑅10 (𝑡)𝑅21 (𝑡)
𝑅̇20 = 𝑅̇10 𝑅21 + 𝑅10 𝑅̇21

𝑅̇20 = 𝑆(𝜔0,2
0
)𝑅20
𝑅̇10 𝑅21 = 𝑆(𝜔0,1
0
)𝑅10 𝑅21
0
= 𝑆(𝜔0,1 )𝑅20
𝑅10 𝑅̇21 = 𝑅10 𝑆(𝜔1,2
1
)𝑅21
= 𝑅10 𝑆(𝜔1,21
)𝐼𝑅21
= 𝑅10 𝑆(𝜔1,21
)(𝑅10 )𝑇 𝑅10 𝑅21
= 𝑅10 𝑆(𝜔1,21
)(𝑅10 )𝑇 𝑅20
= 𝑆(𝑅10 𝜔1,21
)𝑅20

𝑅20 (𝑡) = 𝑅10 (𝑡)𝑅21 (𝑡)

𝑅̇20 = 𝑅̇10 𝑅21 + 𝑅10 𝑅̇21

0
𝑆(𝜔0,2 )𝑅20 = 𝑆(𝜔0,1
0
)𝑅20 + 𝑆(𝑅10 𝜔1,2
1
)𝑅20
0
= {𝑆(𝜔0,1 ) + 𝑆(𝑅10 𝜔1,2
1
)}𝑅20
𝑆(𝒂) + 𝑆(𝒃) = 𝑆(𝒂 + 𝒃)
0 0
𝜔0,2 = 𝜔0,1 + 𝑅10 𝜔1,2
1

angular velocities can be added, once they are in the same coordinate frame

𝑅𝑛0 = 𝑅10 𝑅21 … 𝑅𝑛𝑛−1

𝑅̇𝑛0 = 𝑆(𝜔0,𝑛
0
)𝑅𝑛0
0 0
𝜔0,𝑛 = 𝜔0,1 + 𝑅10 𝜔1,2
1
+ 𝑅20 𝜔2,3
2
+ 𝑅30 𝜔3,4
3 0
… + 𝑅𝑛−1 𝑛−1
𝜔𝑛−1,𝑛
0 0 0 0 0 0
𝜔0,𝑛 = 𝜔0,1 + 𝜔1,2 + 𝜔2,3 + 𝜔3,4 … + 𝜔𝑛−1,1

𝜔𝑛0 = 𝑧00 𝜃̇1 + 𝑧10 𝜃̇2 + ⋯ 𝑧𝑛−1

0
𝜃̇𝑛

𝑝 rigidly attached to moving frame 1

𝑝 0 = 𝑅10 (𝑡)𝑝1
𝑝̇ 0 = 𝑅̇10 𝑝1 + 𝑅10 𝑝̇ 1
𝑅10 𝑝̇ 1 = 0
𝑅̇10 𝑝1 = 𝑆(𝜔0 )𝑅10 (𝑡)𝑝1
= 𝑆(𝜔0 )𝑝 0
= 𝜔0 × 𝑝 0

Page 2 of 3
 ECE Intro to Robotics
Class Worksheet – Preparation for Lecture 11

1. Two frames 𝑜0 𝑥0𝑦0𝑧0 and 𝑜1 𝑥1𝑦1𝑧1 are related by the homogenous transformation
0 −1 0 1
1 0 0 −1
𝐻10 = [ ]
0 0 1 0
0 0 0 1
A particle has velocity 𝑣1(𝑡) = [3,1,0]𝑇 relative to frame 𝑜1 𝑥1 𝑦1 𝑧1. What is the
velocity of the particle in frame 𝑜0 𝑥0 𝑦0 𝑧0?

2. Read article: http://robohub.org/3-types-of-robot-singularities-and-

how-to-avoid-them/

Circle answer: I read the article. I did not read article

3. Watch video: https://youtu.be/lD2HQcxeNoA. Attach screenshot of a

singular position

Page 3 of 3